Automatic packing material feeding robot

Abstract

The invention relates to the technical field of food packaging, and provides an automatic packaging material feeding robot which comprises a robot body, a multi-axis mechanical arm and a feeding accessory. The feeding accessory comprises an adapter and a conveying claw; the robot body is connected with the adapter through the multi-axis mechanical arm; the conveying claw comprises a guide claw body, a driving wheel set and a conveying claw body, and the driving wheel set is arranged between the guide claw body and the conveying claw body; when the multi-axis mechanical arm is in the first posture, the end, away from the driving wheel set, of the guiding claw body is tangent to the side wall of a packing material coil in an uncoiling state on the filling machine so as to bear the end of an uncoiled packing material on the packing material coil. And when the multi-axis mechanical arm is in the second posture, the end, away from the driving wheel set, of the conveying claw body is tangent to a feeding roller set of the filling machine, and the packing materials output by the conveying claw body enter the feeding roller set. The end of the uncoiled packing material on the packing material coil can be automatically led out and delivered to the feeding roller set above the filling machine, the packing material feeding efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of food packaging, and in particular to an automatic packaging material feeding robot. Background Art

[0002] During the dairy product filling process, packaging material is supplied to the filling machine via a packaging material preparation line. As the filling process progresses, the packaging material is consumed, and freshly opened rolls of packaging material need to be delivered to the filling machine to replace the nearly depleted rolls.

[0003] In practice, after the packaging material roll is installed on the filling machine, the end of the unwound packaging material is often manually pulled out and then fed to the feed roller assembly above the filling machine to connect with the existing packaging material on the filling machine, ensuring continuous filling operations. However, because the feed roller assembly is usually located at a relatively high position, manual feeding is inconvenient. This manual feeding method is time-consuming and labor-intensive, not only making it difficult to ensure loading efficiency, but also incurring additional labor costs. Summary of the Invention

[0004] The present invention provides an automatic packaging material loading robot, which is used to at least solve or improve the problems of low loading efficiency and high labor cost in the current manual loading of packaging materials.

[0005] The present invention provides a packaging material automatic feeding robot, comprising: a robot body, a multi-axis robotic arm and a feeding attachment; the feeding attachment comprises an adapter and a feeding claw;

[0006] The robot body is connected to the first end of the multi-axis robotic arm, and the second end of the multi-axis robotic arm is connected to the adapter;

[0007] The feeding claw includes a guiding claw body, a driving wheel group and a conveying claw body, wherein the driving wheel group is arranged between the guiding claw body and the conveying claw body; the guiding claw body is used to guide the end of the packaging material into the clamping gap of the driving wheel group, and the conveying claw body is used to realize the conveying of the packaging material under the drive of the driving wheel group;

[0008] Wherein, when the multi-axis robotic arm is in the first posture, one end of the guiding claw body away from the driving wheel assembly is tangent to the side wall of the packaging material roll in the unrolled state on the filling machine, so as to receive the end of the packaging material unrolled from the packaging material roll;

[0009] When the multi-axis robot arm is in the second posture, one end of the conveying claw body away from the driving wheel group is tangent to the feed roller group on the filling machine, so that the packaging material output from the conveying claw body enters the feed roller group.

[0010] According to the automatic packaging material feeding robot provided by the present invention, a spacing adjustment component is provided on the adapter, and the spacing adjustment component is connected to the two feeding claws respectively, and the two feeding claws are arranged side by side along the width direction of the packaging material;

[0011] The spacing adjustment component is used to adjust the spacing between the two feeding claws so that the spacing between the two feeding claws is adapted to the width of the packaging material. The two feeding claws are also used to clamp and correct the packaging material.

[0012] According to the automatic packaging material loading robot provided by the present invention, the guiding claw body has an arc-shaped guiding surface, and the arc-shaped guiding surface contacts the surface of the packaging material;

[0013] The end of the guiding claw away from the packaging material is provided with a rib, and the rib abuts against the side edge of the packaging material along the width direction of the packaging material;

[0014] Wherein, under the limitation of the retaining edges on the two feeding claws, the arc-shaped guiding surface guides the end of the packaging material to slide into the clamping gap.

