Automatic small box paper feeding system of high-speed packaging machine

Abstract

The invention discloses a high-speed packaging machine small box paper automatic feeding system which comprises a main body frame, a tray automatic replacement assembly, a four-axis unstacking robot assembly, a belt conveyor assembly, a small box paper pretreatment assembly and a small box paper seam pressing assembly. The four-axis unstacking robot assembly is arranged on the main body frame, the inlet end of the belt conveyor assembly is used for receiving small box paper, and the outlet end of the belt conveyor assembly is used for conveying the small box paper to the small box paper pretreatment assembly; the small box paper pretreatment assembly is arranged on the main body frame and located at the outlet end of the belt conveyor assembly. According to the system, an automatic unstacking mode is adopted to replace manual carrying of small box paper, a feeding procedure is carried out after a packing belt is automatically removed, the distribution accuracy is improved, labor input is reduced, the labor intensity of operators is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of hard box tobacco packaging machines, and in particular to an automatic feeding system for small box paper of a high-speed packaging machine. Background Art

[0002] At present, the small box papers used in the production process of the cigarette factory's rolling and packaging workshop are all small box paper stacks in pallets output by the auxiliary material warehouse. They are placed in the designated area near the packaging machine by the AGV cart, and the small box papers are placed in the corresponding loading station as needed by the dedicated loading workers of the high-speed packaging machine. Each dedicated loading worker needs to load multiple groups of high-speed packaging machines. Before loading, each group of packaged small box papers needs to be unpacked, and each layer of small box paper on the pallet is isolated with hard cardboard to protect the appearance of the small box paper from damage. The loading position of the small box paper is on the back of the packaging machine. The conveyor belt of the loading station can buffer a small amount of small box paper. The unpacking and loading time of the small box paper is long, and the stock is too low during consumption and needs to be replenished in time. In summary, the operators of high-speed packaging machines need to perform the loading work of multiple devices at the same time, which is very intensive and they cannot take care of multiple tasks at the same time. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an automatic feeding system for small box paper of a high-speed packaging machine.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a small box paper automatic feeding system for a high-speed packaging machine, comprising: A main frame, wherein the main frame is used to isolate the feeding system from the external space; An automatic tray replacement component, which is located below the main frame and is used to receive the small box paper tray that has been delivered to the location and recycle the empty tray; A four-axis depalletizing robot assembly, the four-axis depalletizing robot assembly being arranged on the main frame and used for automatically depalletizing small boxes of paper on a pallet; A belt conveyor assembly, wherein the inlet end of the belt conveyor assembly is used to receive the small box paper, and the outlet end of the belt conveyor assembly is used to convey the small box paper to the small box paper pre-processing assembly; A small box paper pre-processing component, which is arranged on the main frame and located at the outlet end of the belt conveyor component, and is used to grab the small box paper and cut the packing paper, and transfer the packing paper to the original loading station outside the main frame; The small box paper pressing seam assembly is used to pre-press the small box paper stack before cutting the packing paper, so that the packing paper is separated from the small box paper stack, and to absorb the bottom of the packing paper and recycle it after cutting the packing paper.

[0005] Furthermore, the four-axis depalletizing robot assembly comprises: Sponge suction cup, used to absorb small box paper; A rotating member, wherein the sponge suction cup is arranged at the lower end of the rotating member and is used to drive the sponge suction cup to perform a rotating motion; The telescopic arm assembly, the rotating member is arranged at the lower end of the telescopic arm assembly, and is used to drive the rotating member and the sponge suction cup to rise and fall in the height direction; A forward and backward moving frame, on which the telescopic arm assembly is slidably arranged; A left-right motion module, which is arranged on the front-rear moving frame and is used to drive the telescopic arm assembly to move along the front-rear moving frame; A front-and-rear motion module, the front-and-rear moving frame is slidably arranged on the front-and-rear motion module, and the front-and-rear motion module is used to drive the front-and-rear moving frame to move, and the front-and-rear motion module is arranged on the main body frame.

[0006] Furthermore, the telescopic arm assembly includes a fixed arm vertically arranged on the front and rear movable frame, an up and down driving servo motor arranged on the fixed arm, a transmission assembly connected to the output end of the up and down driving servo motor, a first-level telescopic arm connected to the inside of the fixed arm through the transmission assembly and capable of being telescoped along the fixed arm, and a second-level telescopic arm connected to the first-level telescopic arm through a belt clamp and capable of being telescoped along the first-level telescopic arm, and the rotating member is arranged at the end of the second-level telescopic arm.

[0007] Furthermore, the left and right motion module includes left and right drive servo motors arranged on the front and rear moving frame, left and right drive pulleys arranged at the output ends of the left and right drive servo motors, left and right drive synchronous belts connected to the left and right drive pulleys, and synchronous belt clamps arranged on the left and right drive synchronous belts, and the fixed arm is arranged on the synchronous belt clamp. Furthermore, the front-to-back motion module includes a front-to-back drive servo motor arranged on the main frame, a front-to-back drive transmission shaft arranged at the output end of the front-to-back drive servo motor, a bearing seat arranged on both sides of the main frame and used to assemble the front-to-back drive transmission shaft, a front-to-back drive pulley connected to the end of the front-to-back drive transmission shaft, a front-to-back drive synchronous belt arranged on the front-to-back drive pulleys, and a synchronous belt clamp arranged on the front-to-back drive synchronous belt, and the front-to-back moving frame is arranged on the synchronous belt clamp.

