System and method for automatically removing material wrapping film

Abstract

The invention relates to the technical field of wrapping film removal, in particular to a system and method for automatically removing a material wrapping film. The system comprises a contour scanning module for acquiring three-dimensional contour data of a stack-type material; the non-contact thermal cutting module cuts off the winding film in a hot melting mode along a preset track according to the three-dimensional contour data, and a constant distance is kept between the non-contact thermal cutting module and the surface of the material in the cutting process; the composite fixing module comprises an elastic roller pressing and holding unit and a vacuum adsorption unit, the winding film is fixed through cooperation of mechanical pressure and negative pressure adsorption, and the film body is prevented from moving during cutting; the waste film collecting module automatically drags and compacts the waste film to a collecting container after cutting is completed; and the control module is in communication connection with the contour scanning module, the non-contact thermal cutting module, the composite fixing module and the waste film collecting module, all the modules are coordinated to operate in a linkage mode, and full-process automation is achieved. The problems of prominent potential safety hazards, low operation efficiency, high product damage rate, subsequent transfer risks and the like in manual operation are solved.

Description

Technical Field

[0001] The present application relates to the technical field of stretch film removal, and in particular to a system and method for automatically removing stretch film of materials. Background Art

[0002] In high-purity environments such as logistics warehouses, manufacturing production lines, and the food, beverage, pharmaceutical, and chemical industries, large quantities of bagged, boxed, or barreled materials are often stacked on standard pallets and secured with multiple layers of PE plastic wrap to prevent them from scattering or spilling during transportation. Before these pallets are sorted, repacked, or automatically fed into the packaging, the wrapping must be completely removed. Currently, the industry still relies on manual labor, which wastes manpower and can damage materials. Summary of the Invention

[0003] In view of this, the embodiments of the present application are directed to providing a system and method for automatically removing material stretch film, so as to solve the problems of wasting manpower and possible damage to materials during manual operation.

[0004] The present application provides a system for automatically removing material stretch film, comprising: Contour scanning module, used to obtain three-dimensional contour data of stacked materials; A non-contact thermal cutting module, configured to cut the stretch film by hot-melt along a preset trajectory according to the three-dimensional contour data, while maintaining a constant distance from the material surface during the cutting process; The composite fixing module includes an elastic roller holding unit and a vacuum adsorption unit, which is used to fix the stretch film by combining mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting. Waste film collection module, used to automatically pull and compact the waste film into the collection container after cutting is completed; The control module is respectively communicated with the contour scanning module, the contactless thermal cutting module, the composite fixing module, and the waste film collection module, and is used to coordinate the linkage operation of the contour scanning module, the contactless thermal cutting module, the composite fixing module and the waste film collection module to realize full process automation.

[0005] In some embodiments, the contactless thermal cutting module includes: a PID temperature-controlled hot air gun and a first robotic arm; The PID temperature-controlled hot air gun is arranged at the end of the first robotic arm; The first robotic arm is used to control the nozzle of the PID temperature-controlled hot air gun to cut the stretch film by hot melting along a preset trajectory.

[0006] In some embodiments, the composite fixing module includes: a displacement module, a vacuum adsorption unit, and an elastic roller pressing unit; The vacuum adsorption unit and the elastic roller pressing unit are arranged on the displacement module; The displacement module is used to drive the vacuum adsorption unit and the elastic roller holding unit to a preset position, and fix the stretch film by mechanical pressure and negative pressure adsorption.

[0007] In some embodiments, the waste film collection module includes a clamping module, a traction module, and a collection module; The gripping module includes a second robotic arm and a gripper provided at the end of the second robotic arm; The composite fixing module is further used to pull the stretch film a first preset distance away from the stacked material after cutting is completed, so that there is a gap between the stacked material and the stretch film; The second robotic arm controls the clamp to clamp the stretch film through the gap, drags the stretch film around the stacked material so that the stretch film is separated from the stacked material, and feeds the stretch film into the traction module; The traction module includes: a driving shaft and a driven shaft, both of which are axially perpendicular to the ground, and a guide structure provided on one side of the driving shaft and the driven shaft; the traction module places the wrapping film between the driving shaft and the driven shaft; the driving shaft and the driven shaft squeeze the wrapping film and drive the wrapping film to move through the guide structure to the collection module; The collection module is used to store the stretch film; In some embodiments, the driven shaft is movably disposed on one side of the driving shaft via a cylinder; When the cylinder is in the first state, the driven shaft is away from the driving shaft, so that the traction module can place the wrapping film between the driving shaft and the driven shaft; When the cylinder is in the second state, the driven shaft is in close contact with the driving shaft to squeeze the winding film between the driving shaft and the driven shaft.

[0008] In some embodiments, a full material alarm device is provided inside the collection module; The full material alarm device is used to send out an alarm signal when the waste film in the collection module reaches a certain amount, so as to remind the operator to handle it.

