Packaging box ribbon shearing and recycling integrated manipulator and control method thereof

Abstract

The invention discloses a packaging box ribbon shearing and recycling integrated manipulator which comprises a rack and a ribbon shearing and recycling device arranged on the rack, the top end of the rack is provided with two sets of linear modules perpendicular to each other, and the front side of the rack is sequentially provided with a ribbon recycling box, a material conveyor and a clamping and holding machine. The belt shearing and recycling device can extrude a packaging box body and is inserted into a gap between a packaging box and a binding belt so as to pick up the binding belt to a preset belt shearing position, then the binding belt is clamped, sheared, drawn and recycled, and the belt shearing and recycling device comprises a machine cover, a belt shearing mechanism and a belt drawing and recycling mechanism, and the belt shearing mechanism and the belt drawing and recycling mechanism are arranged in the machine cover. According to the integrated mechanical arm, automatic belt shearing and recycling of the packing box binding belt can be achieved, through the integrated design of binding belt position determining, belt shearing, belt drawing and recycling components, the complexity of the overall structure and control of the mechanical arm in the prior art is effectively reduced, and the operation efficiency, accuracy and adaptability of belt shearing and recycling of the integrated mechanical arm are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging box unpacking auxiliary equipment, and in particular to a packaging box cable tie shearing and recycling integrated robot and a control method thereof. Background Art

[0002] In the food, pharmaceutical, cosmetic, and tobacco industries, materials are often packed into boxes and secured with cable ties for easy storage and transportation. During unpacking, the boxes must first be transported to a designated work location, where the cable ties are cut and retracted before the materials can be opened. Currently, the cable ties are primarily cut and retracted manually during unpacking. Manual cable tie cutting and retraction require significant physical effort due to the large and heavy boxes, resulting in extremely low work efficiency and difficulty meeting the needs of large-scale production. Using robotic unpacking also presents numerous problems: Most existing robots place cable tie cutting and retraction at two separate workstations, resulting in a complex overall structure that increases equipment costs and makes control more difficult. During cable tie removal, some ties can become trapped between the bottom of the box and the conveyor, preventing them from being properly removed and requiring manual intervention, reducing the degree of automation. Furthermore, cable ties can be missed, resulting in a low success rate for cutting and retraction. Furthermore, inaccurate positioning or improper operation during cable tie positioning and cutting can damage the box, impacting the quality of the box and the materials inside. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an integrated robot for cutting and recycling packaging box tie straps, which can solve the technical problems in the prior art that manual cutting of tie straps is time-consuming and labor-intensive, the overall structure of the robot is complex, which makes it difficult to control the cutting and recycling of tie straps, and some of the cut tie straps are pressed to the bottom of the packaging box and cannot be extracted normally. At the same time, the present invention also provides a control method for the integrated robot for cutting and recycling packaging box tie straps, which is applied to the integrated robot for cutting and recycling packaging box tie straps. In order to solve the above technical problems, the technical solution adopted by the present invention is: A packaging box tie cutting and recycling integrated robot comprises a frame and a tie cutting and recycling device arranged thereon. The frame has the function of providing stable support for the components thereon. The top of the frame is provided with two sets of linear modules arranged perpendicular to each other, namely a horizontal linear module and a feed linear module located at the top thereof. The feed linear module is connected to the shearing and recycling device through a movable arm. The front side of the frame is provided with a cable tie recycling box, a material conveyor and a clamping machine in sequence. The bottom end of the frame is provided with a universal wheel, and the side end of the movable arm is provided with a laser positioning device facing the direction of the clamping machine. The strip cutting and recycling device can squeeze the packaging box body and insert the gap between the packaging box and the cable tie to pick up the cable tie to a preset cutting position, and then clamp, cut, draw and recycle the cable tie. The strip cutting and recycling device includes a machine cover and a strip cutting mechanism and a strip drawing and recycling mechanism arranged inside the machine cover. The front end of the machine cover is provided with a strip cutting insertion plate, the strip cutting mechanism includes a strip cutting tool located behind the strip cutting insertion plate, a tool motor directly connected to the strip cutting tool, a strip cutting moving electric cylinder for pushing the strip cutting tool to move, and a tool protection cover arranged outside the strip cutting tool. The strip drawing and recycling mechanism includes a large roller located behind the strip cutting insertion plate, a large roller motor connected to the large roller transmission, a roller moving electric cylinder for pushing the large roller to move, a small roller arranged at the front end surface of the strip cutting insertion plate, and a small roller motor connected to the small roller transmission. The large roller motor is located above the large roller, and the small roller motor is connected to the outer side surface of the machine cover through a small roller bracket.

[0004] Furthermore, the linear module can drive the cutting tape recovery device to move horizontally on the frame. The number of the transverse linear modules is two. The two transverse linear modules are horizontally fixedly installed on the top of the frame in a symmetrical form and parallel to the side of the packaging box. They can provide guidance and power for the transverse movement of the entire cutting tape recovery device. The feed linear module is horizontally connected to the top of the two transverse linear modules and is perpendicular to the two transverse linear modules. The moving arm is located at the top surface of the feed linear module. The cutting tape recovery device is connected to the top surface of the moving arm. The feed linear module can drive the cutting tape recovery device to feed in a direction perpendicular to the transverse linear module. The transverse linear module and the feed linear module are arranged perpendicular to each other, so that the cutting tape recovery device can realize flexible horizontal movement on the frame and accurately locate the cable ties on packaging boxes of different positions and sizes.

