Automatic ribbon shearing device, automatic carton feeding system and feeding method

Abstract

The invention provides an automatic ribbon shearing device, an automatic carton feeding system and a feeding method. The automatic ribbon shearing device comprises a frame, a bottom plate, a suction cup, a translation mechanism and a shearing mechanism, and the frame is fixedly connected with the end of a feeding manipulator through a flange; the bottom plate is fixedly connected with the frame through the first connecting block, the translation mechanism is installed on the bottom plate, and the shearing mechanism is slidably connected with the bottom plate through the translation mechanism; the suction cups are installed on the outer side of the frame through first connecting rods respectively. Through cooperation of the automatic ribbon shearing device and the mechanical arm, multiple actions such as carton suction feeding, ribbon shearing and ribbon taking-out can be achieved, automatic feeding of cartons is achieved, labor input is reduced, when cartons are fed, accurate feeding can be achieved with the help of the visual guiding module, and meanwhile the production efficiency of the cartons is improved. And the orientation and brand of the carton can be accurately identified, the problem that the carton is loaded by mistake or is inverted is avoided, the error probability is reduced, and the automation degree is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic packaging equipment, in particular to an automatic binding tape cutting device, an automatic carton feeding system and a feeding method. BACKGROUND

[0002] With the development of China's economy, the logistics and packaging industries are developing rapidly. For some industries such as tobacco, pharmaceuticals, home appliances and other industries that require a large number of carton packaging, automatic packaging equipment has gradually replaced manual labor. The packaging of these products is usually purchased from specialized carton processing enterprises. In order to facilitate transfer and counting, carton enterprises usually flatten the cartons and use binding tapes to bind 10 to 20 cartons into a bundle. At present, when manually feeding, the forklift transports the tray containing the cartons to the designated position, and then manually lifts the bundled cartons onto the carton conveying belt and cuts off the binding tape. The labor cost is high, and manual operation may cause misoperation, resulting in carton creases or direction inversion, which may cause product quality problems or equipment downtime. In addition, on-site carton loading, storage and transfer may also affect the production site. Therefore, an automatic binding tape cutting device, control method and system are needed, which can realize automatic feeding through AGV trolley, manipulator and other devices, reduce the labor input of workers, and realize orderly and accurate feeding of cartons. SUMMARY

[0003] In order to solve the above problems, the present application provides an automatic binding tape cutting device, an automatic carton feeding system and a feeding method, which realizes automatic feeding through AGV trolley, manipulator and other devices, reduces the labor input of workers, and realizes orderly and accurate feeding of cartons.

[0004] The present application is realized by the following technical solutions: The present application provides an automatic binding tape cutting device, which comprises a frame, a bottom plate, a suction cup, a translation mechanism and a cutting mechanism. The frame is fixedly connected to the end of the feeding manipulator through a flange. The bottom plate is fixedly connected to the frame through a first connecting block. The translation mechanism is installed on the bottom plate. The cutting mechanism is slidably connected to the bottom plate through the translation mechanism. The suction cup is installed on the outside of the frame through a first connecting rod. The height of the suction cup is lower than that of the cutting mechanism. Two sets of translation mechanisms and cutting mechanisms are provided on the frame. The two sets of translation mechanisms are parallel to each other, and the running directions of the two sets of translation mechanisms are opposite.

[0005] Further, the translation mechanism comprises a guide rail, a sliding block and a translation cylinder. The guide rail is fixed on the bottom plate by bolts. The sliding block is slidably connected to the guide rail. The translation cylinder is connected to the bottom plate through a fixing block. The extension end of the translation cylinder is connected to the sliding block through a centering assembly. The cutting mechanism is connected to the sliding block. The extension directions of the translation cylinders on the two sets of translation mechanisms are opposite.

[0006] Furthermore, one end of the translation cylinder is connected to the frame via a second connecting block.

[0007] Furthermore, the cutting mechanism includes a third connecting block, a hook block, a pressing block, and a cutter. The third connecting block is fixedly installed on the upper part of the slider. The hook block is connected to the third connecting block through a second connecting rod. A first side block and a second side block are fixedly installed on the hook block. The hook block, the first side block, and the second side block form a sliding groove. The pressing block and the cutter are slidably installed in the sliding groove, and a spring is provided between the pressing block and the cutter.