[0008] Furthermore, the automatic pallet replacement assembly includes a limiting connecting frame and a pallet transfer frame connected to both ends of the connecting frame and arranged in parallel; The pallet transfer rack comprises a bottom plate, an outer frame, a servo motor, a planetary reducer, a driving wheel, a driven wheel, an upper flip shaft, an upper flip arm, an upper flip plate, an upper flip plate bearing seat, a lower flip shaft, a lower flip arm, a lower flip plate, a lower flip shaft support plate, a positioning ring, a photosensitive film, a slot switch and a sensor; The outer frame is mounted on the bottom plate, the servo motor is connected to the driving wheel through a planetary reducer, and the driving wheel is meshed with the driven wheel; The rotation center of one set of driven wheels is connected to one end of the upper flip shaft, a plurality of arc-shaped upper flip arms are installed on the upper flip shaft, and a mounting position is provided for the upper flip plate, and the upper flip plate bearing seat is arranged on the bottom plate and provides support for the upper flip shaft; The rotation center of another set of driven wheels is connected to one end of the lower flip shaft, and a plurality of L-shaped lower flip arms are installed on the lower flip shaft to provide a mounting position for the lower flip plate. The lower flip shaft support plate is arranged on the bottom plate and provides support for the lower flip shaft; Two sets of positioning rings are installed on the upper flip shaft and the lower flip shaft. The upper flip shaft and the lower flip shaft are equipped with fan-shaped photosensitive films at the end away from the driven wheel, and are matched with corresponding slot-type switches. The photosensitive films and the slot-type switches are used to detect whether the upper flip plate and the lower flip plate are rotated in place; the sensor is installed on the outer frame to detect whether the tray is in place and whether the empty tray has dropped into place.

[0009] Further, the small box paper pre-processing assembly includes a base plate, a lifting module arranged on the base plate, a lateral moving module arranged below the lifting module, a longitudinal moving module arranged below the lateral moving module, a small box paper clamp arranged below the longitudinal moving module and used to clamp the small box paper, and a paper cutting assembly arranged at the lower end of the base plate and corresponding to the small box paper clamp; The lifting module includes a lifting frame slidably arranged on the base plate, a lead screw rotatably connected to the base plate, a lifting drive motor arranged on the base plate and connected to the lead screw through a transmission assembly, and a lead screw nut sleeve connected to the lead screw, and the lead screw nut sleeve is connected to the lifting frame, and the lifting drive motor drives the lifting frame to perform lifting movement along the base plate.

[0010] Furthermore, the transverse moving module includes a transverse moving frame slidably arranged at the lower part of the lifting frame, a transverse moving drive motor arranged on the lifting frame, a screw rod connected to the output end of the transverse moving drive motor through a transmission assembly, and a screw nut sleeve arranged on the screw rod. The transverse moving frame is arranged on the screw nut sleeve of the transverse moving module, and the transverse moving drive motor drives the transverse moving frame to move laterally along the lifting frame.

[0011] The longitudinal moving module includes a longitudinal moving base plate and a longitudinal driving mechanism for driving the transverse moving frame to slide longitudinally along the longitudinal moving base plate. The longitudinal driving mechanism includes a longitudinal transplanting motor, a screw rod connected to the output end of the longitudinal transplanting motor through a transmission assembly, and a screw rod nut sleeve arranged on the screw rod. The transverse moving frame is arranged on the screw rod nut sleeve.

[0012] Furthermore, the small box paper clamp comprises a clamp driving servo motor installed on the longitudinal movable base plate, a transmission assembly connected to the output end of the clamp driving servo motor, two clamp support slide rails arranged at the bottom of the longitudinal movable base plate, a clamp support slider slidingly matched with the clamp support slide rails, and a clamp plate arranged on the clamp support slider, and the two clamp plates are driven to move closer to or farther from each other by the clamp driving servo motor; The paper cutting assembly comprises a driving cylinder installed below the base plate, a paper cutting knife seat arranged at the telescopic end of the driving cylinder, an edge starter hingedly arranged on the paper cutting knife seat, and a paper cutting knife arranged on the edge starter; A paper cutter swing shaft passes through the paper cutter seat, an upper limit plate is arranged on the side of the base plate facing the small box paper, and the upper limit plate is located above the paper cutter seat.

[0013] Furthermore, the small box paper pressing seam assembly includes a cylinder fixing seat, a flip recovery cylinder, a rotating shaft, a connecting rod, a base, a fixed rotating shaft, a suction cup lifting cylinder and a suction cup group; The cylinder fixing seat is installed on the main frame and is rotatably connected to the tail end of the flipping and recovery cylinder. The rotating shaft is installed on the piston end of the flipping and recovery cylinder and is hinged to the base through connecting rods at both ends of the rotating shaft. Another set of connecting rods is hinged to the main frame and cooperates with a fixed rotating shaft that penetrates the base and is installed at both ends on the main frame of the four-axis depalletizing robot assembly to form a base flipping mechanism. The suction cup lifting cylinder is installed on the base, and its piston end transfers the suction cup group, and crossbeams lower than the suction cup group are arranged on both sides of the suction cup group.

[0014] The present invention has the following beneficial effects: an automatic feeding system for small box paper of a high-speed packaging machine provided by the present invention integrates various functional components into the same system through unified planning, and realizes the purpose of grabbing materials through the four-axis destacking robot destacking component, and can also perform partition recovery work at the same time. The four-axis destacking robot destacking component is docked with the small box paper pre-storage belt conveyor component to pre-store small box paper. In the process that the pre-stored small box paper is sent to the small box paper pre-processing component one by one through the small box paper pre-storage belt conveyor component, the four-axis destacking robot component continuously replenishes materials, and the materials in the small box paper pre-processing component will be automatically removed from the packing paper, and the waste packing paper will be recovered through the small box paper pressing seam component, and after the packing paper is removed, the small box paper pre-processing component will automatically load or wait for loading according to the material inventory at the feeding station of the high-speed packaging machine. The whole process does not require manual participation, and only manual recovery of the waste packing paper and partitions is required.