[0005] Furthermore, the cable tie recovery box is used to store recycled cable ties, and the material conveyor is responsible for transporting the packaging boxes to be cut with cable ties so that they accurately arrive at the position opposite the clamping machine. The clamping machine is used to firmly clamp and lift the packaging boxes that have arrived at the specified position, providing a stable operating object for the operation of the cable tie cutting and recovery device. The laser positioning device can emit a laser beam to accurately detect the height change between the height of the packaging box where the cable tie is tied and the actual height of the packaging box where the cable tie is not tied to locate the position of the cable tie on the packaging box, accurately detect the distance between the cable tie cutting and recovery device and the packaging box, and feedback the detection data to provide a basis for accurately adjusting the motion parameters of the horizontal linear module and the feed linear module, thereby achieving the purpose of adjusting the position and posture of the cable tie cutting and recovery device to ensure the accuracy of subsequent operations, thereby improving the accuracy, adaptability and efficiency of the integrated manipulator cable tie cutting and recovery operation.

[0006] Furthermore, there are four universal wheels, which are evenly distributed at the bottom of the frame. The integrated manipulator can be moved arbitrarily through the universal wheels to ensure that the integrated manipulator is always in a suitable position.

[0007] The cam is fixedly connected to the top surface of one end of the movable arm, and the cutting plate is arranged into an L-shaped structure, and one end of the cutting plate is connected to the side end surface of the cam so that the other end of the cutting plate is placed in front of the cam, and the surface of the cutting plate located in the front of the cam is provided with a roller mounting groove for mounting a small roller, and a strap limiting block is provided below the roller mounting groove to limit the strap so that the cutting mechanism can accurately cut the strap, and a strap cutting groove is provided below the strap limiting block so that the cutting tool can smoothly cut the strap, thereby avoiding incomplete breakage of the strap caused by limited feed distance. The cutting plate can be driven by the feed linear module to move toward the direction of the packaging box held and lifted by the clamping machine to a position that slightly squeezes the packaging box, and can be driven by the transverse linear module to move horizontally to smoothly insert into the gap between the side of the packaging box and the strap, thereby picking up the strap and being driven again by the transverse linear module so that the strap is moved to the preset strap cutting position on the surface of the cutting plate.

[0008] Furthermore, the tape cutting mechanism is located at the lower position inside the machine cover, the tape cutting mechanism is responsible for the cutting operation of the cable tie, the tape cutting tool is responsible for cutting the cable tie, and the tool motor provides rotational power for the tape cutting tool, so that it can cut the cable tie quickly and effectively. The tool motor is located below the tape cutting tool, and the output end of the tool motor passes through the center position of the tape cutting tool and is tightly connected to it. The tape cutting movable electric cylinder can push the tape cutting tool to move in the horizontal direction to cut the cable tie located on the surface of the tape cutting insertion plate. The tape cutting movable electric cylinder is provided with a piston end and a cylinder end. The piston end of the tape cutting movable electric cylinder is connected to the side end face of the tool motor through the tape cutting connection support, and the cylinder end of the tape cutting movable electric cylinder is connected to the upper surface of the end of the movable arm close to the packaging box. The tool protection cover can effectively prevent the blade from flying out during the tape cutting process, avoid causing dangerous accidents, ensure the safety of the operator, and also protect the tape cutting tool from accidental collision damage. The rear end of the tool protection cover is fixedly connected to the tape cutting connection support, and the front end of the tape cutting tool extends a distance from the front end of the tool protection cover to ensure that the tape cutting tool smoothly cuts the cable tie.

[0009] Furthermore, the belt drawing and recovery mechanism is located above the belt cutting mechanism, and the belt drawing and recovery mechanism is responsible for the clamping and recovery operations of the cable tie, and the belt drawing and recovery mechanism also includes a large roller bracket, and the large roller bracket can provide a connection support for the large roller, one end of the large roller passes through one side end surface of the large roller bracket and is connected to the large roller motor through a synchronous belt I, and the large roller motor can drive the large roller to rotate, and the large roller motor is connected to the top surface of the large roller bracket, and the roller moving electric cylinder can push the large roller to move in the horizontal direction to approach the shearing insertion plate, thereby achieving the purpose of clamping the cable tie picked up by the shearing insertion plate, and driving the sheared cable tie to move for recovery, and the roller moving electric cylinder is provided with an active The piston end of the roller moving electric cylinder is connected to the rear end face of the large roller bracket, and the cylinder end of the roller moving electric cylinder is located at the upper end face of the shearing belt moving electric cylinder. The front end of the small roller can contact the front end of the large roller, and one end of the small roller passes through one side end face of the shearing belt insertion plate and is connected to the small roller motor through the synchronous belt II. The small roller bracket is located below the connection between the shearing belt insertion plate and the machine cover. The small roller motor can drive the small roller to rotate, and the cooperation of the large roller and the small roller can clamp the cable tie picked up by the shearing belt insertion plate and located at the small roller, and the large roller and the small roller cooperate by synchronous reverse rotation to work together, and can pull the cable tie to ensure that the cable tie can be smoothly recycled into the cable tie recycling box.