[0009] In some embodiments, the contour scanning module includes: a first overall scanning module and a second path scanning module; The second path scanning module is arranged at the end of the first robotic arm and is opposite to the PID temperature-controlled hot air gun, and is used for scanning the cutting path.

[0010] In some embodiments, the second path scanning module includes: a magnetostrictive displacement sensor, an elastic telescopic roller, and a compression spring; The elastic retractable roller is elastically fixed to the end of the first robotic arm by the compression spring, and is used to contact and press the surface of the stacked material to determine the concave-convex structure of the surface of the stacked material; The magnetostrictive displacement sensor is used to detect the displacement of the elastic telescopic roller.

[0011] The present application also provides a method for automatically removing a material stretch film, which is applied to the above-mentioned automatic material stretch film removal system, comprising: Obtain the three-dimensional contour data of the stacked material through the contour scanning module; Based on the three-dimensional contour data, the non-contact thermal cutting module is controlled to cut the stretch film by hot melting, and a constant distance from the material surface is maintained during the cutting process. In addition, the composite fixing module is controlled to fix the stretch film by mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting. After cutting is completed, the waste film collection module is controlled to automatically pull and compact the waste film into the collection container; In some embodiments, controlling the composite fixing module to fix the stretch film by combining mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting includes: When cutting begins, the composite fixing module is controlled to move to a fixed position and fix the stretch film with mechanical pressure; When the cutting is completed, the composite fixing module is controlled to fix the stretch film by means of negative pressure adsorption, and the stretch film is pulled a first preset distance away from the stack material.

[0012] The present application provides an automatic material wrapping film removal system, which includes a contour scanning module for obtaining three-dimensional contour data of the stacked material; a contactless thermal cutting module for cutting the wrapping film by hot-melt along a preset trajectory according to the three-dimensional contour data, and maintaining a constant distance from the material surface during the cutting process; a composite fixing module, including an elastic roller holding unit and a vacuum adsorption unit, for fixing the wrapping film by mechanical pressure and negative pressure adsorption to prevent displacement of the film during cutting; a waste film collection module for automatically pulling and compacting the waste film to a collection container after cutting is completed; a control module, which is respectively communicated with the contour scanning module, the contactless thermal cutting module, the composite fixing module, and the waste film collection module, and is used to coordinate the linkage operation of the contour scanning module, the contactless thermal cutting module, the composite fixing module, and the waste film collection module to achieve full process automation. Compared with traditional manual or semi-automatic film removal methods, the improvement brought about by this system is intuitive and perceptible. In terms of safety, workers used to have to stand close to 1.6-meter-tall pallets, cutting each layer with handheld knives, posing a risk of falls or cuts. Now, the entire process is completed in an enclosed space, with the hot air gun maintaining a safe distance of approximately 30 mm from the goods. This allows workers to operate without having to get close to the pallet, significantly reducing potential safety hazards. Regarding efficiency, manually removing a pallet typically takes several minutes, often requiring additional cutting due to uneven pallet shapes. This system uses 3D contour scanning to rapidly build a model, with the hot air gun cutting at a constant speed along a pre-set trajectory. Combined with automatic traction and compaction of waste film, the overall cycle time is significantly reduced, reducing the time required to complete a single pallet operation to less than one-third of the original manual process. Product protection is also improved. Traditional blades can easily scratch the carton or barrel walls, causing packaging damage. Non-contact hot melt cutting only melts the film, minimizing surface temperature rise and significantly improving the appearance of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0014] Figure 1 It is a structural schematic diagram of a system for automatically removing material stretch film provided by an embodiment of the present application.

[0015] Figure 2 This is a structural schematic diagram of an automatic material stretch film removal system provided from another angle according to an embodiment of the present application.

[0016] Figure 3 It is a partial structural diagram of the system for automatically removing material stretch film.

[0017] Figure 4 This is a partial structural diagram of the automatic material stretch film removal system from another angle.

[0018] Figure 5 This is a partial structural diagram of the system for automatically removing material stretch film from another angle.

[0019] Figure 6 This is a partial structural diagram of a system for automatically removing material stretch film provided in one embodiment of the present application.

[0020] Figure 7 This is a flow chart of a method for automatically removing material wrapping film provided in one embodiment of the present application.

[0021] Figure 8 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] This application provides a fully automated solution for removing pallet stretch film: A magnetostrictive displacement sensor and laser ranging rapidly scan the pallet's three-dimensional contours. A six-axis robotic arm, equipped with a 3000W hot air gun, then cuts the film along a pre-set trajectory using heat without contact. During the cutting process, elastic rollers employ a combination of 20N mechanical pressure and -60kPa vacuum suction to secure the film, preventing displacement. After cutting, vacuum suction cups pull the waste film out at a speed of 100mm / s, compacting it with rollers and directly feeding it into a collection bin equipped with a full-material alarm. The entire process is centrally managed by a control module, achieving fully automated scanning, cutting, securing, and collection, eliminating the need for human intervention.