[0015] According to the automatic packaging material feeding robot provided by the present invention, the retaining edge includes a guiding edge and a stopping edge;

[0016] The first end of the guide edge extends toward a side away from the packaging material, the second end of the guide edge extends toward a side close to the packaging material and is connected to the first end of the stop edge, and the second end of the stop edge extends to the position where the driving wheel set is located;

[0017] The guide edge is used to guide the packaging material to enter the position between the two feeding claws, and the stop edge is used to fit with the side edge of the packaging material.

[0018] According to an automatic packaging material feeding robot provided by the present invention, a gap channel is provided in the conveying claw body, the gap width of the gap channel is adapted to the thickness of the packaging material, and the gap channel is extended along the extension direction of the conveying claw body;

[0019] The side of the gap channel facing the packaging material is open, and the side of the gap channel facing away from the packaging material is closed and fits with the side edge of the packaging material.

[0020] According to the automatic packaging material feeding robot provided by the present invention, the spacing adjustment component includes a first driving motor, a pulley set and a synchronous belt;

[0021] The first drive motor is connected to the pulley assembly, and the synchronous belt is wound around the pulley assembly to form a first belt segment and a second belt segment for reverse conveying along the width direction of the packaging material;

[0022] The two feeding claws are movably arranged on the adapter seat along the width direction of the packaging material, one of the feeding claws is connected to the first belt segment, and the other feeding claw is connected to the second belt segment.

[0023] According to the automatic packaging material feeding robot provided by the present invention, the feeding attachment further includes a camera module;

[0024] The camera module is arranged on the adapter, the camera module is electrically connected to the robot body, and the robot body is electrically connected to the spacing adjustment component;

[0025] The camera module is used to collect image information of the packaging material, the robot body is used to determine the width of the packaging material based on the image information, and control the spacing adjustment component to adjust the spacing between the two feeding claws based on the width of the packaging material.

[0026] According to the automatic packaging material feeding robot provided by the present invention, the driving wheel group includes a driving wheel, a driven wheel and a second driving motor;

[0027] The driving wheel and the driven wheel are arranged side by side, and the clamping gap is formed between the driving wheel and the driven wheel; the second driving motor is power-coupled with the driving wheel.

[0028] According to the automatic packaging material feeding robot provided by the present invention, the feeding attachment further includes an adsorption component;

[0029] The adsorption assembly includes a first suction nozzle and a second suction nozzle, and the first suction nozzle and the second suction nozzle are arranged opposite to the two feeding claws one by one;

[0030] When the multi-axis robotic arm is in the first posture, the first suction nozzle and the second suction nozzle cooperate to pull the end of the packaging material between the two feeding claws.

[0031] According to the automatic packaging material feeding robot provided by the present invention, the feeding attachment further includes a limiting claw;

[0032] The limiting claw includes a first claw body and a second claw body, the first claw body and the second claw body are arranged one by one opposite to the two feeding claws, and are respectively arranged on both sides of the packaging material roll;

[0033] The first claw body and the second claw body each include a connecting rod and a roller, the connecting rod is connected to the adapter, and the roller is rotatably provided on the connecting rod;

[0034] The roller is arranged to extend radially along the packaging material roll and is in rolling contact with the end surface of the packaging material roll.

[0035] The automatic packaging material loading robot provided by the present invention is configured with a robot body, a multi-axis robotic arm and a feeding attachment. After the filling machine completes the replacement of the packaging material roll, the robot body can be controlled to move to one side of the newly-online packaging material roll. During the process of the filling machine controlling the unwinding of the packaging material roll, the robot body controls the multi-axis robotic arm to be in a first posture to change the posture of the feeding attachment relative to the packaging material roll, so that the guiding claw body can receive the end of the unwound packaging material on the packaging material roll and guide the end of the packaging material into the clamping gap of the driving wheel group, and then the packaging material is conveyed by the conveying claw body under the drive of the driving wheel group; then, the robot body controls the multi-axis robotic arm to switch to a second posture, and changes the placement posture of the feeding attachment again, so that the end of the conveying claw body away from the driving wheel group is tangent to the feed roller group on the filling machine, so that the packaging material output from the conveying claw body enters the feed roller group, and is spliced ​​with the original packaging material on the filling machine, ensuring that the filling machine performs continuous filling operations.