[0008] Furthermore, the first and second side blocks are provided with mounting plates on their upper parts, and a shearing cylinder is provided on the mounting plates. The shearing cylinder is fixedly mounted on the mounting plates, and the telescopic end of the shearing cylinder is connected to the cutter.

[0009] Furthermore, the upper part of the pressing block is slidably connected to the cutter via a protrusion, and the lower part of the pressing block is 1mm to 5mm lower than the cutting edge of the cutter.

[0010] Furthermore, the hook block is provided with a touch switch on its side, and the hook block is provided with an elongated hole, with the touch part of the touch switch extending obliquely into the elongated hole.

[0011] Furthermore, the upper part of the frame is provided with a solenoid valve group, a vacuum generator, and a pressure gauge. The air inlet of the pressure gauge and the solenoid valve group is connected to the air source, the air outlet of the solenoid valve group is connected to the translation cylinder and the shearing cylinder, and the air outlet of the solenoid valve group is also connected to the suction cup through the vacuum generator.

[0012] An automatic carton loading system is characterized by comprising: an automatic cable tie cutting device, an AGV trolley, a vision guidance module, a carton conveyor belt, and a loading robot. The automatic cable tie cutting device is installed at the end of the loading robot, the carton conveyor belt is arranged around the robot, the AGV trolley transports a pallet containing cartons to a position below the vision guidance module, and the loading robot loads and cuts the cable ties according to the position and image information captured by the vision guidance module.

[0013] A feeding method for an automatic carton feeding system, characterized by the following steps: S1: Mark the area where the pallet will stop during loading near the loading robot. There may be one or more pallet stopping areas. S2: The AGV (Automated Guided Vehicle) transports pallets with cardboard boxes from the cardboard box warehouse to the pallet parking area; S3: The visual guidance module uses 3D scanning and a 2D camera for recognition. The 2D camera identifies the brand of the carton, and the 3D scanning identifies the carton's orientation, relative position, and cable tie position information. S4: The loading robot controls the automatic cable tie cutting device to move above the carton and adjusts the angle of the automatic cable tie cutting device so that the movement direction of the translation mechanism is perpendicular to the cable tie. Then the loading robot moves downward to make the suction cup stick to the carton. At the same time, the solenoid valve group is opened to generate suction through the vacuum generator and the suction cup holds the carton. S5: The translation cylinder extends, driving the cutting mechanism to move towards the cable tie. When the cable tie enters the cutting mechanism, it will contact the touch switch. The touch switch will send a feedback signal, and the cutting mechanism will stop moving. S6: The loading robot moves the cartons onto the corresponding carton conveyor belt using an automatic cable tie cutter. S7: After the carton is placed on the carton conveyor belt, the shearing cylinder extends to clamp the cable tie and cut it. After cutting, the shearing cylinder remains extended to continue clamping the cut cable tie. S8: The loading robot adjusts its position and pulls out the cable tie. After moving the cable tie to the designated position, the shearing cylinder retracts, causing the pressing block to retract and releasing the cable tie so that it falls into the designated area.

[0014] The beneficial effects of this invention are as follows: By cooperating with an automatic cable tie cutting device and a robotic arm, multiple actions such as picking up and feeding cartons, cutting cable ties, and removing cable ties can be realized, thereby achieving automatic feeding of cartons, reducing manual input, and during the feeding process, accurate feeding can be achieved with the help of a vision guidance module, while also accurately identifying the orientation and brand of the cartons, avoiding the problem of feeding the wrong cartons or inverting the cartons, reducing the probability of errors, and improving the degree of automation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the lower part of the present invention; Figure 3 A schematic diagram showing the translation mechanism and the shearing mechanism mounted on the base plate; Figure 4 This is a schematic diagram of one side of the shearing mechanism; Figure 5 This is a schematic diagram of the structure on the other side of the shearing mechanism; Figure 6 This is a schematic diagram showing the connection between the pressing block and the cutter; Figure 7 This is a schematic diagram showing the connection between the third connecting block and the hook block; In the diagram: 1-Frame, 2-Base plate, 3-Suction cup, 4-Translation mechanism, 401-Guide rail, 402-Slider, 403-Translation cylinder, 404-Fixing block, 5-Shearing mechanism, 501-Third connecting block, 502-Hook block, 503-Pressing block, 504-Cutter, 505-Second connecting rod, 506-First side block, 507-Second side block, 508-Slide groove, 509-Spring, 510-Mounting plate, 511-Shearing cylinder, 512-Protrusion, 513-Touch switch, 6-First connecting block, 7-First connecting rod, 8-Solenoid valve assembly, 9-Vacuum generator, 10-Pressure gauge, 11-Second connecting block. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Throughout the description, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0018] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include at least one of the stated features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0019] like Figures 1 to 7As shown, an embodiment of the present invention provides an automatic cable tie cutting device, including: a frame 1, a base plate 2, a suction cup 3, a translation mechanism 4, and a cutting mechanism 5. The frame 1 is fixedly connected to the end of a loading robot via a flange; the base plate 2 is fixedly connected to the frame 1 via a first connecting block 6; the translation mechanism 4 is mounted on the base plate 2; and the cutting mechanism 5 is slidably connected to the base plate 2 via the translation mechanism 4; the suction cup 3 is respectively mounted on the outside of the frame 1 via a first connecting rod 7, and the height of the suction cup 3 is lower than the height of the cutting mechanism 5; the frame 1 is provided with two sets of translation mechanisms 4 and cutting mechanisms 5, the two sets of translation mechanisms 4 are parallel to each other, and the two sets of translation mechanisms 4 run in opposite directions.