[0024] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0025] Reference Figures 1 to 6 An embodiment of the present application provides a system for automatically removing stretch film of materials, including: Contour scanning module, used to obtain three-dimensional contour data of stacked materials; A non-contact thermal cutting module 2 is used to cut the stretch film by hot-melt along a preset trajectory according to the three-dimensional contour data, and to maintain a constant distance from the material surface during the cutting process; The composite fixing module 1 includes an elastic roller holding unit and a vacuum adsorption unit, which is used to fix the stretch film by combining mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting. The waste film collection module 3 is used to automatically pull and compact the waste film into the collection container after cutting is completed; The control module is respectively communicated with the contour scanning module, the contactless thermal cutting module, the composite fixing module, and the waste film collection module, and is used to coordinate the linkage operation of the contour scanning module, the contactless thermal cutting module, the composite fixing module and the waste film collection module to realize full process automation.

[0026] To summarize, this system adopts a three-layer architecture of “perception-execution-collection”: Contour Scanning Module: This module senses and accurately measures the contour dimensions of the goods and the uneven surface structure of the goods. Non-Contact Thermal Cutting Module: This module melts and cuts the stretch film. The Composite Fixing Module assists in cutting. The Waste Film Collection Module is responsible for collecting waste film.

[0027] In some embodiments, the contactless thermal cutting module includes: a PID temperature-controlled hot air gun 21 and a first robotic arm 22; the PID temperature-controlled hot air gun is arranged at the end of the first robotic arm; the first robotic arm is used to control the nozzle of the PID temperature-controlled hot air gun to cut the stretch film by hot melting along a preset trajectory.

[0028] Specifically, the non-contact thermal cutting module consists of a PID temperature-controlled hot air gun and a first robotic arm. The PID temperature-controlled hot air gun is secured to the end flange of the first robotic arm using a standard fixture. The center axis of its air outlet coincides with the Z-axis of the end flange coordinate system, facilitating trajectory programming. The hot air gun integrates a ceramic heating element, a K-type thermocouple, and a solid-state relay. In conjunction with an external PID controller, it stabilizes the outlet temperature at the set value (200°C to 250°C) within 50 milliseconds, with a control accuracy of ±5°C, ensuring instant melting of plastic film without damaging the surface of the cargo.

[0029] The first robotic arm utilizes a six-axis joint structure, offering a repeatability accuracy of ±0.5 mm and a maximum linear speed of 50 mm / s at the end. During operation, the control module transmits the three-dimensional trajectory points generated by the contour scanning module to the robotic arm controller. The robotic arm moves according to a planned velocity curve, maintaining a constant distance of 30 mm ± 5 mm between the hot air gun nozzle and the surface of the cargo. High-temperature air is continuously blown along a pre-set path, achieving contactless cutting. A 0.6 MPa compressed air circulation system can be introduced simultaneously at the nozzle to rapidly cool the slag and assist in blowing away the cut edges, preventing secondary adhesion. The entire cutting process requires no mechanical tools, completely eliminating potential damage to the packaging and personnel.

[0030] In some embodiments, the composite fixing module includes: a displacement module, a vacuum adsorption unit and an elastic roller pressing unit; the vacuum adsorption unit and the elastic roller pressing unit are arranged on the displacement module; the displacement module is used to drive the vacuum adsorption unit and the elastic roller pressing unit to a preset position, and to fix the wrapping film by mechanical pressure and negative pressure adsorption.

[0031] Specifically, the composite fixing module consists of three parts: a displacement module, a vacuum adsorption unit, and an elastic roller pressing unit. The specific structure and working method are as follows: The displacement module adopts a cross-slide structure, with an X-axis and Y-axis stroke of 800 mm, a positioning accuracy of ±0.5 mm, and a repeatability accuracy of ±0.05 mm. The slide has a built-in servo motor and ball screw. Through the coordinate instructions given by the control module, the vacuum adsorption unit and the elastic roller holding unit can be quickly moved as a whole to the target working position in the horizontal plane. It should be noted that when removing the material wrapping film, the material will be placed in the preset position. Correspondingly, the setting area of ​​the displacement module is also determined based on the preset placement position of the material, so that the displacement module can control the composite fixing module for fixation.

[0032] The vacuum unit, mounted on the front of the slide, consists of a vacuum generator, a vacuum chamber, and a flexible vacuum cup. The generator has a maximum vacuum flow rate of 175–220 nL / min and can establish a negative pressure of -60 kPa within 0.3 seconds. The flexible cup is made of Duraflex, a material that combines the excellent elasticity of rubber with the wear resistance of polyurethane. This material forms a reliable seal on even slightly curved or uneven surfaces, ensuring that the stretch film does not slip during cutting.