[0036] It can be seen that compared with the current manual loading and splicing method of packaging materials, the automatic packaging material loading robot shown in the present invention can automatically lead out the end of the unrolled packaging material on the packaging material roll and deliver it to the feed roller group above the filling machine, thereby improving the efficiency of packaging material loading and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a schematic structural diagram of the automatic packaging material loading robot provided by the present invention;

[0039] Figure 2 This is one of the structural diagrams of the feeding attachment provided by the present invention;

[0040] Figure 3 This is the second structural diagram of the feeding attachment provided by the present invention;

[0041] Figure 4 This is the third structural diagram of the feeding attachment provided by the present invention;

[0042] Reference numerals:

[0043] 1. Robot body; 2. Multi-axis robotic arm; 3. Feeding accessories;

[0044] 31. Adapter; 32. Feed claw; 321. Guide claw body; 3210. Side guard; 322. Drive wheel assembly; 3221. Active pulley; 3222. Driven pulley; 3223. Second drive motor; 323. Conveying claw body; 3230. Gap channel; 33. Spacing adjustment assembly; 331. First drive motor; 332. Pulley assembly; 333. Synchronous belt; 34. Camera module; 35. Detection element; 36. Adsorption assembly; 37. Limit claw. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] The following combination Figure 1-Figure 4 , the automatic packaging material loading robot provided by the embodiment of the present invention is described in detail through specific embodiments and application scenarios.

[0047] like Figure 1 、 Figure 2 and Figure 3 As shown, an embodiment of the present invention provides an automatic packaging material feeding robot, comprising: a robot body 1, a multi-axis robotic arm 2 and a feeding attachment 3; the feeding attachment 3 comprises an adapter 31 and a feeding claw 32.

[0048] The robot body 1 is connected to a first end of the multi-axis robotic arm 2 , and a second end of the multi-axis robotic arm 2 is connected to the adapter 31 .

[0049] The feeding claw 32 includes a guiding claw body 321, a driving wheel group 322 and a conveying claw body 323. The driving wheel group 322 is arranged between the guiding claw body 321 and the conveying claw body 323; the guiding claw body 321 is used to guide the end of the packaging material into the clamping gap of the driving wheel group 322, and the conveying claw body 323 is used to realize the conveying of the packaging material under the drive of the driving wheel group 322.

[0050] When the multi-axis robot arm 2 is in the first posture, the end of the guiding claw body 321 away from the driving wheel group 322 is tangent to the side wall of the packaging material roll in the unrolled state on the filling machine to receive the end of the unrolled packaging material on the packaging material roll.

[0051] When the multi-axis robot arm 2 is in the second posture, the end of the conveying claw body 323 away from the driving wheel group 322 is tangent to the feed roller group on the filling machine, so that the packaging material output from the conveying claw body 323 enters the feed roller group.

[0052] It is understandable that the robot body 1 can be an AGV mobile platform, and the robot body 1 is equipped with a walking mechanism and a control system. The control system is electrically connected to the walking mechanism and the multi-axis robotic arm 2 respectively, and the control system is used to control the multi-axis robotic arm 2 to change its posture.

[0053] The multi-axis robotic arm 2 can switch between multiple degrees of freedom to adjust the posture of the feeding attachment 3 in three-dimensional space. Optionally, the multi-axis robotic arm 2 can be a six-axis robotic arm.