[0020] This device is mainly driven by a robotic arm. After the position information of the carton is obtained by scanning through a vision guidance module, the loading robotic arm drives the automatic cable tie cutting device to the top side of the carton. The suction cup 3 then picks up the carton, and at the same time, the translation mechanism 4 drives the cutting mechanism 5 to move and hook the cable tie on the carton. When the cable tie is hooked, the touch switch 513 on the cutting mechanism 5 is activated, indicating that the cutting mechanism 5 has moved into position, and the translation mechanism 4 stops running. The two sets of translation mechanisms 4 drive the two sets of cutting mechanisms 5 to simultaneously tie the cable tie on the carton, achieving effective positioning of the cable tie. Then, the loading robotic arm lifts the carton and moves it to the carton conveyor belt. After reaching the predetermined position, the cutting cylinder 511 extends, driving the pressing... Block 503 and cutter 504 move down simultaneously. The pressing block 503 is connected to the cutter 504 via spring 509, and the lower part of the pressing block 503 is lower than the cutting edge of the cutter 504. Therefore, the pressing block 503 will press down on the cable tie first. Then the cutter 504 continues to move down and cuts the cable tie. The pressing block 503 presses down on the cable tie to prevent it from moving during cutting, thus ensuring accurate cutting of the cable tie. After the cable tie is cut, the shearing cylinder 511 remains in an extended state and continues to clamp the cable tie. Then the loading robot pulls out the cut cable tie through the automatic cable tie cutting device and places it in the designated position, completing multiple actions such as picking up and loading the carton, cutting the cable tie, and removing the cable tie, replacing manual loading and improving the degree of automation.

[0021] In a specific embodiment, such as Figure 3 As shown, the translation mechanism 4 includes a guide rail 401, a slider 402, and a translation cylinder 403. The guide rail 401 is fixed to the base plate 2 by bolts. The slider 402 is slidably connected to the guide rail 401. The translation cylinder 403 is connected to the base plate 2 through a fixing block 404, and the telescopic end of the translation cylinder 403 is connected to the slider 402 through a centering component. The cutting mechanism 5 is connected to the slider 402. The extension directions of the translation cylinders 403 on the two sets of translation mechanisms 4 are opposite. Each bundle of cardboard boxes is usually tied with two cable ties. Therefore, the two sets of translation mechanisms 4 are used to drive the cutting mechanism 5 to move outward while hooking the cable ties, achieving accurate positioning of the cable ties for subsequent cutting.

[0022] Specifically, such as Figure 2 , Figure 3 As shown, one end of the translation cylinder 403 is connected to the frame 1 via the second connecting block 11. Since the translation cylinder 403 is relatively long, its end can be fixed by the second connecting block 11 to prevent the translation cylinder 403 from swinging too much during the operation of the loading robot and causing metal fatigue and breakage.