[0033] The elastic roller holding unit and vacuum suction unit are arranged in parallel, consisting of an aluminum alloy bracket, a compression spring, and a polyurethane roller. The roller has an 80 mm diameter and a surface rubberized rubber coating with a hardness of 60 Shore A. The compression spring has an elastic modulus of 1.5 N / mm and a maximum compression of 30 mm, providing a constant mechanical pressure of 20–30 N between the roller and the cargo surface. The roller and vacuum suction cup work synergistically: the roller first gently presses the film into place, and then the suction cup creates a vacuum to secure it. This dual-action "mechanical pressure + negative pressure" constraint significantly reduces the risk of film peeling.

[0034] In some embodiments, the waste film collection module includes a clamping module, a traction module, and a collection module 33; the clamping module includes a second robotic arm and a clamp 34 provided at the end of the second robotic arm; the composite fixing module is further used to pull the stretch film a first preset distance away from the stacked material after cutting is completed, so that there is a gap between the stacked material and the stretch film; The second robotic arm controls the clamp to clamp the stretch film through the gap, drags the stretch film around the stacked material so that the stretch film is separated from the stacked material, and feeds the stretch film into the traction module; The traction module includes: a driving shaft 311 and a driven shaft 312, both of which are axially perpendicular to the ground, and a guide structure 32 provided on one side of the driving shaft and the driven shaft. The traction module places the wrapping film between the driving shaft and the driven shaft. The driving shaft and the driven shaft squeeze the wrapping film and drive the wrapping film to move through the guide structure to the collection module. The collection module is used to store the stretch film; Specifically, the waste film collection module is composed of a clamping module, a traction module, and a collection module connected in sequence. The three modules together complete the continuous action of "clamping-pulling-pressing-delivering-storing". The specific structure and coordination relationship are as follows: The gripping module consists of a second robotic arm and a gripper mounted at its end. The second robotic arm also utilizes a six-axis joint structure, with an ISO-9409-1 interface on the end flange, enabling quick replacement of grippers of varying specifications. The gripper is a pneumatic parallel gripper with an adjustable gripping force of 30–60 N. Silicone pads are attached to the jaws to prevent slippage and membrane damage.

[0035] When the non-contact thermal cutting module completes cutting, the composite fixing module continues to maintain vacuum adsorption and pulls back horizontally 50–80 mm (the first preset distance) away from the stacked material, forming a clear gap between the stack and the waste film. The second robotic arm carries a clamp through the gap and clamps the upper edge of the waste film; then the composite fixing module releases the vacuum, and the second robotic arm drags in the opposite direction according to the "spiral / laminated" path of the stretch film, ensuring that the entire roll of waste film is removed from the stack at one time without any residue.

[0036] The traction module is arranged within the working radius of the second robotic arm and includes: Active shaft: directly driven by a servo motor, with the surface covered with wear-resistant rubber to prevent slipping; Driven shaft: It is a passive roller with a constant pressure spring or other pressure-providing device installed inside, providing a clamping force of 50–80 N; The guiding structure can be a pair of vertical side panels (can also be other forms, which is not limited in this application), forming a channel, and the channel outlet is opposite to the collection module inlet.

[0037] The action process includes: The second robotic arm sends the waste film head between the driving shaft and the driven shaft; The two shafts squeeze each other, and after the motor is started, the linear speed reaches 23 m / min, continuously transporting the waste film downstream; The guiding structure ensures that the film does not deviate or get tangled during transportation.

[0038] The collection module is a removable box (i.e., collection bin) with a top entrance width of 400 mm and an internal volume of 200 L. A load cell is installed at the bottom of the box. When the weight of the waste film reaches a set threshold, it outputs a full-fill signal to the control module, prompting a human or AGV to replace the empty bin. A transparent window at the front of the box allows for real-time monitoring of the waste film inventory.

[0039] Through the above three-stage connection, after the waste film is separated from the stack surface, it is clamped, pulled, guided and compressed in sequence, and finally neatly collected in the box. The whole process does not require manual intervention, the site remains clean and tidy, and meets the needs of continuous production.

[0040] It should be noted that, in some embodiments, the first robotic arm and the second robotic arm may be the same robotic arm, that is, the gripping module and the PID temperature-controlled hot air gun are both arranged at the end of the first robotic arm.

[0041] In some embodiments, the driven shaft is movably arranged on one side of the driving shaft through a cylinder 313; when the cylinder is in a first state, the driven shaft is away from the driving shaft so that the traction module can place the wrapping film between the driving shaft and the driven shaft; when the cylinder is in a second state, the driven shaft is close to the driving shaft to squeeze the wrapping film between the driving shaft and the driven shaft.