[0010] Furthermore, it also includes a control system, which includes a PLC controller. The PLC controller is electrically connected to the transverse linear module, the feed linear module, the laser positioning device, the tool motor, the cutting tape moving electric cylinder, the large roller motor, the roller moving electric cylinder and the small roller motor. The PLC controller can receive data information on the position of the cable tie and the distance between the cutting tape recovery device and the packaging box fed back by the laser positioning device, and can adjust the motion parameters of the transverse linear module and the feed linear module according to the acquired data information, and then adjust the position and posture of the cutting tape recovery device, and can control the extension and retraction of the roller moving electric cylinder to clamp the cable tie located on the surface of the cutting tape insertion plate, and can control the extension and retraction of the cutting tape moving electric cylinder and the power-on action of the tool motor to cut the cable tie located on the surface of the cutting tape insertion plate, and can control the power-on action of the large roller motor and the small roller motor to pull the cut cable tie for recovery operation. The PLC controller adopts a Siemens S7-1200 PLC controller, and the PLC controller is externally connected to a power supply.

[0011] The present invention also provides a control method for a packaging box tie shearing and recycling integrated robot, which is applied to the above-mentioned packaging box tie shearing and recycling integrated robot, and specifically comprises the following steps: Step S1: When the material conveyor conveys the packaging box to be processed to the clamping machine position, the clamping machine starts to firmly clamp the packaging box and lift it to facilitate the subsequent smooth recovery of the cable tie, so as to prevent some of the cable tie from being pressed between the packaging box and the material conveyor and unable to be extracted; Step S2: The laser positioning device on the mobile arm emits a laser beam to accurately detect the distance between the cutting and recycling device and the packaging box, and feeds back the detection data. According to the detection data fed back by the laser positioning device, the horizontal linear module and the feed linear module are controlled to work together to drive the cutting and recycling device and the laser positioning device to approach the packaging box. The laser positioning device continuously collects the distance data between the cutting and recycling device and the packaging box, and adjusts the feed distance of the feed linear module according to the data collected by the laser positioning device to stop it at an appropriate position. At this time, the cutting insertion plate of the cutting and recycling device slightly squeezes the packaging box to facilitate the subsequent insertion and picking up of the cable tie; Step S3: Control the transverse linear module to drive the cable cutter recovery device to move transversely along the surface of the packaging box, so that the cable cutter insertion plate is inserted into the gap between the packaging box and the cable tie, thereby picking up the cable tie, and detecting the height change between the cable tie bundling position and the actual height of the packaging box through the laser positioning device, and obtaining the position information of the cable tie on the side of the packaging box. According to the position information fed back by the laser positioning device, the motion parameters of the transverse linear module are adjusted again, so that the cable tie moves to the preset cable cutter position on the surface of the cable cutter insertion plate, that is, the side edge of the cable tie is close to the cable tie limit block provided on the surface of the cable cutter insertion plate, in preparation for the cable cutter operation; Step S4: Control the roller moving electric cylinder to drive the large roller close to the small roller provided on the front end surface of the cutting tape insertion plate to clamp the cable tie at the cutting tape position to ensure that the cable tie remains stable and prevents deviation during the cutting process. Then control the cutting tape moving electric cylinder to drive the cutting tape tool close to the cable tie, and at the same time start the tool motor to drive the cutting tape tool to rotate to quickly cut the cable tie. Finally, control the cutting tape moving electric cylinder to drive the cutting tape tool to retreat to leave working space for the extraction and recovery operation. At the same time, control the feed linear module to drive the cutting tape recovery device to retreat to ensure that the cable tie can accurately fall into the cable tie recovery box when it is recovered. Step S5: After the preset time for the tape cutting operation in step S4 ends, the large roller motor and the small roller motor are both started, and the large roller and the small roller are driven to rotate synchronously in opposite directions through the transmission of the synchronous belt, so that the cut cable ties are extracted and collected in the cable tie recycling box. Subsequently, the roller moving electric cylinder is controlled to drive the large roller to reset, completing one tape extraction action. Finally, the horizontal linear module is controlled to drive the tape cutting and recycling device to move a distance in a direction parallel to the side of the packaging box, and steps S2 to S5 are repeated to complete the cutting and recycling of all cable ties. Step S6: The clamping machine drives the packaging box with all the cable ties cut off to descend and place it on the material conveyor to be transferred to the next process.