[0015] In addition, the present invention uses automated equipment to improve the degree of automation of the production site, thereby achieving the purpose of improving work efficiency, reducing labor input, and reducing the labor intensity of operators. The present invention has innovative layout, simple maintenance, and reduced investment costs, and the system has high integration. The various components cooperate with each other to improve production efficiency. In terms of safety protection, the system uses a main frame to isolate the movable parts from the outside in all directions, which improves the integrity of the equipment and provides protection for the safety of the operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The structure of the present invention is shown in FIG. Figure 1 Figure 2 The structure of the present invention is shown in FIG. Figure 2 ; Figure 3 Schematic diagram of the structure of the four-axis depalletizing robot assembly in the present invention Figure 1 ; Figure 4 Schematic diagram of the structure of the four-axis depalletizing robot assembly in the present invention Figure 2 ; Figure 5 It is a schematic diagram of the structure of the automatic tray replacement assembly in the present invention; Figure 6 The structure of the pallet transfer rack of the automatic pallet replacement assembly of the present invention is shown in FIG. Figure 1 ; Figure 7 The structure of the pallet transfer rack of the automatic pallet replacement assembly of the present invention is shown in FIG. Figure 2 ; Figure 8 The structure of the pallet transfer rack of the automatic pallet replacement assembly of the present invention is shown in FIG. Figure 3 ; Fig. 9The structure of the small box paper pretreatment component of the present invention is shown in FIG. Figure 1 ; Fig.10 The structure of the small box paper pretreatment component of the present invention is shown in FIG. Figure 2 ; Fig.11 The structure of the small box paper pretreatment component of the present invention is shown in FIG. Figure 3 ; Fig.12 It is a schematic diagram of the structure of the small box paper pressing seam assembly of the present invention. DETAILED DESCRIPTION

[0017] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0018] like Figure 1 to Figure 2 As shown, the automatic feeding system for small box paper of the high-speed packaging machine is characterized by comprising a main frame 1, an automatic pallet replacement component 2, a four-axis depalletizing robot component 3, a belt conveyor component 4, a small box paper pretreatment component 5 and a small box paper seam pressing component 6.

[0019] The main frame 1 is used to isolate the feeding system from the external space; the automatic pallet replacement component 2 is located below the main frame 1, and is used to receive the small box paper pallet that has been delivered to the position, and to recycle the empty pallet; the four-axis depalletizing robot component 3 is arranged on the main frame 1, and is used to automatically depalletize the small box paper on the pallet; the inlet end of the belt conveyor component 4 is used to receive the small box paper, and the outlet end of the belt conveyor component 4 is used to transport the small box paper to the small box paper pretreatment component 5; the small box paper pretreatment component 5 is arranged on the main frame 1 and is located at the outlet end of the belt conveyor component 4, and the small box paper pretreatment component 5 is used to grab the small box paper and cut the packing paper, and transfer the packing paper to the original feeding station outside the main frame 1; the small box paper pressing seam component 6 is used to pre-press the small box paper stack before cutting the packing paper, so that the packing paper is separated from the small box paper stack, and adsorb the bottom of the packing paper, and recycle it after cutting the packing paper.

[0020] The four-axis depalletizing robot assembly 3 includes a sponge suction cup 31, a rotating member 32, a telescopic arm assembly 33, a front-rear moving frame 34, a left-right moving module 35 and a front-rear moving module 36. The sponge suction cup 31 is used to absorb the small box paper. The sponge suction cup 31 is arranged at the lower end of the rotating member 32 to drive the sponge suction cup 31 to perform a rotating motion. The rotating member 32 is arranged at the lower end of the telescopic arm assembly 33, and is used to drive the rotating member 32 and the sponge suction cup 31 to rise and fall in the height direction; the telescopic arm assembly 33 is slidably arranged on the front and rear moving frame 34; the left and right movement module 35 is arranged on the front and rear moving frame 34, and is used to drive the telescopic arm assembly 33 to move along the front and rear moving frame 34; the front and rear moving frame 34 is slidably arranged on the front and rear movement module 36, and the front and rear movement module 36 is used to drive the front and rear moving frame 34 to move, and the front and rear movement module 36 is arranged on the main frame 1.

[0021] The telescopic arm assembly 33 includes a fixed arm 330 vertically arranged on the front and rear moving frame 34, an up and down driving servo motor 331 arranged on the fixed arm 330, a transmission assembly connected to the output end of the up and down driving servo motor 331, a primary telescopic arm 332 connected to the inside of the fixed arm 330 through the transmission assembly and can be telescopic along the fixed arm 330, and a secondary telescopic arm 333 connected to the primary telescopic arm 332 through a belt clamp and can be telescopic along the primary telescopic arm 332, and a rotating member 32 is arranged at the end of the secondary telescopic arm 333. The fixed arm 330 is vertically arranged on the front and rear moving frame 34, serving as a support and reference for the entire telescopic arm assembly 33. It ensures the stability and accuracy of the entire telescopic arm assembly 33. The transmission assembly is connected to the output end of the up and down driving servo motor 331, responsible for transmitting the power of the motor to the telescopic arm, and converting the rotational motion of the motor into the linear motion of the telescopic arm. The first-level telescopic arm 332 is connected to the inside of the fixed arm 330 through a transmission component, and can be telescoped along the fixed arm 330, and is responsible for adjusting the length of the telescopic arm within a certain range. A set of synchronous pulleys and synchronous belts are installed inside the second-level telescopic arm 333. On the two straight ends of the synchronous belt, the upper end on one side is connected to the first-level telescopic arm 332 through a belt clamp, and the lower end on the other side is connected to the second-level telescopic arm 333 through a belt clamp. After the diagonal positions are connected, when the first-level telescopic arm 332 moves up and down through the up and down driving servo motor 331, the belt conveyor inside the second-level telescopic arm 333 is pulled to make the second-level telescopic arm 333 move up and down synchronously with the first-level telescopic arm 332.