[0054] The feeding claw 32 is used to transport the end of the packaging material according to the set feeding path; the feeding path can be divided into a first path section and a second path section, the guiding claw body 321 is extended along the first path section, the driving wheel group 322 is arranged in the transition area between the first path section and the second path section, and the conveying claw body 323 is extended along the second path section.

[0055] Among them, the first path segment and the second path segment can be either an arc path or a straight path, or a combined path composed of an arc path and a straight path, and there is no limitation on this. However, at least a smooth trajectory transition should be set between the first path segment and the second path segment to ensure that the end of the packaging material can be smoothly conveyed along the guide claw body 321, the driving wheel group 322 and the conveying claw body 323 in sequence.

[0056] The driving wheel set 322 may be configured with at least one wheel set unit, each wheel set unit including two wheel bodies, and a clamping gap for clamping the packaging material is formed between the two wheel bodies.

[0057] In this embodiment, both wheel bodies can be set as driving wheels, or one of the two wheel bodies can be set as the driving wheel and the other of the two wheel bodies can be set as the driven wheel. There is no specific limitation on this, as long as the directional transportation of the packaging materials can be achieved.

[0058] For the automatic feeding robot for packaging materials shown in the present invention, by configuring the robot body 1, the multi-axis robot arm 2 and the feeding attachment 3, after the filling machine completes the replacement of the packaging material roll, the robot body 1 can be controlled to move to the side of the newly-online packaging material roll. In the process of the filling machine controlling the unwinding of the packaging material roll, the robot body 1 controls the multi-axis robot arm 2 to be in a first posture to change the posture of the feeding attachment 3 relative to the packaging material roll, so that the guiding claw body 321 can receive the end of the unwound packaging material on the packaging material roll and guide the end of the packaging material into The packaging material is conveyed to the clamping gap of the driving wheel group 322 by the conveying claw body 323 under the drive of the driving wheel group 322; then, the robot body 1 controls the multi-axis robot arm 2 to switch to the second posture, and changes the placement posture of the feeding attachment 3 again, so that the end of the conveying claw body 323 away from the driving wheel group 322 is tangent to the feed roller group on the filling machine, so that the packaging material output from the conveying claw body 323 enters the feed roller group, and is spliced ​​with the original packaging material on the filling machine, ensuring that the filling machine can perform continuous filling operations.

[0059] It can be seen that compared with the current manual loading and splicing method of packaging materials, the automatic packaging material loading robot of the present invention can automatically lead out the end of the unrolled packaging material on the packaging material roll and deliver it to the feed roller group above the filling machine, thereby improving the packaging material loading efficiency and reducing production costs.

[0060] In some embodiments, as Figure 2 and Figure 3 As shown, the feeding attachment 3 further includes a spacing adjustment component 33 , which is respectively connected to the two feeding claws 32 , and the two feeding claws 32 are arranged side by side along the width direction of the packaging material.

[0061] The spacing adjustment component 33 is used to adjust the spacing between the two feeding claws 32 so that the spacing between the feeding claws 32 is adapted to the width of the packaging material. The two feeding claws 32 are also used to clamp and correct the packaging material.

[0062] It can be understood that the feeding attachment 3 is equipped with two feeding claws 32, which are arranged at intervals. The two feeding claws 32 cooperate with each other. While supporting the two side areas of the packaging material along the width direction of the packaging material, they also synchronously transport the packaging material through their respective driving wheel groups 322 to ensure the flatness of the packaging material during the transportation process, and can be delivered to the feed roller group of the filling machine according to the set posture.

[0063] In some examples, the spacing adjustment component 33 can be configured with two moving units, and the two moving units are connected to the two feeding claws 32 in a one-to-one correspondence to drive the two feeding claws 32 to move closer or farther away along the width direction of the packaging material to adjust the spacing between the two feeding claws 32.

[0064] In some examples, the spacing adjustment component 33 can also be a linear drive component, the moving part of the linear drive component is connected to one feed claw 32, and the fixed part of the linear drive component is connected to another feed claw 32, thereby driving one feed claw 32 to move relative to the other feed claw 32 to adjust the spacing between the two feed claws 32.