[0012] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: 1. The present invention has the characteristics of simple structure, convenient tape collection, high success rate of tape cutting and collecting, low rate of missed cutting, and little damage to the packaging box. The present invention can realize automatic tape cutting and recycling of packaging box tie ties. Through the integrated design of tie position determination, tape cutting, tape extraction, and recycling components, the overall structure and control complexity of the robot in the existing technology are effectively reduced, the equipment footprint is reduced, the equipment cost and maintenance difficulty are reduced, and the operational efficiency, accuracy and adaptability of the integrated robot for tape cutting and recycling are improved; 2. The present invention optimizes the operation process of the integrated manipulator of the present invention through continuous operation actions such as laser positioning, cable tie lifting, gap insertion, cable tie pressing, cable tie cutting, and cable tie extraction and recovery, thereby shortening the action interval and operation time; 3. When the clamping machine of the present invention clamps and lifts the packaging box, there is no obstruction when the cable tie is cut, and the cable tie can be easily collected. The laser positioning device of the present invention can accurately detect the height difference between the height of the packaging box where the cable tie is tied and the actual height of the packaging box where the cable tie is not tied, so as to locate the position of the cable tie on the packaging box, avoid missing the cable tie during the cutting and recycling process, and improve the success rate of cutting and collecting. The laser positioning device can also accurately detect the distance between the cutting and recycling device and the packaging box, providing a basis for accurately adjusting the motion parameters of the horizontal linear module and the feed linear module, thereby avoiding damage to the packaging box surface, extending the recycling period of the packaging box, and improving economic benefits. Other beneficial effects of the present invention will be further described in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a side structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the top view of the structure of the present invention; Figure 4 It is a structural schematic diagram of the ribbon cutting and recovery device of the present invention; Figure 5 It is a structural schematic diagram of the ribbon cutting mechanism of the present invention; Figure 6 This is a structural diagram of the belt-drawing recovery mechanism of the present invention; Figure 7 This is a schematic structural diagram of a shear band insert plate of the present invention; Among them: 1. Frame; 11. Horizontal linear module; 12. Feed linear module; 2. Tape cutting mechanism; 21. Tape cutting tool; 22. Tool motor; 23. Tape cutting moving electric cylinder; 24. Tool protection cover; 3. Tape extraction and recovery mechanism; 31. Large roller; 32. Large roller motor; 33. Small roller; 34. Small roller motor; 35. Roller moving electric cylinder; 4. Laser positioning device; 5. Tape cutting insertion plate; 51. Cable tie limit block; 52. Tape cutting slot; 53. Roller mounting slot; 6. Packing box; 61. Cable tie; 7. Clamping machine; 8. Material conveyor; 9. Cable tie recovery box. DETAILED DESCRIPTION

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0015] Example 1 like Figures 1 to 7 As shown, the present invention provides an integrated robot for cutting and recycling packaging box tie straps. Through continuous operations such as laser positioning, gap insertion, pressing, cutting, and drawing and recycling, the operation process of the integrated robot is optimized, the action interval and operation time are shortened, and the operating efficiency of the integrated robot for cutting and recycling is significantly improved. The present invention provides a packaging box cable tie shearing and recycling integrated robot. It includes a frame 1 and a cutting and recycling device arranged thereon. The frame 1 has the function of providing stable support for the components thereon. The top of the frame 1 is provided with two sets of linear modules arranged perpendicular to each other, namely a horizontal linear module 11 and a feed linear module 2 located at the top thereof. The feed linear module 2 is connected to the shearing and recycling device through a movable arm. The front side of the frame 1 is provided with a cable tie recycling box 9, a material conveyor 8 and a clamping machine 7 in sequence. The bottom end of the frame 1 is provided with a universal wheel, and the side end of the movable arm is provided with a laser positioning device 4 facing the direction of the clamping machine 7; The cutting and recycling device can squeeze the packaging box 6 and insert it into the gap between the packaging box 6 and the cable tie 61 to lift the cable tie 61 to the preset cutting position, and then clamp, cut, draw and recycle the cable tie 61. The cutting and recycling device includes a machine cover and a cutting mechanism 21 and a drawing and recycling mechanism 3 arranged inside the machine cover. The front end of the machine cover is provided with a cutting insertion plate 5. The cutting mechanism 21 includes a cutting tool 21 located behind the cutting insertion plate 5, a tool motor 22 directly connected to the cutting tool 21, and a cutting motor that drives the cutting tool 21 to move. The belt-moving electric cylinder 23 and the tool protection cover 24 arranged on the outside of the belt cutting tool 21, the belt extraction and recovery mechanism 3 includes a large roller 31 located behind the belt cutting insertion plate 5, a large roller motor 32 connected to the large roller 31, a roller-moving electric cylinder 35 that pushes the large roller 31 to move, a small roller 33 arranged on the front end face of the belt cutting insertion plate 5 and a small roller motor 34 connected to the small roller 33, the large roller motor 32 is located above the large roller 31, and the small roller motor 34 is connected to the outer side of the machine cover through a small roller bracket.