[0022] The transmission assembly includes a synchronous pulley and a synchronous belt arranged at the output end of the upper and lower servo motors 212, a screw connected to the synchronous pulley, and a screw nut connected to the screw, and a first-level telescopic arm 332 is arranged on the screw nut. The synchronous pulley has a tooth structure that matches the synchronous belt, and the two are engaged with each other through the tooth shape to achieve accurate power transmission. The screw is connected to the synchronous pulley and rotates through the transmission of the synchronous belt. When the screw rotates, the screw nut moves along the axial direction of the screw. The first-level telescopic arm 332 is arranged on the screw nut, and when the screw nut moves, the first-level telescopic arm 332 will also move accordingly, thereby realizing the telescopic function.

[0023] The left and right motion module 35 includes a left and right driving servo motor 350 arranged on the front and rear moving frame 34, a left and right driving pulley 351 arranged at the output end of the left and right driving servo motor 350, a left and right driving synchronous belt 352 connected to the left and right driving pulley 351, and a synchronous belt clamp 353 arranged on the left and right driving synchronous belt 352, and the fixed arm 330 is arranged on the synchronous belt clamp 353. When the left and right driving servo motor 350 rotates and generates a driving force, the driving force is transmitted to the left and right driving pulleys 35151 through the output end of the motor, and the driving pulley rotates. The rotation of the left and right driving pulleys 351 will drive the synchronous belt to transmit. Since the synchronous belt has a high-precision transmission characteristic, the stability and accuracy of the transmission process can be ensured. With the transmission of the synchronous belt, the synchronous belt clamp will also move along the path of the synchronous belt. As the synchronous belt clamp serves as a supporting structure of the fixed arm 330, it will drive the fixed arm 330 to move together. Driven by the synchronous belt clamp, the fixed arm 330 can move left and right along the path of the synchronous belt. This movement process is determined by the control signal of the left and right driving servo motor 350, so accurate left and right positioning can be achieved.

[0024] In addition, in order to improve the reliability and stability of the movement of the fixed arm 330, a left and right translation rail is set at the bottom of the front and rear movable frame 34, and a left and right translation slider that slides with the left and right translation rail is set at the upper end of the fixed arm 330.

[0025] The front and rear motion module 36 includes a front and rear drive servo motor 360 arranged on the main frame 1, a front and rear drive transmission shaft 361 arranged at the output end of the front and rear drive servo motor 360, a bearing seat 362 arranged on both sides of the main frame 1 and used to assemble the front and rear drive transmission shaft 361, a front and rear drive pulley 363 connected to the end of the front and rear drive transmission shaft 361, a front and rear drive synchronous belt 364 arranged on the front and rear drive pulley 363, and a synchronous belt clamping plate arranged on the front and rear drive synchronous belt 364, and the front and rear moving frame 34 is arranged on the synchronous belt clamping plate. When the front and rear drive servo motor 360 receives a control signal, it starts to rotate and generates a driving force. This driving force is transmitted to the front and rear drive transmission shaft 361 through the output end of the motor, driving the transmission shaft to rotate. The front and rear drive transmission shaft 361 rotates stably under the support of the bearing seat. The rotation of the transmission shaft drives the front and rear drive pulleys 363 connected to its ends to rotate synchronously. The rotation of the front and rear drive pulleys 363 drives the front and rear drive synchronous belt 364 wrapped around it to transmit. The high-precision transmission characteristics of the synchronous belt ensure the stability and accuracy of the transmission process. As the synchronous belt is driven, the synchronous belt clamp also moves along the path of the synchronous belt. The movement of the synchronous belt clamp drives the forward and backward moving frame 34 installed thereon to move forward and backward. Driven by the synchronous belt clamp, the forward and backward moving frame 34 moves forward and backward along a predetermined path.

[0026] The automatic pallet replacement assembly 2 includes a limiting connection frame 20 and a pallet transfer frame 21 connected to both ends of the connection frame and arranged in parallel and symmetrically; the symmetrically arranged pallet transfer frame 21 is cleverly utilized, and through this structure, the auxiliary material pallet and the empty pallet are effectively separated and stored. The two groups of pallet transfer frames 21 are not only symmetrically distributed in space, but also connected to each other through the limiting connection frame 20, ensuring the stability and coordination of the overall structure. This design allows the auxiliary material pallet and the empty pallet to form layers in the vertical direction, and maintain an appropriate height difference between each layer. The design of this height difference is crucial because it provides sufficient operating space for the AGV trolley or manual forklift. After the auxiliary material pallet is placed, the operator can easily take out the empty pallet from the lower layer without moving the auxiliary material pallet on the upper layer. Such a design not only improves the efficiency of picking and placing the pallet, but also reduces the risk of collision or damage that may occur during the operation. In addition, the design of the pallet transfer frame 21 and the limiting connection frame 20 of the present invention also takes into account the adaptability of pallets of different sizes and shapes, so that it can be widely used in various production environments. Through this innovative pallet management solution, the logistics efficiency of the production site has been significantly improved, while also providing operators with a safer and more convenient working environment.