[0042] Specifically, the cylinder body of the cylinder is fixed to the frame of the traction module, and the piston rod end is hinged to the bearing seat of the driven shaft, so that the driven shaft as a whole can reciprocate in the horizontal direction.

[0043] When the cylinder is in the first position (piston rod retracted), the gap between the driven and active shafts is widened, allowing the second robotic arm to place the end of the stretch film directly between the two shafts. Once the sensor detects the film is in place, the control module immediately outputs a signal to switch the cylinder to the second position (piston rod extended). The spring-damper unit cushions the driven shaft, steadily pressing it against the active shaft, providing a constant squeeze force of 50–80 N. The active shaft then activates, and the two shafts jointly clamp and continuously feed the stretch film downstream. This "opening and clamping" action is performed by the same cylinder, resulting in a compact design and rapid response, with a switching cycle of less than 0.5 seconds, ensuring seamless integration between the pulling module and the upstream gripping action.

[0044] In some embodiments, a full-material alarm device is provided inside the collection module; the full-material alarm device is used to send an alarm signal when the waste film in the collection module reaches a certain amount, to remind the operator to handle it.

[0045] The specific implementation is as follows: The full-fill alarm device can include a pressure sensor mounted at the bottom of the collection module. This pressure sensor can detect changes in the weight of the waste film within the collection module in real time. When the waste film accumulates to a certain level and the weight reaches a preset threshold, the pressure sensor triggers an alarm signal.

[0046] Weight monitoring: The pressure sensor monitors the weight of the waste film in the collection module in real time. As the amount of waste film accumulates, the pressure felt by the pressure sensor also increases.

[0047] Threshold setting: Based on the volume of the collection module and the average density of the waste film, a reasonable weight threshold is pre-set. For example, when the volume of the collection module is 200 liters, the threshold is set to 50 kg.

[0048] Alarm triggering: When the weight detected by the pressure sensor reaches or exceeds the set threshold, the full-material alarm device is triggered, emitting an audible and visual alarm signal. The audible and visual alarm signal can include a buzzer alarm and a flashing red indicator light to attract the operator's attention.

[0049] The full-film alarm communicates with the entire system through the control module. When triggered, the control module sends an alarm message to the operator's monitoring terminal or displays an alarm prompt directly on the system interface. Simultaneously, the system automatically pauses further delivery of waste film to prevent it from overflowing the collection module.

[0050] Upon receiving an alarm signal, operators can promptly replace the collection module or clean the waste membrane to ensure continued stable system operation. This design not only improves the system's automation level but also reduces the risk of equipment failure caused by excessive waste membrane accumulation.

[0051] In some embodiments, the contour scanning module includes: a first overall scanning module and a second path scanning module 41; the second path scanning module is arranged at the end of the first robotic arm and is opposite to the PID temperature-controlled hot air gun, and is used to scan the cutting path.

[0052] Specifically, it should be noted that in some embodiments, the first and second robotic arms can be the same robotic arm, that is, the gripping module and the PID temperature-controlled hot air gun are both located at the end of the first robotic arm. The specific location of the locations can be found in the drawings.

[0053] The second path scanning module includes: a magnetostrictive displacement sensor, an elastic telescopic roller, and a compression spring; the elastic telescopic roller is elastically fixed to the end of the first robotic arm by the compression spring, and is used to contact and press the surface of the stacked material to determine the concave and convex structure of the surface of the stacked material; the magnetostrictive displacement sensor is used to detect the displacement of the elastic telescopic roller.

[0054] Specifically, the contour scanning module includes a first overall scanning module and a second path scanning module. This dual-module design enables the system to more efficiently complete the contour measurement and cutting path planning of the stacked material.

[0055] The first overall scanning module is used to obtain the overall 3D profile data of the stacked material. It typically uses a laser rangefinder or other non-contact scanning technology to quickly generate a model of the overall stack profile. This module's primary function is to provide the system with a macroscopic view of the stack shape, enabling the subsequent path planning module to more accurately calculate the cutting path.

[0056] The second path scanning module is located at the end of the first robotic arm, facing opposite the PID temperature-controlled hot air gun. Its primary function is to precisely scan the cutting path, ensuring the hot air gun accurately cuts the stretch film along the pre-set trajectory while avoiding surface damage.

[0057] The second path scanning module includes a magnetostrictive displacement sensor, an elastic telescopic roller and a compression spring.

[0058] Magnetostrictive displacement sensor: This sensor is used to accurately measure the displacement of an elastically retractable roller. It records the roller's position changes in real time with high accuracy (minimum repeatability of ±100μm), thereby determining the surface structure of the stacked material. The sensor's waveguide is mounted vertically, with one end fixed to a bracket at the end of the first robotic arm and the other end extending close to the surface of the stacked material.

[0059] Elastic retractable roller: Attached to the end of the first robotic arm via a compression spring. The roller has an 80mm diameter and is made of a wear-resistant material, adapting to various stacking surfaces. The spring allows the roller to flexibly adapt to uneven surfaces, ensuring consistent contact with the material.