[0016] In this embodiment, the linear module can drive the cutting tape recovery device to move horizontally on the frame 1. The number of the transverse linear modules 11 is two. The two transverse linear modules 11 are horizontally fixedly installed on the top of the frame 1 in a symmetrical form and are parallel to the side of the packaging box 6. They can provide guidance and power for the transverse movement of the entire cutting tape recovery device. The feed linear module 2 is horizontally connected to the top of the two transverse linear modules 11 and is perpendicular to the two transverse linear modules 11. The moving arm is located at the top surface of the feed linear module 2, and the cutting tape recovery device is connected to the top surface of the moving arm. The feed linear module 2 can drive the cutting tape recovery device to feed in a direction perpendicular to the transverse linear module 11. The mutually perpendicular setting of the transverse linear module 11 and the feed linear module 2 enables the cutting tape recovery device to achieve flexible horizontal movement on the frame 1 and accurately position the cable ties 61 on packaging boxes 6 of different positions and sizes.

[0017] In this embodiment, the cable tie recovery box 9 is used to store the recycled cable ties 61, and the material conveyor 8 is responsible for conveying the packaging box 6 with the cable tie 61 to be cut so that it can accurately reach the position opposite the clamping machine 7. The clamping machine 7 is used to firmly clamp and lift the packaging box 6 that has arrived at the specified position, providing a stable operating object for the operation of the cable tie recovery device, and when the clamping machine 7 clamps and lifts the packaging box 6, there is no obstruction to the extraction of the cable tie 61 after it is cut, and the cable tie is convenient to collect. The laser positioning device 4 can emit a laser beam to accurately detect the height change between the height of the packaging box 6 where the cable tie 61 is tied and the actual height of the packaging box 6 where the cable tie 61 is not tied, so as to determine the height of the packaging box 6. The laser positioning device 4 can select the position of the cable tie 61 on the packaging box 6, accurately detect the distance between the cutting and recovering device and the packaging box 6, and feed back the detection data to provide a basis for accurately adjusting the motion parameters of the transverse linear module 11 and the feed linear module 2, thereby achieving the purpose of adjusting the position and posture of the cutting and recovering device to ensure the accuracy of subsequent operations, thereby improving the accuracy, adaptability and efficiency of the cutting and recovering operation of the integrated manipulator. The laser positioning device 4 can use a laser position sensor, which can accurately measure the position, displacement and other changes of the measured object without contact, and is mainly used for measuring geometric quantities such as displacement, thickness, vibration, distance, diameter and so on of the detected object.

[0018] In this embodiment, there are four universal wheels, which are evenly distributed at the bottom end of the frame 1. The integrated manipulator can be moved arbitrarily through the universal wheels to ensure that the integrated manipulator is always in a suitable position.

[0019] In this embodiment, the hood is fixedly connected to the top surface of one end of the moving arm, and the cutting strip insertion plate 5 is set to an L-shaped structure. One end of the cutting strip insertion plate 5 is connected to the side end surface of the hood so that the other end of the cutting strip insertion plate 5 is placed in front of the hood. The surface of the end of the cutting strip insertion plate 5 located in front of the hood is provided with a roller mounting groove 53 for mounting a small roller 33. A cable tie 61 limiting block 51 is provided below the roller mounting groove 53 to limit the cable tie 61 so that the cutting strip mechanism 21 can accurately cut the cable tie 61. A cable tie 61 limiting block 51 is provided below the cable tie 61 to facilitate the smooth cutting of the cable tie tool 21. To cut the cable tie 61 and avoid incomplete breaking of the cable tie 61 due to limited feed distance, the cable tie insertion plate 5 can be moved toward the direction of the packaging box 6 clamped and lifted by the clamping machine 7 under the drive of the feed linear module 2 to a position that slightly squeezes the packaging box 6, and is driven by the horizontal linear module 11 to move horizontally to smoothly insert into the gap between the side of the packaging box 6 and the cable tie 61, thereby picking up the cable tie 61 and being driven again by the horizontal linear module 11 to move the cable tie 61 on the surface of the cable tie insertion plate 5 to the preset cable cutting position. Specifically, the preset cable cutting position is the position where the side edge of the cable tie 61 is against the end side of the cable tie 61 limit block 51.

[0020] In this embodiment, the cutting mechanism 21 is located at the lower position inside the hood. The cutting mechanism 21 is responsible for the cutting operation of the cable tie 61. The cutting tool 21 is responsible for cutting the cable tie 61. The tool motor 22 provides rotational power for the cutting tool 21, so that it can quickly and effectively cut the cable tie 61. The tool motor 22 is located below the cutting tool 21. The output end of the tool motor 22 passes through the center position of the cutting tool 21 and is fastened to it. The cutting moving electric cylinder 23 can push the cutting tool 21 to move in the horizontal direction to cut the cable tie 61 located on the surface of the cutting insertion plate 5. 23 is provided with a piston end and a cylinder end. The piston end of the tape cutting movable electric cylinder 23 is connected to the side end face of the tool motor 22 through the tape cutting connecting support. The cylinder end of the tape cutting movable electric cylinder 23 is connected to the upper surface of the end of the movable arm close to the packaging box 6. The tool protection cover 24 can effectively prevent the blade from flying out during the tape cutting process, avoid causing dangerous accidents, and ensure the safety of the operator. At the same time, it can also protect the tape cutting tool 21 from accidental collision damage. The rear end of the tool protection cover 24 is fixedly connected to the tape cutting connecting support, and the front end of the tape cutting tool 21 extends a distance from the front end of the tool protection cover 24 to ensure that the tape cutting tool 21 can smoothly cut the cable tie 61.