[0027] The pallet transfer rack 21 comprises a bottom plate 210, an outer frame 211, a servo motor 212, a planetary reducer 213, a driving wheel 214, a driven wheel 215, an upper flip shaft 216, an upper flip arm 217, an upper flip plate 218, an upper flip plate bearing seat 219, a lower flip shaft 220, a lower flip arm 221, a lower flip plate 222, a lower flip shaft support plate 223, a positioning ring 224, a photosensitive film 225, a slot switch 226 and a sensor 227; the outer frame 211 is mounted on the bottom plate 210, the servo motor 212 is connected to the driving wheel 214 through the planetary reducer 213, and the driving wheel 214 is meshed with the driven wheel 215; the rotation center of one group of driven wheels 215 is connected to one end of the upper flip shaft 216, a plurality of arc-shaped upper flip arms 217 are installed on the upper flip shaft 216, and a mounting position is provided for the upper flip plate 218, and the upper flip plate bearing seat 21 9 is arranged on the bottom plate 210 and provides support for the upper flip shaft 216; the rotation center of another set of driven wheels 215 is connected to one end of the lower flip shaft 220, and a plurality of L-shaped lower flip arms 221 are installed on the lower flip shaft 220 to provide an installation position for the lower flip plate 222. The lower flip shaft support plate 223 is arranged on the bottom plate 210 and provides support for the lower flip shaft 220; two sets of positioning rings 224 are installed on the upper flip shaft 216 and the lower flip shaft 220, and the upper flip shaft 216 and the lower flip shaft 220 are equipped with fan-shaped photosensitive films 225 at the ends away from the driven wheels 215, and are matched with corresponding slot switches 226, which are used to detect whether the upper flip plate 218 and the lower flip plate 222 are rotated in place through the photosensitive films 225 and the slot switches 226; the sensor 227 is installed on the outer frame 211, and is used to detect whether the tray is in place and whether the empty tray is lowered into place.

[0028] The small box paper pre-processing assembly 5 includes a substrate 51, a lifting module 52 arranged on the substrate 51, a lateral moving module 53 arranged below the lifting module 52, a longitudinal moving module 54 arranged below the lateral moving module 53, a small box paper clamp 55 arranged below the longitudinal moving module 54 and used to clamp the small box paper, and a paper cutting assembly 56 arranged at the lower end of the substrate 51 and corresponding to the small box paper clamp 55; the lifting module 52 is responsible for adjusting the height of the small box paper clamp 55 to adapt to the processing requirements of small boxes of paper of different sizes or positions. The lateral moving module 53 moves the small box paper clamp 55 in the horizontal direction so as to accurately position the small box paper placed on the substrate 51. The longitudinal moving module 54 moves the small box paper clamp 55 in a direction perpendicular to the lateral movement, which further increases the flexibility and accuracy of the device when processing small boxes of paper. The lifting module 52, the lateral moving module 53 and the longitudinal moving module 54 can drive the small box paper clamp 55 to move in multiple directions, and cooperate with the paper cutting component 56 to achieve the initial separation of the packaging paper and the small box paper, which is easy to operate.

[0029] The lifting module 52 includes a lifting frame 520 that is slidably arranged on the substrate 51, a screw rod that is rotatably connected to the substrate 51, a lifting drive motor 522 that is arranged on the substrate 51 and is connected to the screw rod through a transmission assembly, and a screw rod nut sleeve that is connected to the screw rod, and the screw rod nut sleeve is connected to the lifting frame 520, and the lifting drive motor 522 drives the lifting frame 520 to perform lifting motion along the substrate 51. The lifting drive motor 522 serves as a power source and drives the screw rod to rotate through the transmission assembly. The screw rod nut sleeve is connected to the screw rod, and when the screw rod rotates, the screw rod nut sleeve will perform linear motion along the thread direction of the screw rod. Since the screw rod nut sleeve is connected to the lifting frame 520, the lifting frame 520 will also perform lifting motion accordingly. When it is necessary to adjust the height of the lifting frame 520, the lifting drive motor 522 is started, the motor starts to rotate, and the power is transmitted to the screw rod through the transmission assembly. Under the drive of the motor, the screw rod starts to rotate clockwise or counterclockwise. Due to the thread matching relationship between the screw and the screw nut sleeve, the screw nut sleeve will perform linear motion along the thread direction of the screw. Since the screw nut sleeve is connected to the lifting frame 520, when the screw nut sleeve performs linear motion, the lifting frame 520 will also perform lifting motion accordingly. The height and direction of lifting depend on the rotation direction and rotation angle of the screw. When the lifting frame 520 is lifted to the target position, the rotation of the lifting drive motor 522 is stopped. At this time, the lifting frame 520 remains in a stable state and subsequent operations or processing can be performed. After completing the lifting operation, if it is necessary to reset the lifting frame 520 to the initial position, the lifting drive motor 522 can be started in reverse to make the screw rotate in the opposite direction. In this way, the screw nut sleeve and the lifting frame 520 will perform linear motion in opposite directions until they return to the initial position.

[0030] The transverse moving module 53 includes a transverse moving frame 530 slidably arranged at the lower part of the lifting frame 520, a transverse moving driving motor 531 arranged on the lifting frame 520, a screw rod connected to the output end of the transverse moving driving motor 531 through a transmission assembly, and a screw nut sleeve arranged on the screw rod. The transverse moving frame 530 is arranged on the screw nut sleeve of the transverse moving module 53, and the transverse moving driving motor 531 drives the transverse moving frame 530 to move laterally along the lifting frame 520. The transverse moving driving motor 531 serves as a power source and drives the screw rod to rotate through the transmission assembly. The screw nut sleeve is connected with the screw rod, and when the screw rod rotates, the screw nut sleeve will move linearly along the thread direction of the screw rod. Since the transverse moving frame 530 is arranged on the screw nut sleeve, the transverse moving frame 530 will also move laterally, and the working process is the same as that of the lifting module 52.