[0065] In some embodiments, as Figure 3 As shown, the guiding claw body 321 has an arc-shaped guiding surface, which contacts the surface of the packaging material.

[0066] A retaining edge 3210 is provided at one end of the guiding claw body 321 away from the packaging material. The retaining edge 3210 abuts against the side edge of the packaging material along the width direction of the packaging material.

[0067] Among them, under the limitation of the retaining edges 3210 on the two feeding claws 32, the arc-shaped guiding surface guides the end of the packaging material to slide into the clamping gap.

[0068] It can be understood that the guiding claw body 321 has a fitting surface, and the fitting surface and the arc-shaped guiding surface are arranged back to back; the fitting surface and the arc-shaped guiding surface intersect at the end of the guiding claw body 321 away from the driving wheel group 322, and when the multi-axis robot arm 2 is in the first posture, the fitting surface fits with the side of the packaging material roll, and then when the packaging material roll is in the unrolled state, it ensures that the end of the unrolled packaging material can smoothly enter the arc-shaped guiding surface.

[0069] In order to better guide the end of the packaging material roll, the arc-shaped guiding surface can be configured as an arc surface, and the central angle of the arc surface relative to the center of the circle can be 45° to 75°.

[0070] Under the adjustment of the spacing adjustment component 33, the spacing between the two feeding claws 32 is adapted to the width of the packaging material. When the guiding claw body 321 receives the end of the packaging material roll, the guiding claw body 321 uses the arc-shaped guiding surface to guide the moving posture of the end of the packaging material. During this process, the guard edge 3210 on one of the feeding claws 32 limits and stops one side of the packaging material, and the guard edge 3210 on the other feeding claw 32 limits and stops the other side of the packaging material, so that the two feeding claws 32 clamp and correct the conveying posture of the packaging material, ensuring that the end of the packaging material slides into the clamping gap of the driving wheel group 322 according to the set posture.

[0071] like Figure 2 and Figure 3 As shown, the retaining edge 3210 includes a guiding edge and a stopping edge 3210 , and the guiding edge and the stopping edge 3210 are connected and arranged at an angle.

[0072] The first end of the guide edge extends toward the side away from the packaging material, the second end of the guide edge extends toward the side close to the packaging material, and is connected to the first end of the stop edge 3210, and the second end of the stop edge 3210 extends to the position of the driving wheel group 322.

[0073] The guide edge is used to guide the packaging material into the position between the two feeding claws 32, and the stop edge 3210 is used to fit with the side of the packaging material.

[0074] It can be understood that the side of the guide edge facing the packaging material is a guiding slope. When the packaging material deviates from the set center line during transportation, the guiding slope guides the packaging material to move horizontally along the width direction until the center line of the packaging material coincides with the set center line, and then the clamping limit of the stop edge 3210 on the two guiding claws 321 is used to prevent the packaging material from being laterally offset during transportation.

[0075] In this way, during the conveying process of the packaging materials, the two guiding claws 321 can first use the guiding edges to correct the deviation of the packaging materials during conveying, and then use the stopping edges 3210 to clamp and limit the packaging materials along the width direction of the packaging materials to ensure the conveying posture of the packaging materials.

[0076] In some embodiments, as Figure 3 As shown, a gap channel 3230 is provided in the conveying claw body 323 , the gap width of the gap channel 3230 is adapted to the thickness of the packaging material, and the gap channel 3230 is extended along the extension direction of the conveying claw body 323 .

[0077] The side of the gap channel 3230 facing the packaging material is open, and the side of the gap channel 3230 facing away from the packaging material is closed and fits with the side of the packaging material.

[0078] It is understandable that during the packaging material transportation process, the driving wheel group 322 provides driving force for the transportation of the packaging material, the gap channel 3230 corrects the flatness of the packaging material transportation, and utilizes the guide path provided by the gap channel 3230 to control the packaging material to be output according to the set posture.