[0060] Compression spring: With a spring constant of 1.5 N / mm, it provides adequate elastic support. As the roller moves along the surface of the stacked material, the compression spring cushions the pressure changes between the roller and the material surface, ensuring stable rolling on material surfaces at different heights.

[0061] Initialization: The first robotic arm moves the second path scanning module to the starting position above the stacked material. At this time, the elastic retractable roller is in a free state and has no contact with the material.

[0062] Contact measurement: A robotic arm drives a roller along the surface of the stacked material. A compression spring maintains contact with the material surface. When the roller encounters uneven surfaces, it moves up and down accordingly. A magnetostrictive displacement sensor records the roller's position changes in real time.

[0063] Data Acquisition: The sensor transmits the acquired position data to the control module, which uses this data to construct a 3D contour model of the stacked material. This model includes not only the height of the stack but also the details of the material's surface, providing a precise basis for subsequent cutting path planning.

[0064] This dual-module design enables the system to precisely measure the contours of stacked materials at both the macro and micro levels, ensuring that the non-contact thermal cutting module can accurately cut the stretch film along a preset trajectory while avoiding any damage to the material itself.

[0065] The following describes the solution provided by this application in conjunction with the aforementioned preferred embodiments. The solution provided by this application comprises a 3D contour scanning system consisting of a magnetostrictive displacement sensor (with a minimum repeatability of ±100μm), an elastic retractable roller (80mm diameter), and a 75% compression spring (elastic coefficient 1.5N / mm). The magnetostrictive displacement sensor accurately measures the contour dimensions of goods, while the combination of the elastic retractable roller and compression spring adapts to the uneven surface structure of goods, ensuring accurate scanning.

[0066] The non-contact thermal cutting module includes a 3000W hot air gun (temperature control accuracy ±5°C), a 0.6MPa compressed air drive system, and a PID intelligent temperature control unit. The hot air gun generates high-temperature airflow that melts and cuts the stretch film, while high-precision temperature control ensures consistent cutting results. The compressed air drive system provides power for the hot air gun, while the PID intelligent temperature control unit adjusts the temperature in real time based on cutting requirements.

[0067] Clamping module: pneumatic clamping claw Composite Fixing Module: Includes: Cross-slide mechanism: X / Y axis travel 800mm, positioning accuracy ±0.5mm. The cross-slide mechanism enables precise horizontal movement of the film fixing unit, ensuring accurate fixation of the stretch film.

[0068] The composite fixing module adopts a three-stage pressing mechanism: Initial position: 20mm from the material surface, used to prepare and fix the stretch film.

[0069] Pressing position: Apply 20N pressure to fix the stretch film to ensure that the stretch film does not move during the cutting process.

[0070] Adsorption position: Vacuum degree - 60kPa adsorption state, further fix the stretch film to prevent it from falling off.

[0071] Vacuum System: Equipped with a vacuum generator with a maximum vacuum flow rate of 175-220 NL / min and a response time of less than 0.3s. The vacuum system can quickly generate vacuum suction force to improve fixing efficiency.

[0072] The waste film collection unit specifically includes the following: A sensing system: an infrared beam sensor detects the location of the waste film. A traction module (i.e., compaction and conveying mechanism): a combination of a motorized roller (linear speed 23 m / min) and an unpowered roller, equipped with a 300N compaction cylinder. This combination enables continuous conveyance of the waste film, while the compaction cylinder compacts the waste film, reducing space usage.

[0073] Collection box: Full material alarm device. When the waste film in the collection box reaches a certain amount, an alarm signal will be issued to remind the operator to deal with it.

[0074] The process execution process includes: During the data collection phase, a cross slide (specifically, the displacement module of the composite fixed module; both modules share a common cross slide) drives a laser ranging sensor (sampling frequency 100Hz) to acquire stack height and contour data. Building a 3D model takes ≤10 seconds. The laser ranging sensor's high sampling frequency enables rapid acquisition of detailed cargo data and the construction of an accurate data model.

[0075] During the cutting phase, a tracing roller moves along the surface of the product, while a displacement sensor records the trajectory in real time. The hot air gun cuts along a preset path (30 mm from the surface) at a speed of 50 mm / s. The tracing roller follows the shape of the surface, ensuring the hot air gun follows the correct cutting path. The displacement sensor records the trajectory in real time, ensuring cutting accuracy.

[0076] During the waste film processing phase, transfer begins when the vacuum cup's suction force reaches -60kPa. The film pulling speed reaches 100mm / s, and the compaction and conveying mechanism activates simultaneously, enabling continuous operation. The vacuum cup's strong suction force reliably captures the waste film, while the film pulling speed is high, improving waste film processing efficiency. The simultaneous activation of the compaction and conveying mechanism ensures timely collection and processing of the waste film.