[0023] In a preferred embodiment, such as Figure 4 , Figure 5 As shown, the cutting mechanism 5 includes a third connecting block 501, a hook block 502, a pressing block 503, and a cutter 504. The third connecting block 501 is fixedly installed on the upper part of the slider 402. The hook block 502 is connected to the third connecting block 501 through a second connecting rod 505. A first side block 506 and a second side block 507 are fixedly installed on the hook block 502. The hook block 502, the first side block 506, and the second side block 507 form a sliding groove 508. The pressing block 503 and the cutter 504 are slidably installed in the sliding groove 508, and a spring 509 is provided between the pressing block 503 and the cutter 504. The main function of the cutting mechanism 5 is to hook the cable ties on the carton and clamp and cut them. The clamping and cutting in the transmission actuator are accomplished by two cylinders, resulting in a complex mechanism, high failure rate, and a long operation cycle due to the need for a time interval between the two cylinders. Therefore, this invention sets the pressing block 503 and the cutter 504 in a groove 508, allowing both to slide within the groove. When the cutting cylinder 511... During extension, the cutter 504 pushes the pressing block 503 downward via the spring 509. After the pressing block 503 presses onto the cable tie, the cutter 504 continues to move downward. Under the action of the spring 509, the pressing block 503 clamps the cable tie to prevent it from moving. Then, the cutter 504 moves downward to cut the cable tie. After the cable tie is cut, the shearing cylinder 511 remains in the extended state, continuing to clamp the cable tie. Subsequently, the loading robot pulls out the cut cable tie through the automatic cable tie cutting device and places it in the designated position. In this device, the cutting mechanism 5 and the shearing cylinder 511 can complete the clamping and cutting of the cable tie in one extension, simplifying the equipment and improving work efficiency.

[0024] In one specific embodiment, the first side block 506 and the second side block 507 are provided with an mounting plate 510. The mounting plate 510 is provided with a shearing cylinder 511. The shearing cylinder 511 is fixedly mounted on the mounting plate. The telescopic end of the shearing cylinder 511 is connected to the cutter 504. The mounting plate 510 provides an installation position for the shearing cylinder 511 to be installed. After the shearing cylinder 511 extends, it can drive the pressing block 503 and the cutter 504 to move down, so as to realize the cutting operation of the cable tie.

[0025] In a specific embodiment, such as Figure 6As shown, the upper part of the pressing block 503 is slidably connected to the cutter 504 through the protrusion 512. The lower part of the pressing block 503 is 1mm to 5mm lower than the cutting edge of the cutter 504. The protrusion 512 can limit the pressing block 503 to prevent it from sliding out of the groove 508. With the cooperation of the spring 509, the pressing block 503 contacts the cable tie before the cutter 504. Before cutting, the cable tie is clamped to prevent it from loosening. After cutting, the cable tie can be clamped again to facilitate pulling out the cable tie.

[0026] In a specific embodiment, such as Figure 4 , Figure 5 As shown, a touch switch 513 is provided on the side of the hook block 502. The hook block 502 has an elongated hole. The actuating part of the touch switch 513 extends obliquely into the elongated hole. When hooking the cable tie, after the cable tie enters the upper part of the hook block 502, it will touch the touch switch 513, thereby conducting an electrical signal. The position information is fed back through the touch switch 513, thereby controlling the translation mechanism 4 to stop moving, so as to achieve accurate control of the position of the cable tie.

[0027] Specifically, such as Figure 1 As shown, the upper part of frame 1 is equipped with a solenoid valve assembly 8, a vacuum generator 9, and a pressure gauge 10. The air inlets of pressure gauge 10 and solenoid valve assembly 8 are connected to an air source, respectively. The air outlet of solenoid valve assembly 8 is connected to translation cylinder 403 and shearing cylinder 511. The air outlet of solenoid valve assembly 8 is also connected to suction cup 3 through vacuum generator 9. Under the control of the controller, solenoid valve assembly 8 can control the airflow in the pipeline, realizing the action control of components such as translation cylinder 403, shearing cylinder 511, and suction cup 3. Vacuum generator 9 can convert compressed airflow into negative pressure, so that suction cup 3 can obtain suction force to pick up the cardboard box.

[0028] An automatic carton loading system, characterized in that it comprises: an automatic cable tie cutting device according to any one of claims 1-8, an AGV trolley, a vision guidance module, a carton conveyor belt, and a loading robot. The automatic cable tie cutting device is installed at the end of the loading robot, the carton conveyor belt is arranged around the robot, the AGV trolley transports a pallet containing cartons to a position below the vision guidance module, and the loading robot loads and cuts cable ties according to the position and image information captured by the vision guidance module through the automatic cable tie cutting device.