[0079] At the same time, since the side of the gap channel 3230 facing away from the packaging material is sealed, during the packaging material conveying process, the two conveying claws 323 cooperate with each other to clamp and correct the posture of the packaging material along the width direction.

[0080] In some embodiments, as Figure 3 As shown, the spacing adjustment component 33 includes a first drive motor 331, a pulley group 332 and a synchronous belt 333; the first drive motor 331 is connected to the pulley group 332, and the synchronous belt 333 is wound around the pulley group 332 to form a first belt segment and a second belt segment for reverse conveying along the width direction of the packaging material.

[0081] Two feeding claws 32 are movably provided on the adapter seat 31 along the width direction of the packaging material, wherein one feeding claw 32 is connected to the first belt segment, and the other feeding claw 32 is connected to the second belt segment.

[0082] Specifically, the first drive motor 331 can be a servo motor; the pulley group 332 includes a first pulley and a second pulley, the first pulley and the second pulley are arranged at intervals along the width direction of the packaging material, and are rotatably arranged on the adapter 31, the first drive motor 331 and the first pulley are dynamically coupled, the synchronous belt 333 is wound between the first pulley and the second pulley, and the parts of the synchronous belt 333 exposed between the first pulley and the second pulley are the first belt segment and the second belt segment respectively.

[0083] When the first driving motor 331 rotates in the first rotation direction, the synchronous belt 333 is driven in the clockwise direction, so that the first belt segment rotates in the direction of Figure 3 The direction shown is moved to the right, and the second belt section is moved according to Figure 3 The direction shown in FIG3 moves to the left, thereby controlling the two feeding claws 32 to approach each other along the width direction of the packaging material. When the first driving motor 331 rotates along the second rotation direction, the synchronous belt 333 is driven in the counterclockwise direction, so that the first belt segment rotates in the direction shown in FIG3. Figure 3 The direction shown is moved to the left, and the second belt section is moved according to Figure 3 The position shown is moved to the right, thereby controlling the two feeding claws 32 to move away from each other along the width direction of the packaging material.

[0084] In some embodiments, as Figure 4 As shown, in order to facilitate automatic adjustment of the distance between the two feeding claws 32 and ensure that the distance between the two feeding claws 32 is adapted to the width of the packaging material to be received, the feeding attachment 3 is also equipped with a camera module 34; the camera module 34 is arranged on the adapter 31, the camera module 34 is electrically connected to the robot body 1, and the robot body 1 is electrically connected to the distance adjustment component 33.

[0085] The camera module 34 is used to collect image information of the packaging material, and the robot body 1 is used to determine the width of the packaging material based on the image information, and control the spacing adjustment component 33 to adjust the spacing between the two feeding claws 32 based on the width of the packaging material.

[0086] In some embodiments, as Figure 3 As shown, in order to provide driving force for the transportation of packaging materials, the driving wheel group 322 includes a driving wheel 3221, a driven wheel 3222 and a second driving motor 3223.

[0087] The driving wheel 3221 and the driven wheel 3222 are arranged side by side, and a clamping gap is formed between the driving wheel 3221 and the driven wheel 3222; the second driving motor 3223 and the driving wheel 3221 are power-coupled and connected, and the second driving motor 3223 can be a servo motor.

[0088] Optionally, a material level sensor may be provided on one side of the driving wheel assembly 322 , the material level sensor is electrically connected to the control module, and the control module is electrically connected to the second driving motor 3223 .

[0089] The material level sensor is used to detect whether there is packaging material in the clamping gap of the driving wheel group 322. The control module is used to control the second driving motor 3223 to start running when the material level sensor detects the packaging material.

[0090] In some embodiments, as Figure 2 and Figure 3 As shown, a detection element 35 is provided on the feeding claw 32 , and the detection element 35 is provided on the conveying claw body 323 of the feeding claw 32 . The detection element 35 is electrically connected to the control module, and the control module is electrically connected to the driving wheel set 322 .