[0021] In this embodiment, the belt extraction and recovery mechanism 3 is located above the belt cutting mechanism 21. The belt extraction and recovery mechanism 3 is responsible for the clamping and recovery operations of the cable tie 61. The belt extraction and recovery mechanism 3 also includes a large roller bracket. The large roller bracket can provide a connection support for the large roller 31. One end of the large roller 31 passes through one side end surface of the large roller bracket and is connected to the large roller motor 32 through a synchronous belt I. The large roller motor 32 can drive the large roller 31 to rotate. The large roller motor 32 is connected to the top surface of the large roller bracket. The roller moving electric cylinder 35 can push the large roller 31 to move horizontally to approach the cable cutting insertion plate 5, thereby achieving the purpose of clamping the cable tie 61 located on the surface of the cable cutting insertion plate 5, and driving the cut cable tie 61 to move for recovery. The roller moving electric cylinder 35 is provided with a piston end and a cylinder The piston end of the roller moving electric cylinder 35 is connected to the rear end face of the large roller bracket, and the cylinder end of the roller moving electric cylinder 35 is located at the upper end face of the shearing belt moving electric cylinder 23, and the front end of the small roller 33 can contact the front end of the large roller 31, and one end of the small roller 33 passes through one side end face of the shearing belt insertion plate 5 and is connected to the small roller motor 34 through the synchronous belt II. The small roller bracket is located below the connection between the shearing belt insertion plate 5 and the machine cover, and the small roller motor 34 can drive the small roller 33 to rotate. The cooperation between the large roller 31 and the small roller 33 can clamp the cable tie 61 located at the small roller 33 on the surface of the shearing belt insertion plate 5, and the large roller 31 and the small roller 33 work together by synchronously rotating in opposite directions, and can pull the cable tie 61 to ensure that the cable tie 61 can be smoothly recycled into the cable tie recycling box 9.

[0022] In this embodiment, a control system is also included, and the control system includes a PLC controller. The PLC controller is electrically connected to the horizontal linear module 11, the feed linear module 2, the laser positioning device 4, the tool motor 22, the cutting belt moving cylinder 23, the large roller motor 32, the roller moving cylinder 35 and the small roller motor 34. The PLC controller can receive data information of the position of the cable tie 61 and the distance between the cutting belt recovery device and the packaging box 6 fed back by the laser positioning device 4, and can adjust the horizontal linear module 11, the feed linear module 2, the laser positioning device 4, the tool motor 22, the cutting belt moving cylinder 23, the large roller motor 32, the roller moving cylinder 35 and the small roller motor 34 according to the data information obtained. The motion parameters of the wire module 2 are used to adjust the position and posture of the cutting and recovering device. The roller moving electric cylinder 35 can be controlled to extend and retract to clamp the cable tie 61 located on the surface of the cutting insertion plate 5. The cutting moving electric cylinder 23 can be controlled to extend and retract and the tool motor 22 can be powered on to cut the cable tie 61 located on the surface of the cutting insertion plate 5. The large roller motor 32 and the small roller motor 34 can be controlled to power on to pull the cut cable tie 61 for recovery. The PLC controller adopts Siemens S7-1200 PLC controller, and the PLC controller is externally connected to a power supply. It should be noted that this application does not improve the programmable program of the Siemens S7-1200PLC controller, but only uses its existing control program and principles to realize data calculation, comparison and data transmission functions. For the control programs and principles involved, please refer to the controller product manual or existing technical information.