[0077] In actual application, the system installation and debugging are as follows: 1. Install each component of the system according to the overall system layout diagram to ensure that each device is installed in the correct position and has a secure connection.

[0078] 2. Debug the six-axis robot and adjust its motion trajectory and speed to ensure that the robot can accurately complete actions such as scanning, cutting, and film pulling.

[0079] 3. Debug the thermal cutting module, set the temperature and cutting speed of the hot air gun, and conduct a simulated cutting test to ensure that the cutting effect meets the requirements.

[0080] 4. Debug the broken film fixing unit, adjust the positioning accuracy of the cross slide and the pressure, vacuum and other parameters of the three-stage pressing mechanism to ensure reliable fixing effect.

[0081] 5. Debug the waste film collection unit, adjust the linear speed of the compaction conveying mechanism and the pressure of the compaction cylinder to ensure that the waste film can be collected and compacted smoothly.

[0082] The implementation of the operation process includes: 1. When the pallet material is in place, the cross slide drives the laser ranging sensor to start acquiring the pallet height and contour data and build a data model, which takes ≤10s.

[0083] 2. The six-axis robot drives the simulation measurement module to move along the surface of the goods. The displacement sensor records the trajectory in real time. At the same time, the hot air gun cuts according to the preset trajectory (30mm from the material surface) at a cutting speed of 50mm / s.

[0084] 3. During the cutting process, the three-stage pressing mechanism of the film cutting and fixing unit is first in the initial position, 20mm away from the material surface, then moves to the pressing position, applying 20N of pressure to fix the stretch film, and finally switches to the adsorption position, further fixing the stretch film through the vacuum degree -60kPa adsorption state.

[0085] 4. When the suction force of the vacuum suction cup reaches -60kPa, the six-axis robot starts the film pulling transfer at a speed of 100mm / s. At the same time, the compaction and conveying mechanism of the waste film collection unit starts synchronously to collect and compact the waste film into the collection box.

[0086] 5. When the waste film in the collection box reaches the set value of the full material alarm device, an alarm signal is issued and the operator replaces the collection box in time.

[0087] The present application also provides a method for automatically removing material stretch film, which is characterized by being applied to the above-mentioned automatic material stretch film removal system, comprising: Step S101, obtaining three-dimensional contour data of the stacked material through a contour scanning module; Step S102: Based on the three-dimensional contour data, the non-contact thermal cutting module is controlled to cut the stretch film by hot melting, while maintaining a constant distance from the material surface during the cutting process. The composite fixing module is also controlled to fix the stretch film by combining mechanical pressure and negative pressure adsorption to prevent displacement of the film during cutting. Step S103: After the cutting is completed, the waste film collection module is controlled to automatically pull and compact the waste film into the collection container; Among them, the control composite fixing module is used to fix the stretch film by mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting, including: When cutting begins, the composite fixing module is controlled to move to a fixed position and fix the stretch film with mechanical pressure; When the cutting is completed, the composite fixing module is controlled to fix the stretch film by means of negative pressure adsorption, and the stretch film is pulled a first preset distance away from the stack material.

[0088] The laser ranging sensor has a sampling frequency of 100 Hz and takes ≤ 10 seconds to build a 3D model.

[0089] During the cutting execution phase, the hot air gun is 30 mm away from the material surface and the cutting speed is 50 mm / s.

[0090] During the waste film processing stage, the transfer is started when the adsorption force of the vacuum suction cup reaches -60kPa, and the film pulling speed is 100mm / s.

[0091] The method embodiments of this application can be applied to the system embodiments of this application. For details not disclosed in the method embodiments of this application, please refer to the system embodiments of this application.

[0092] Below, reference Figure 8 To describe the electronic device according to the embodiment of the present application. Figure 8 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[0093] like Figure 8 As shown, electronic device 800 includes one or more processors 810 and memory 820 .

[0094] The processor 810 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 800 to perform desired functions.

[0095] The memory 820 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, or flash memory. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 810 may execute these program instructions to implement the aforementioned methods for automatically removing material wrapping film according to various embodiments of the present application and / or other desired functions. The computer-readable storage medium may also store various contents, such as category correspondences.

[0096] In one example, the electronic device 800 may further include an input device 830 and an output device 840 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0097] In addition, the input device 830 may also include, for example, a keyboard, a mouse, an interface, etc. The output device 840 may output various information to the outside, including analysis results, etc. The output device 840 may include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0098] Of course, to simplify, Figure 8 Only some of the components in the electronic device related to the present application are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application scenarios.