[0091] In the case where the driving wheel assembly 322 includes a driving wheel 3221 , a driven wheel 3222 and a second driving motor 3223 , the control module is electrically connected to the second driving motor 3223 .

[0092] The detection element 35 can be a code scanning module or a camera module. The detection element 35 is used to identify the identification code on the packaging material output from the conveying claw body 323. When the detection element 35 detects the identification code, the control module is used to control the driving wheel group 322 to stop running according to the information feedback from the detection element 35. At this time, the packaging material output from the conveying claw body 323 can enter the filling machine under the drive of the feed roller group.

[0093] In some embodiments, as Figure 2 and Figure 3 As shown, the feeding attachment 3 further includes an adsorption component 36 ; the adsorption component 36 includes a first suction nozzle and a second suction nozzle, and the first suction nozzle and the second suction nozzle are arranged opposite to the two feeding claws 32 one by one.

[0094] Taking into account that the end of the packaging material may be attached to the side wall of the packaging material roll during the unrolling process, in this embodiment, when the multi-axis robot arm 2 is in the first posture, the first suction nozzle and the second suction nozzle are controlled to simultaneously start the negative pressure adsorption function, and the first suction nozzle and the second suction nozzle cooperate to pull the end of the packaging material between the two feeding claws 32.

[0095] Among them, when the end of the packaging material enters the guiding claw body 321 of the feeding claw 32, the first suction nozzle and the second suction nozzle are controlled to stop working. Under the action of the driving force when the packaging material roll is unrolled, the end of the packaging material will slide along the arc-shaped guiding surface of the guiding claw body 321 until it reaches the clamping gap of the driving wheel group 322.

[0096] In some embodiments, as Figure 2 and Figure 3 As shown, the feeding attachment 3 also includes a limiting claw 37; the limiting claw 37 includes a first claw body and a second claw body, the first claw body and the second claw body are arranged one by one opposite to the two feeding claws 32, and are respectively arranged on both sides of the packaging material roll.

[0097] The first claw body and the second claw body both include a connecting rod and a roller. The connecting rod is connected to the adapter seat 31, and the roller is rotatably provided on the connecting rod. The roller is extended along the radial direction of the packaging material roll and is in rolling contact with the end surface of the packaging material roll.

[0098] It is understandable that the first claw body and the second claw body of the limiting claw 37 are arranged at intervals along the width direction of the packaging material, but the two feeding claws 32 are located between the first claw body and the second claw body.

[0099] When the feeding attachment 3 picks up the end of the packaging material from the side wall of the packaging material roll, the first claw body and the second claw body are clamped on the opposite end faces of the packaging material roll in a rolling contact manner, ensuring the layout posture of the feeding attachment 3 relative to the packaging material roll, making it easier for the unrolled packaging material on the packaging material roll to enter stably and reliably between the two feeding claws 32.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A packaging material automatic feeding robot, characterized in that: include: Robot body, multi-axis robotic arm and feeding attachments; The feeding attachment includes an adapter and a feeding claw; The robot body is connected to the first end of the multi-axis robotic arm, and the second end of the multi-axis robotic arm is connected to the adapter; The feeding claw comprises a guiding claw body, a driving wheel set and a conveying claw body, wherein the driving wheel set is arranged between the guiding claw body and the conveying claw body; The guiding claw is used to guide the end of the packaging material into the clamping gap of the driving wheel group, and the conveying claw is used to convey the packaging material under the drive of the driving wheel group; Wherein, when the multi-axis robotic arm is in the first posture, one end of the guiding claw body away from the driving wheel assembly is tangent to the side wall of the packaging material roll in the unrolled state on the filling machine, so as to receive the end of the packaging material unrolled from the packaging material roll; When the multi-axis robot arm is in the second posture, one end of the conveying claw body away from the driving wheel group is tangent to the feed roller group on the filling machine, so that the packaging material output from the conveying claw body enters the feed roller group.