[0031] The longitudinal moving module 54 includes a longitudinal moving base plate 541 and a longitudinal driving mechanism for driving the transverse moving frame 530 to slide longitudinally along the longitudinal moving base plate 541. The longitudinal driving mechanism includes a longitudinal transplanting motor 540, a screw connected to the output end of the longitudinal transplanting motor 540 through a transmission assembly, and a screw nut sleeve arranged on the screw, and the transverse moving frame 530 is arranged on the screw nut sleeve. The longitudinal transplanting motor 540 serves as a power source and drives the screw to rotate through the transmission assembly. The screw nut sleeve is connected to the screw, and when the screw rotates, the screw nut sleeve will move linearly along the thread direction of the screw. Since the transverse moving frame 530 is arranged on the screw nut sleeve, the transverse moving frame 530 will slide longitudinally accordingly, and its working process is consistent with the lifting module 52. The above-mentioned transmission assembly includes a synchronous pulley and a synchronous belt arranged on the synchronous pulley.

[0032] The small box paper clamp 55 comprises a clamp driving servo motor 550 installed on a longitudinally movable substrate 541, a transmission assembly connected to the output end of the clamp driving servo motor 550, two clamp support slide rails 551 arranged at the bottom of the longitudinally movable substrate 541, a clamp support slider 552 slidably matched with the clamp support slide rail 551, and a clamp plate 553 arranged on the clamp support slider 552, and the clamp driving servo motor 550 drives the two clamp plates 553 to move closer to or away from each other. The clamp driving servo motor 550 serves as a power source to provide the driving force required for the clamp movement. The transmission assembly converts the rotary motion of the motor into the linear motion of the clamp plate 553 to realize the transmission of power. The clamp support slide rail 551 and the clamp support slider 552 play a supporting and guiding role to ensure that the clamp plate 553 moves in a straight line direction. Driven by the transmission assembly, the two clamp plates 553 begin to move closer to each other, and when the clamp plate 553 contacts the paper box, the clamp plate 553 continues to move until the paper box is firmly clamped. When the paper box needs to be released, the clamp driving servo motor 550 is started in reverse, and the motor reverses to drive the transmission assembly and the clamping plate 553 to move in the opposite direction, so that the two clamping plates 553 move away from each other and release the paper box. It does not affect the removal of the packaging paper, and can stably clamp the small box paper through the special shape of the two sides of the small box paper.

[0033] The paper cutting assembly 56 includes a driving cylinder 560 installed below the base plate 51, a paper cutter seat 561 arranged at the telescopic end of the driving cylinder 560, an edge starter 562 hingedly arranged on the paper cutter seat 561, and a paper cutter 563 arranged on the edge starter 562; a paper cutter swing shaft 564 passes through the paper cutter seat 561, and an upper limit plate 565 is arranged on the side of the base plate 51 facing the small box paper, and the upper limit plate 565 is located above the paper cutter seat 561. The cutter drive cylinder 560 is installed on the lower side of the base plate 51 towards the direction of the small box paper, providing power for the movement of the paper cutter 563; the paper cutter seat 561 is installed at the moving end of the cutter drive cylinder 560 through the slider and the slide rail, and the paper cutter swing shaft 564 is passed through it, and the edge starter 562 is hinged, so that the edge starter 562 can rotate within a certain range when it approaches the small box paper, so as to separate the small box paper from the packing paper. The edge starter 562 is equipped with a paper cutter 563, and after the packing paper and the small box paper are separated, the paper cutter drive cylinder drives and cuts the packing paper. The upper limit plate 565 is installed on the small box paper upper plane facing the small box paper side of the base plate 51, and is responsible for fixing the position of the small box paper upper plane when the small box paper pressing seam assembly 6 is working, and decompressing the small box paper through the small box paper pressing seam assembly 6, so that the packing paper and the small box paper are initially separated, so as to facilitate the edge starter 562 to insert into the gap.

[0034] The small box paper pressing seam assembly 6 includes a cylinder fixing seat 60, a flip recovery cylinder 61, a rotating shaft 62, a connecting rod 63, a base 64, a fixed rotating shaft 65, a suction cup lifting cylinder 66 and a suction cup group 67; the cylinder fixing seat 60 is installed on the main frame 1 and is rotatably connected to the tail end of the flip recovery cylinder 61, the rotating shaft 62 is installed on the piston end of the flip recovery cylinder 61, and is hinged to the base 64 through the connecting rods 63 at both ends of the rotating shaft 62, and another group of connecting rods 63 is hinged to the main frame 1, and cooperates with the fixed rotating shaft 65 that penetrates the base 64 and is installed on the main frame 1 of the four-axis destacking robot assembly 3 at both ends to form a base 64 flipping mechanism to complete the flipping action of the packaging paper recycling work. The suction cup lifting cylinder 66 is installed on the base 64, and its piston end transfers the suction cup group 67, and a beam lower than the suction cup group 67 is arranged on both sides of the suction cup group 67, which is responsible for supporting the small box paper and can stably absorb the packaging paper. After the small box paper pretreatment component 5 moves the small box paper to the packing paper cutting position, the suction cup lifting cylinder 66 extends out to provide crossbeam support and pressurize the small box paper to the upper limit plate 565 of the small box paper pretreatment component 5. At the same time, the suction cup is tightly adsorbed on the packing paper. After the packing paper is cut, the suction cup lifting cylinder 66 retracts to keep the packing paper away from the small box paper, and retracts by flipping the recovery cylinder 61, driving the packing paper to swing to above the recovery port, and then the control system passes positive pressure to break the vacuum of the suction cup to release the packing paper.