[0029] AGV carts are used for transporting cartons within the factory area. The vision guidance module is used to identify information such as the location and brand of cartons on the pallet. After computer calculation, the controller controls the loading robot to transfer the cartons to the carton conveyor belt, achieving high efficiency and automation, reducing manpower input, and reducing the probability of loading errors.

[0030] A feeding method for an automatic carton feeding system, characterized by the following steps: S1: Mark the area where the pallet will be placed during loading near the loading robot. There are one or more pallet parking areas. The AGV can identify the location through vision or electronic tags to facilitate the loading robot's gripping. Multiple pallet parking areas can hold multiple pallets, thus ensuring the continuity of loading. S2: AGV carts transport pallets with cardboard boxes from the cardboard box warehouse to the pallet parking area. AGV carts replace manned forklifts for pallet transfer, saving manpower and avoiding the impact of exhaust fumes from forklifts on the workshop working environment. AGV carts have a high degree of automation and can avoid errors during transfer. S3: The visual guidance module uses 3D scanning and 2D cameras for identification. The 2D camera identifies the brand of the cardboard box, while the 3D scanning identifies the direction, relative position, and cable tie position of the cardboard box. Both the 3D scanning and 2D camera use existing mature modules and algorithms. The visual guidance module can improve the gripping accuracy of the robotic arm and identify the appearance and orientation of the cardboard box during gripping, avoiding misplacing the cardboard box and reducing the probability of errors. S4: The loading robot controls the automatic cable tie cutting device to move above the carton and adjusts the angle of the automatic cable tie cutting device so that the movement direction of the translation mechanism is perpendicular to the cable tie. Then the loading robot moves downward to make the suction cup stick to the carton. At the same time, the solenoid valve group is opened to generate suction through the vacuum generator. The suction cup holds the carton and the robot transfers the carton from the pallet to the carton conveyor belt through the suction cup, realizing automatic loading. S5: The translation cylinder extends, driving the cutting mechanism to move towards the cable tie. When the cable tie enters the cutting mechanism, it will contact the touch switch. The touch switch will give a feedback signal, and the cutting mechanism will stop moving, so that the cutting mechanism 5 can accurately hook the cable tie and stop the cable tie at a specific position of the cutting mechanism 5. When the cutting cylinder 511 extends, it is convenient for the pressing block 503 to clamp the cable tie and the cutter 504 to cut the cable tie. S6: The loading robot moves the cartons onto the corresponding carton conveyor belt using an automatic cable tie cutter. S7: After the carton is placed on the carton conveyor belt, the shearing cylinder extends to press the cable tie tightly and then cut it. After cutting, the shearing cylinder remains extended to continue clamping the cut cable tie. After cutting the cable tie, it can be clamped to make it easier to pull out the cable tie later. S8: The loading robot adjusts its position and pulls out the cable tie. After the cable tie is moved to the designated position, the shearing cylinder retracts, causing the pressing block to retract, releasing the cable tie and letting it fall into the designated area, thus realizing the recycling of the cable tie after it is cut.

[0031] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. An automatic cable tie cutting device, characterized in that, include: The frame (1), base plate (2), suction cup (3), translation mechanism (4), and shearing mechanism (5) are provided. The frame (1) is fixedly connected to the end of the loading robot via a flange. The base plate (2) is fixedly connected to the frame (1) via a first connecting block (6). The translation mechanism (4) is installed on the base plate (2). The shearing mechanism (5) is slidably connected to the base plate (2) via the translation mechanism (4). The suction cup (3) is installed on the outside of the frame (1) via a first connecting rod (7), and the height of the suction cup (3) is lower than the height of the shearing mechanism (5). The frame (1) is provided with two sets of translation mechanisms (4) and shearing mechanisms (5). The two sets of translation mechanisms (4) are parallel to each other and the two sets of translation mechanisms (4) run in opposite directions.

2. The automatic cable tie cutting device according to claim 1, characterized in that, The translation mechanism (4) includes a guide rail (401), a slider (402), and a translation cylinder (403). The guide rail (401) is fixed to the base plate (2) by bolts. The slider (402) is slidably connected to the guide rail (401). The translation cylinder (403) is connected to the base plate (2) by a fixing block (404). The telescopic end of the translation cylinder (403) is connected to the slider (402) through a centering component. The shearing mechanism (5) is connected to the slider (402). The extension directions of the translation cylinders (403) on the two sets of translation mechanisms (4) are opposite.