2. The automatic packaging material feeding robot according to claim 1, characterized in that: The feeding attachment further includes a spacing adjustment component, wherein the spacing adjustment component is connected to the two feeding claws respectively, and the two feeding claws are arranged side by side along the width direction of the packaging material; The spacing adjustment component is used to adjust the spacing between the two feeding claws so that the spacing between the two feeding claws is adapted to the width of the packaging material. The two feeding claws are also used to clamp and correct the packaging material.

3. The automatic packaging material feeding robot according to claim 2, characterized in that: The guiding claw body has an arc-shaped guiding surface, which contacts the surface of the packaging material; the guiding claw body is provided with a rib at one end away from the packaging material, and the rib abuts against the side edge of the packaging material along the width direction of the packaging material; Wherein, under the limitation of the retaining edges on the two feeding claws, the arc-shaped guiding surface guides the end of the packaging material to slide into the clamping gap.

4. The automatic packaging material feeding robot according to claim 3, characterized in that: The retaining edge includes a guiding edge and a stopping edge; The first end of the guide edge extends toward a side away from the packaging material, the second end of the guide edge extends toward a side close to the packaging material and is connected to the first end of the stop edge, and the second end of the stop edge extends to the position where the driving wheel set is located; The guide edge is used to guide the packaging material to enter the position between the two feeding claws, and the stop edge is used to fit with the side edge of the packaging material.

5. The automatic packaging material feeding robot according to claim 2, characterized in that: A gap channel is provided in the conveying claw body, the gap width of the gap channel is adapted to the thickness of the packaging material, and the gap channel is extended along the extension direction of the conveying claw body; The side of the gap channel facing the packaging material is open, and the side of the gap channel facing away from the packaging material is closed and fits with the side edge of the packaging material.

6. The automatic packaging material feeding robot according to claim 2, characterized in that: The spacing adjustment assembly includes a first drive motor, a pulley set and a synchronous belt; The first drive motor is connected to the pulley assembly, and the synchronous belt is wound around the pulley assembly to form a first belt segment and a second belt segment for reverse conveying along the width direction of the packaging material; The two feeding claws are movably arranged on the adapter seat along the width direction of the packaging material, one of the feeding claws is connected to the first belt segment, and the other feeding claw is connected to the second belt segment.

7. The automatic packaging material feeding robot according to claim 2, characterized in that: The feeding attachment also includes a camera module; The camera module is arranged on the adapter, the camera module is electrically connected to the robot body, and the robot body is electrically connected to the spacing adjustment component; The camera module is used to collect image information of the packaging material, the robot body is used to determine the width of the packaging material based on the image information, and control the spacing adjustment component to adjust the spacing between the two feeding claws based on the width of the packaging material.

8. The automatic packaging material feeding robot according to claim 1, characterized in that: The driving wheel group includes a driving wheel, a driven wheel and a second driving motor; The driving wheel and the driven wheel are arranged side by side, and the clamping gap is formed between the driving wheel and the driven wheel; the second driving motor is power-coupled with the driving wheel.

9. The automatic packaging material feeding robot according to any one of claims 2 to 6, characterized in that: The feeding attachment further includes an adsorption component; The adsorption assembly includes a first suction nozzle and a second suction nozzle, and the first suction nozzle and the second suction nozzle are arranged opposite to the two feeding claws one by one; When the multi-axis robotic arm is in the first posture, the first suction nozzle and the second suction nozzle cooperate to pull the end of the packaging material between the two feeding claws.

10. The automatic packaging material feeding robot according to any one of claims 1 to 8, characterized in that: The feeding attachment further includes a limiting claw; The limiting claw includes a first claw body and a second claw body, the first claw body and the second claw body are arranged one by one opposite to the two feeding claws, and are respectively arranged on both sides of the packaging material roll; The first claw body and the second claw body each include a connecting rod and a roller, the connecting rod is connected to the adapter, and the roller is rotatably provided on the connecting rod; The roller is arranged to extend radially along the packaging material roll and is in rolling contact with the end surface of the packaging material roll.

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