[0099] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for automatically removing material wrapping film according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0100] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0101] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the method for automatically removing material wrapping film according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0102] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0103] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A system for automatically removing material stretch film, characterized in that: include: Contour scanning module, used to obtain three-dimensional contour data of stacked materials; A non-contact thermal cutting module, configured to cut the stretch film by hot-melt along a preset trajectory according to the three-dimensional contour data, while maintaining a constant distance from the material surface during the cutting process; The composite fixing module includes an elastic roller holding unit and a vacuum adsorption unit, which is used to fix the stretch film by combining mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting. Waste film collection module, used to automatically pull and compact the waste film into the collection container after cutting is completed; The control module is respectively communicated with the contour scanning module, the contactless thermal cutting module, the composite fixing module, and the waste film collection module, and is used to coordinate the linkage operation of the contour scanning module, the contactless thermal cutting module, the composite fixing module and the waste film collection module to realize full process automation.

2. The automatic material stretch film removal system according to claim 1, characterized in that: The non-contact thermal cutting module includes: a PID temperature-controlled hot air gun and a first robotic arm; The PID temperature-controlled hot air gun is arranged at the end of the first robotic arm; The first robotic arm is used to control the nozzle of the PID temperature-controlled hot air gun to cut the stretch film by hot melting along a preset trajectory.

3. The automatic material stretch film removal system according to claim 1, characterized in that: The composite fixing module includes: a displacement module, a vacuum adsorption unit and an elastic roller pressing unit; The vacuum adsorption unit and the elastic roller pressing unit are arranged on the displacement module; The displacement module is used to drive the vacuum adsorption unit and the elastic roller holding unit to a preset position, and fix the stretch film by mechanical pressure and negative pressure adsorption.

4. The automatic material stretch film removal system according to claim 1, characterized in that: The waste film collection module includes a clamping module, a traction module, and a collection module; The gripping module includes a second robotic arm and a gripper provided at the end of the second robotic arm; The composite fixing module is further used to pull the stretch film a first preset distance away from the stacked material after cutting is completed, so that there is a gap between the stacked material and the stretch film; The second robotic arm controls the clamp to clamp the stretch film through the gap, drags the stretch film around the stacked material so that the stretch film is separated from the stacked material, and feeds the stretch film into the traction module; The traction module includes: a driving shaft and a driven shaft, both of which are axially perpendicular to the ground, and a guide structure provided on one side of the driving shaft and the driven shaft; the traction module places the wrapping film between the driving shaft and the driven shaft; the driving shaft and the driven shaft squeeze the wrapping film and drive the wrapping film to move through the guide structure to the collection module; The collecting module is used to store the stretch film.

5. The automatic material stretch film removal system according to claim 4, characterized in that: The driven shaft is movably arranged on one side of the driving shaft through a cylinder; When the cylinder is in the first state, the driven shaft is away from the driving shaft, so that the traction module can place the wrapping film between the driving shaft and the driven shaft; When the cylinder is in the second state, the driven shaft is in close contact with the driving shaft to squeeze the winding film between the driving shaft and the driven shaft.

6. The automatic material stretch film removal system according to claim 4, characterized in that: A full material alarm device is provided inside the collection module; The full material alarm device is used to send out an alarm signal when the waste film in the collection module reaches a certain amount, so as to remind the operator to handle it.

7. The automatic material stretch film removal system according to claim 2, characterized in that: The contour scanning module includes: a first overall scanning module and a second path scanning module; The second path scanning module is arranged at the end of the first robotic arm and is opposite to the PID temperature-controlled hot air gun, and is used for scanning the cutting path.

8. The automatic material stretch film removal system according to claim 7, characterized in that: The second path scanning module includes: a magnetostrictive displacement sensor, an elastic telescopic roller, and a compression spring; The elastic retractable roller is elastically fixed to the end of the first robotic arm by the compression spring, and is used to contact and press the surface of the stacked material to determine the concave-convex structure of the surface of the stacked material; The magnetostrictive displacement sensor is used to detect the displacement of the elastic telescopic roller.

9. A method for automatically removing a material wrapping film, characterized in that: The automatic material stretch film removal system according to any one of claims 1 to 8 comprises: Obtain the three-dimensional contour data of the stacked material through the contour scanning module; Based on the three-dimensional contour data, the non-contact thermal cutting module is controlled to cut the stretch film by hot melting, and a constant distance from the material surface is maintained during the cutting process. In addition, the composite fixing module is controlled to fix the stretch film by mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting. After cutting is completed, the waste film collection module is controlled to automatically pull and compact the waste film into the collection container.

10. The method for automatically removing material stretch film according to claim 9, characterized in that: Control composite fixing module, used to fix the stretch film by mechanical pressure and negative pressure adsorption to prevent the film from shifting during cutting, including: When cutting begins, the composite fixing module is controlled to move to a fixed position and fix the stretch film with mechanical pressure; When the cutting is completed, the composite fixing module is controlled to fix the stretch film by means of negative pressure adsorption, and the stretch film is pulled a first preset distance away from the stack material.

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