[0023] Example 2 The present invention also provides a control method for a shearing and recycling integrated robot for packaging box 6 tie 61. The method is applied to the above-mentioned shearing and recycling integrated robot for packaging box 6 tie 61. The specific steps include: Step S1: After the material conveyor 8 conveys the packaging box 6 to be processed to the position of the clamping machine 7, the clamping machine 7 starts to firmly clamp the packaging box 6 and lift it to facilitate the subsequent smooth recovery of the cable tie 61, thereby preventing part of the cable tie 61 from being pressed between the packaging box 6 and the material conveyor 8 and being unable to be extracted; Step S2: The laser positioning device 4 on the mobile arm emits a laser beam to accurately detect the distance between the cutting tape recovery device and the packaging box 6, and feeds back the detection data. According to the detection data fed back by the laser positioning device 4, the horizontal linear module 11 and the feed linear module 2 are controlled to work together to drive the cutting tape recovery device and the laser positioning device 4 to approach the packaging box 6. The laser positioning device 4 continuously collects the distance data between the cutting tape recovery device and the packaging box 6, and adjusts the feeding distance of the feed linear module 2 according to the data collected by the laser positioning device 4 to stop it at an appropriate position. At this time, the cutting tape insertion plate 5 of the cutting tape recovery device slightly squeezes the packaging box 6 to facilitate the subsequent insertion and picking up of the cable tie 61; Step S3: Control the transverse linear module 11 to drive the cutting and recovering device to move transversely along the surface of the packaging box 6, so that the cutting insertion plate 5 is inserted into the gap between the packaging box 6 and the cable tie 61, thereby picking up the cable tie 61, and detecting the height change between the binding position of the cable tie 61 and the actual height of the packaging box 6 through the laser positioning device 4, and obtaining the position information of the cable tie 61 on the side of the packaging box 6, so as to adjust the motion parameters of the transverse linear module 11 again according to the position information fed back by the laser positioning device 4, so that the cable tie 61 moves to the preset cutting position on the surface of the cutting insertion plate 5, that is, the side edge of the cable tie 61 is close to the cable tie 61 limit block 51 provided on the surface of the cutting insertion plate 5, in preparation for the cutting operation; Step S4: Control the roller moving electric cylinder 35 to drive the large roller 31 close to the small roller 33 provided on the front end surface of the cutting tape insertion plate 5 to clamp the cable tie 61 at the cutting tape position to ensure that the cable tie 61 remains stable and prevents deviation during the cutting process. Then control the cable tie moving electric cylinder 23 to drive the cable tie cutting tool 21 close to the cable tie 61, and start the tool motor 22 at the same time to drive the cable tie cutting tool 21 to rotate to quickly cut the cable tie 61. Finally, control the cable tie moving electric cylinder 23 to drive the cable tie cutting tool 21 to retreat to leave working space for the extraction and recovery operation. At the same time, control the feed linear module 2 to drive the cable tie recovery device to retreat to ensure that the cable tie 61 can accurately fall into the cable tie recovery box 9 when it is recovered. Step S5: After the preset time period for the tape cutting operation in step S4 ends, the large roller motor 32 and the small roller motor 34 are both started, and the large roller 31 and the small roller 33 are driven to rotate synchronously in opposite directions through the transmission of the synchronous belt, so that the cut cable ties 61 are extracted and collected in the cable tie recovery box 9. Subsequently, the roller moving electric cylinder 35 is controlled to drive the large roller 31 to reset, completing one tape extraction action. Finally, the horizontal linear module 11 is controlled to drive the tape cutting and recovery device to move a distance in a direction parallel to the side of the packaging box 6, and steps S2 to S5 are repeated to complete the shearing and recovery of all cable ties 61. Step S6: the clamping machine 7 drives the packaging box 6 with all the cable ties 61 cut off to descend and place it on the material conveyor 8 to be transferred to the next process.

[0024] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A package box tie shearing and recycling integrated robot, characterized by: It includes a frame and a cutting and recovering device arranged thereon. The frame has the function of providing stable support for the components thereon. The top of the frame is provided with two sets of linear modules arranged perpendicular to each other, namely a horizontal linear module and a feed linear module located at the top thereof. The feed linear module is connected to the shearing and recycling device through a movable arm. The front side of the frame is provided with a cable tie recycling box, a material conveyor and a clamping machine in sequence. The bottom end of the frame is provided with a universal wheel, and the side end of the movable arm is provided with a laser positioning device facing the direction of the clamping machine. The strip cutting and recycling device can squeeze the packaging box body and insert the gap between the packaging box and the cable tie to pick up the cable tie to a preset cutting position, and then clamp, cut, draw and recycle the cable tie. The strip cutting and recycling device includes a machine cover and a strip cutting mechanism and a strip drawing and recycling mechanism arranged inside the machine cover. The front end of the machine cover is provided with a strip cutting insertion plate, the strip cutting mechanism includes a strip cutting tool located behind the strip cutting insertion plate, a tool motor directly connected to the strip cutting tool, a strip cutting moving electric cylinder for pushing the strip cutting tool to move, and a tool protection cover arranged outside the strip cutting tool. The strip drawing and recycling mechanism includes a large roller located behind the strip cutting insertion plate, a large roller motor connected to the large roller transmission, a roller moving electric cylinder for pushing the large roller to move, a small roller arranged at the front end surface of the strip cutting insertion plate, and a small roller motor connected to the small roller transmission. The large roller motor is located above the large roller, and the small roller motor is connected to the outer side surface of the machine cover through a small roller bracket.

2. The integrated robot for cutting and recycling packaging box tie according to claim 1, characterized in that: There are two transverse linear modules, which are horizontally fixedly installed on the top of the frame in a symmetrical form and parallel to the side of the packaging box. The feed linear module is horizontally connected to the top of the two transverse linear modules and is perpendicular to the two transverse linear modules. The movable arm is located at the top surface of the feed linear module, and the shear tape recovery device is connected to the top surface of the movable arm.

3. The integrated robot for cutting and recycling packaging box tie according to claim 1, characterized in that: The hood is fixedly connected to the top end surface of one end of the movable arm, and the shearing belt insertion plate is arranged into an L-shaped structure, and one end of the shearing belt insertion plate is connected to the side end surface of the hood so that the other end of the shearing belt insertion plate is placed directly in front of the hood, and a roller mounting groove for mounting a small roller is provided on the surface of the end of the shearing belt insertion plate located directly in front of the hood, and a tie limit block is provided below the roller mounting groove, and a shearing belt groove is provided below the tie limit block.