[0035] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. High-speed packaging machine small box paper automatic feeding system, characterized by: include: A main frame (1), wherein the main frame (1) is used to isolate the feeding system from the external space; An automatic tray replacement component (2), the automatic tray replacement component (2) being located below the main frame (1) and being used to receive a small paper tray that has been delivered to the location and to recycle an empty tray; A four-axis depalletizing robot assembly (3), the four-axis depalletizing robot assembly (3) being arranged on the main frame (1) and being used for automatically depalletizing small boxes of paper on a pallet; A belt conveyor assembly (4), wherein the inlet end of the belt conveyor assembly (4) is used to receive small box paper, and the outlet end of the belt conveyor assembly (4) is used to transport the small box paper to the small box paper pre-processing assembly (5); A small box paper pre-processing component (5), the small box paper pre-processing component (5) being arranged on the main frame (1) and located at the outlet end of the belt conveyor component (4), the small box paper pre-processing component (5) being used to grab the small box paper and cut off the packing paper, and transfer the packing paper to an original loading station outside the main frame (1); The small box paper pressing assembly (6) is used to pre-press the small box paper stack before cutting the packing paper, so as to separate the packing paper from the small box paper stack, and to absorb the bottom of the packing paper so as to recycle it after cutting the packing paper.

2. The automatic feeding system for small box paper of high-speed packaging machine according to claim 1 is characterized in that: The four-axis depalletizing robot assembly (3) comprises: A sponge suction cup (31) for absorbing the small box paper; A rotating member (32), the sponge suction cup (31) being arranged at the lower end of the rotating member (32) and being used to drive the sponge suction cup (31) to perform a rotating motion; A telescopic arm assembly (33), wherein the rotating member (32) is arranged at the lower end of the telescopic arm assembly (33) and is used to drive the rotating member (32) and the sponge suction cup (31) to rise and fall in a height direction; A front-to-rear movable frame (34), the telescopic arm assembly (33) being slidably arranged on the front-to-rear movable frame (34); a left-right motion module (35), the left-right motion module (35) being arranged on the front-rear motion frame (34) and being used for driving the telescopic arm assembly (33) to move along the front-rear motion frame (34); A front-to-back movement module (36), the front-to-back movement frame (34) is slidably arranged on the front-to-back movement module (36), and the front-to-back movement module (36) is used to drive the front-to-back movement frame (34) to move, and the front-to-back movement module (36) is arranged on the main body frame (1).

3. The automatic feeding system for small box paper of high-speed packaging machine according to claim 2 is characterized in that: The telescopic arm assembly (33) comprises a fixed arm (330) vertically arranged on the front-rear movable frame (34), an up-and-down driving servo motor (331) arranged on the fixed arm (330), a transmission assembly connected to the output end of the up-and-down driving servo motor (331), a primary telescopic arm (332) connected to the interior of the fixed arm (330) via the transmission assembly and capable of being telescoped along the fixed arm (330), and a secondary telescopic arm (333) connected to the primary telescopic arm (332) via a belt clamp and capable of being telescoped along the primary telescopic arm (332), wherein the rotating member (32) is arranged at the end of the secondary telescopic arm (333).

4. The automatic feeding system for small box paper of high-speed packaging machine according to claim 3 is characterized in that: The left-right motion module (35) comprises a left-right driving servo motor (350) arranged on the front-rear moving frame (34), a left-right driving pulley (351) arranged at the output end of the left-right driving servo motor (350), a left-right driving synchronous belt (352) connected to the left-right driving pulley (351), and a synchronous belt clamp (353) arranged on the left-right driving synchronous belt (352), and the fixed arm (330) is arranged on the synchronous belt clamp (353).

5. The automatic feeding system for small box paper of high-speed packaging machine according to claim 4 is characterized in that: The front-to-back movement module (36) comprises a front-to-back drive servo motor (360) arranged on the main frame (1), a front-to-back drive transmission shaft (361) arranged at the output end of the front-to-back drive servo motor (360), a bearing seat (362) arranged on both sides of the main frame (1) and used to assemble the front-to-back drive transmission shaft (361), a front-to-back drive pulley (363) connected to the end of the front-to-back drive transmission shaft (361), a front-to-back drive synchronous belt (364) arranged on the front-to-back drive pulley (363), and a synchronous belt clamping plate arranged on the front-to-back drive synchronous belt (364), and the front-to-back moving frame (34) is arranged on the synchronous belt clamping plate.