3. The automatic cable tie cutting device according to claim 2, characterized in that, One end of the translation cylinder (403) is connected to the frame (1) via the second connecting block (11).

4. An automatic cable tie cutting device according to claim 2, characterized in that, The cutting mechanism (5) includes a third connecting block (501), a hook block (502), a pressing block (503), and a cutter (504). The third connecting block (501) is fixedly installed on the upper part of the slider (402). The hook block (502) is connected to the third connecting block (501) through a second connecting rod (505). A first side block (506) and a second side block (507) are fixedly installed on the hook block (502). The hook block (502), the first side block (506), and the second side block (507) form a sliding groove (508). The pressing block (503) and the cutter (504) are slidably installed in the sliding groove (508), and a spring (509) is provided between the pressing block (503) and the cutter (504).

5. An automatic cable tie cutting device according to claim 4, characterized in that, The first side block (506) and the second side block (507) are provided with an mounting plate (510). The mounting plate (510) is provided with a shearing cylinder (511). The shearing cylinder (511) is fixedly installed on the mounting plate (510). The telescopic end of the shearing cylinder (511) is connected to the cutter (504).

6. An automatic cable tie cutting device according to claim 5, characterized in that, The upper part of the pressing block (503) is slidably connected to the cutter (504) through the protrusion (512), and the lower part of the pressing block (503) is 1mm to 5mm lower than the cutting edge of the cutter (504).

7. An automatic cable tie cutting device according to claim 6, characterized in that, The hook block (502) is provided with a touch switch (513) on its side, and the hook block (502) is provided with an elongated hole. The touch part of the touch switch (513) extends obliquely into the elongated hole.

8. An automatic cable tie cutting device according to claim 7, characterized in that, The upper part of the frame (1) is provided with an electromagnetic valve group (8), a vacuum generator (9), and a pressure gauge (10). The air inlet of the pressure gauge (10) and the electromagnetic valve group (8) are respectively connected to the air source. The air outlet of the electromagnetic valve group (8) is connected to the translation cylinder (403) and the shearing cylinder (511). The air outlet of the electromagnetic valve group (8) is also connected to the suction cup (3) through the vacuum generator (9).

9. An automatic carton loading system, characterized in that, include: The automatic cable tie cutting device, AGV trolley, vision guidance module, carton conveyor belt, and loading robot as described in any one of claims 1-8, wherein the automatic cable tie cutting device is installed at the end of the loading robot, the carton conveyor belt is arranged around the robot, the AGV trolley transports a pallet containing cartons to below the vision guidance module, and the loading robot loads and cuts cable ties according to the position and image information captured by the vision guidance module through the automatic cable tie cutting device.

10. The feeding method of an automatic carton feeding system according to claim 9, characterized by the following steps: S1: Mark the area where the pallet will stop during loading near the loading robot. There may be one or more pallet stopping areas. S2: The AGV (Automated Guided Vehicle) transports pallets with cardboard boxes from the cardboard box warehouse to the pallet parking area; S3: The visual guidance module uses 3D scanning and a 2D camera for recognition. The 2D camera identifies the brand of the carton, and the 3D scanning identifies the carton's orientation, relative position, and cable tie position information. S4: The loading robot controls the automatic cable tie cutting device to move above the carton and adjusts the angle of the automatic cable tie cutting device so that the movement direction of the translation mechanism is perpendicular to the cable tie. Then the loading robot moves downward to make the suction cup stick to the carton. At the same time, the solenoid valve group is opened to generate suction through the vacuum generator and the suction cup holds the carton. S5: The translation cylinder extends, driving the cutting mechanism to move towards the cable tie. When the cable tie enters the cutting mechanism, it will contact the touch switch. The touch switch will send a feedback signal, and the cutting mechanism will stop moving. S6: The loading robot moves the cartons onto the corresponding carton conveyor belt using an automatic cable tie cutter. S7: After the carton is placed on the carton conveyor belt, the shearing cylinder extends to clamp the cable tie and cut it. After cutting, the shearing cylinder remains extended to continue clamping the cut cable tie. S8: The loading robot adjusts its position and pulls out the cable tie. After moving the cable tie to the designated position, the shearing cylinder retracts, causing the pressing block to retract and releasing the cable tie so that it falls into the designated area.

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