4. The integrated robot for cutting and recycling packaging box tie according to claim 1, characterized in that: The belt cutting mechanism is located at the lower position inside the machine cover, the tool motor is located below the belt cutting tool, and the output end of the tool motor passes through the center position of the belt cutting tool and is tightly connected with the center position of the belt cutting tool.

5. The integrated robot for cutting and recycling packaging box tie according to claim 1, characterized in that: The strap cutting movable electric cylinder is provided with a piston end and a cylinder end. The piston end of the strap cutting movable electric cylinder is connected to the side end face of the tool motor through the strap cutting connecting support. The cylinder end of the strap cutting movable electric cylinder is connected to the upper surface of the end of the movable arm close to the packaging box. The rear end of the tool protection cover is fixedly connected to the strap cutting connecting support. The front end of the strap cutting tool extends a certain distance from the front end of the tool protection cover to ensure that the strap cutting tool can smoothly cut the cable tie.

6. The integrated robot for cutting and recycling packaging box tie according to claim 1, characterized in that: The belt extraction and recovery mechanism is located above the belt cutting mechanism, and the belt extraction and recovery mechanism also includes a large roller bracket, one end of the large roller passes through one side end face of the large roller bracket and is connected to the large roller motor through a synchronous belt I, the large roller motor is connected to the top surface of the large roller bracket, the roller moving electric cylinder is provided with a piston end and a cylinder end, the piston end of the roller moving electric cylinder is connected to the rear end face of the large roller bracket, the cylinder end of the roller moving electric cylinder is located at the upper end face of the belt cutting moving electric cylinder, the front end of the small roller can contact the front end of the large roller, one end of the small roller passes through one side end face of the belt cutting insertion plate and is connected to the small roller motor through a synchronous belt II, and the small roller bracket is located below the connection between the belt cutting insertion plate and the machine cover.

7. A control method for a package box tie shearing and recycling integrated robot, the method being applied to a package box tie shearing and recycling integrated robot as claimed in any one of claims 1 to 6, the specific steps comprising: Step S1: When the material conveyor conveys the packaging box to be processed to the clamping machine position, the clamping machine starts to firmly clamp the packaging box and lift it to facilitate the subsequent smooth recovery of the cable tie, so as to prevent some of the cable tie from being pressed between the packaging box and the material conveyor and unable to be extracted; Step S2: The laser positioning device on the mobile arm emits a laser beam to accurately detect the distance between the cutting and recycling device and the packaging box, and feeds back the detection data. According to the detection data fed back by the laser positioning device, the horizontal linear module and the feed linear module are controlled to work together to drive the cutting and recycling device and the laser positioning device to approach the packaging box. The laser positioning device continuously collects the distance data between the cutting and recycling device and the packaging box, and adjusts the feed distance of the feed linear module according to the data collected by the laser positioning device to stop it at an appropriate position. At this time, the cutting insertion plate of the cutting and recycling device slightly squeezes the packaging box to facilitate the subsequent insertion and picking up of the cable tie; Step S3: Control the transverse linear module to drive the cable cutter recovery device to move transversely along the surface of the packaging box, so that the cable cutter insertion plate is inserted into the gap between the packaging box and the cable tie, thereby picking up the cable tie, and detecting the height change between the cable tie bundling position and the actual height of the packaging box through the laser positioning device, and obtaining the position information of the cable tie on the side of the packaging box. According to the position information fed back by the laser positioning device, the motion parameters of the transverse linear module are adjusted again, so that the cable tie moves to the preset cable cutter position on the surface of the cable cutter insertion plate, that is, the side edge of the cable tie is close to the cable tie limit block provided on the surface of the cable cutter insertion plate, in preparation for the cable cutter operation; Step S4: Control the roller moving electric cylinder to drive the large roller close to the small roller provided on the front end surface of the cutting tape insertion plate to clamp the cable tie at the cutting tape position to ensure that the cable tie remains stable and prevents deviation during the cutting process. Then control the cutting tape moving electric cylinder to drive the cutting tape tool close to the cable tie, and at the same time start the tool motor to drive the cutting tape tool to rotate to quickly cut the cable tie. Finally, control the cutting tape moving electric cylinder to drive the cutting tape tool to retreat to leave working space for the extraction and recovery operation. At the same time, control the feed linear module to drive the cutting tape recovery device to retreat to ensure that the cable tie can accurately fall into the cable tie recovery box when it is recovered. Step S5: After the preset time for the tape cutting operation in step S4 ends, the large roller motor and the small roller motor are both started, and the large roller and the small roller are driven to rotate synchronously in opposite directions through the transmission of the synchronous belt, so that the cut cable ties are extracted and collected in the cable tie recycling box. Subsequently, the roller moving electric cylinder is controlled to drive the large roller to reset, completing one tape extraction action. Finally, the horizontal linear module is controlled to drive the tape cutting and recycling device to move a distance in a direction parallel to the side of the packaging box, and steps S2 to S5 are repeated to complete the cutting and recycling of all cable ties. Step S6: The clamping machine drives the packaging box with all the cable ties cut off to descend and place it on the material conveyor to be transferred to the next process.

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