6. The automatic feeding system for small box paper of high-speed packaging machine according to claim 1 is characterized in that: The automatic pallet replacement assembly (2) comprises a limiting connection frame (20) and a pallet transfer frame (21) connected to both ends of the connection frame and arranged in parallel; The pallet transfer rack (21) comprises a bottom plate (210), an outer frame (211), a servo motor (212), a planetary reducer (213), a driving wheel (214), a driven wheel (215), an upper flip shaft (216), an upper flip arm (217), an upper flip plate (218), an upper flip plate bearing seat (219), a lower flip shaft (220), a lower flip arm (221), a lower flip plate (222), a lower flip shaft support plate (223), a positioning ring (224), a photosensitive film (225), a slot switch (226) and a sensor (227); The outer frame (211) is mounted on the base plate (210); the servo motor (212) is connected to a driving wheel (214) via a planetary reducer (213); and the driving wheel (214) is meshed with the driven wheel (215); The rotation center of one set of driven wheels (215) is connected to one end of an upper flip shaft (216); a plurality of arc-shaped upper flip arms (217) are installed on the upper flip shaft (216) and provide a mounting position for an upper flip plate (218); the upper flip plate bearing seat (219) is arranged on the bottom plate (210) and provides support for the upper flip shaft (216); The rotation center of another set of driven wheels (215) is connected to one end of a lower flip shaft (220); a plurality of L-shaped lower flip arms (221) are installed on the lower flip shaft (220) to provide a mounting position for a lower flip plate (222); and the lower flip shaft support plate (223) is arranged on the bottom plate (210) and provides support for the lower flip shaft (220); Two sets of positioning rings (224) are installed on the upper flip shaft (216) and the lower flip shaft (220). The upper flip shaft (216) and the lower flip shaft (220) are provided with a fan-shaped photosensitive sheet (225) at one end away from the driven wheel (215), and are matched with a corresponding slot switch (226). The photosensitive sheet (225) and the slot switch (226) are used to detect whether the upper flip plate (218) and the lower flip plate (222) are rotated in place; the sensor (227) is installed on the outer frame (211) and is used to detect whether the tray is in place and whether the empty tray has dropped into place.

7. The automatic feeding system for small box paper of high-speed packaging machine according to claim 1 is characterized in that: The small box paper pre-processing component (5) comprises a base plate (51), a lifting module (52) arranged on the base plate (51), a transverse moving module (53) arranged below the lifting module (52), a longitudinal moving module (54) arranged below the transverse moving module (53), a small box paper clamp (55) arranged below the longitudinal moving module (54) and used for clamping small box paper, and a paper cutting component (56) arranged at the lower end of the base plate (51) and corresponding to the small box paper clamp (55); The lifting module (52) comprises a lifting frame (520) slidably arranged on the base plate (51), a lead screw rotatably connected to the base plate (51), a lifting drive motor (522) arranged on the base plate (51) and connected to the lead screw via a transmission assembly, and a lead screw nut sleeve connected to the lead screw, wherein the lead screw nut sleeve is connected to the lifting frame (520), and the lifting drive motor (522) drives the lifting frame (520) to perform lifting movement along the base plate (51).

8. The automatic feeding system for small box paper of high-speed packaging machine according to claim 7 is characterized in that: The transverse moving module (53) comprises a transverse moving frame (530) slidably arranged at the lower part of the lifting frame (520), a transverse moving driving motor (531) arranged on the lifting frame (520), a screw rod connected to the output end of the transverse moving driving motor (531) through a transmission assembly, and a screw rod nut sleeve arranged on the screw rod, the transverse moving frame (530) is arranged on the screw rod nut sleeve of the transverse moving module (53), and the transverse moving driving motor (531) drives the transverse moving frame (530) to move transversely along the lifting frame (520); The longitudinal movement module (54) comprises a longitudinal movement base plate (541) and a longitudinal driving mechanism for driving the transverse movement frame (530) to slide longitudinally along the longitudinal movement base plate (541); the longitudinal driving mechanism comprises a longitudinal transplanting motor (540), a lead screw connected to the output end of the longitudinal transplanting motor (540) through a transmission assembly, and a lead screw nut sleeve arranged on the lead screw; the transverse movement frame (530) is arranged on the lead screw nut sleeve.

9. The automatic feeding system for small box paper of high-speed packaging machine according to claim 8 is characterized in that: The small box paper clamp (55) comprises a clamp driving servo motor (550) mounted on the longitudinal movable base plate (541), a transmission assembly connected to the output end of the clamp driving servo motor (550), two clamp support slide rails (551) arranged at the bottom of the longitudinal movable base plate (541), a clamp support slider (552) slidably matched with the clamp support slide rails (551), and a clamping plate (553) arranged on the clamp support slider (552), and the two clamping plates (553) are driven by the clamp driving servo motor (550) to move closer to or farther from each other; The paper cutting assembly (56) comprises a driving cylinder (560) installed below the base plate (51), a paper cutting knife seat (561) arranged at the telescopic end of the driving cylinder (560), an edge starter (562) hingedly arranged on the paper cutting knife seat (561), and a paper cutting knife (563) arranged on the edge starter (562); A paper cutter swing shaft (564) passes through the paper cutter seat (561); an upper limit plate (565) is provided on the side of the base plate (51) facing the small box paper, and the upper limit plate (565) is located above the paper cutter seat (561).

10. The automatic feeding system for small box paper of high-speed packaging machine according to claim 1 is characterized in that: The small box paper seam pressing assembly (6) comprises a cylinder fixing seat (60), a turning recovery cylinder (61), a rotating shaft (62), a connecting rod (63), a base (64), a fixed rotating shaft (65), a suction cup lifting cylinder (66) and a suction cup assembly (67); The cylinder fixing seat (60) is mounted on the main frame (1) and is rotatably connected to the rear end of the flip recovery cylinder (61). The rotating shaft (62) is mounted on the piston end of the flip recovery cylinder (61) and is hinged to the base (64) through connecting rods (63) at both ends of the rotating shaft (62). Another set of connecting rods (63) is hinged to the main frame (1) and cooperates with a fixed rotating shaft (65) that penetrates the base (64) and is mounted on the main frame (1) of the four-axis depalletizing robot assembly (3) at both ends to form a base (64) flipping mechanism. The suction cup lifting cylinder (66) is mounted on the base (64). The piston end of the suction cup lifting cylinder (66) transfers the suction cup group (67), and crossbeams lower than the suction cup group (67) are arranged on both sides of the suction cup group (67).

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