Automatic carton feeding system of carton filling and sealing machine

Abstract

The utility model discloses an automatic carton feeding system of a carton filling and sealing machine. The automatic carton feeding system comprises an unstacking robot and a carton feeding machine. The unstacking robot comprises a base, a mechanical arm and a composite device. The other end of the mechanical arm is connected with the compounding device; the composite device comprises a supporting frame, a first grabbing assembly and a belt shearing assembly. The first grabbing assembly comprises a suction cup support and buffering suction cups, the multiple buffering suction cups are connected with the supporting frame through the suction cup support, and the carton is adsorbed and released through the buffering suction cups. The belt shearing assembly comprises a mounting plate and a belt shearing device, the belt shearing device is connected with the supporting frame through the mounting plate, and the belt shearing device is used for shearing off a carton packing belt; the carton feeding machine is arranged on one side of the unstacking robot, the carton feeding machine is provided with a feeding station, and the feeding station is used for receiving cartons input by the unstacking robot and filling the cartons into the carton filling and sealing machine. According to the utility model, the labor input can be reduced, and the labor intensity of operators is reduced; the structure is simple, maintenance is easy, and investment cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic packaging production, in particular to an automatic carton feeding system for a carton filling and sealing machine. Background Art

[0002] At present, the cartons used in the production process of the carton filling and sealing area of ​​the roll-wrapping workshop are all carton pallets output from the auxiliary material warehouse, which are placed in the designated area of ​​each carton filling and sealing machine by manual forklifts or AGV carts, and then the packing tape of the carton is removed manually, and then the carton is placed on the carton automatic loading warehouse of the carton filling and sealing machine. After the carton on the pallet is consumed, the empty pallet is taken away by manual forklifts or AGV carts. In summary, the workload of the staff for loading the carton filling and sealing machine is high. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide an automatic carton feeding system for a carton filling and sealing machine, which adopts automatic destacking to replace the manual handling and feeding of cartons, thereby reducing labor input and the labor intensity of operators; the system has a simple structure, is easy to repair and maintain, and reduces investment costs.

[0004] The purpose of the utility model is achieved by the following technical solutions:

[0005] An automatic carton feeding system for a carton filling and sealing machine, characterized by comprising a depalletizing robot and a carton feeding machine;

[0006] The depalletizing robot comprises a base, a mechanical arm and a composite device; the base plays a supporting role, one end of the mechanical arm is mounted on the base, and the other end of the mechanical arm is connected to the composite device; the composite device comprises a support frame, a first grabbing assembly and a belt cutting assembly;

[0007] The support frame plays a connecting and supporting role; the first grabbing assembly is arranged on the side of the support frame, and the first grabbing assembly includes a suction cup bracket and a buffer suction cup, and a plurality of the buffer suction cups are connected to the support frame through the suction cup bracket, and the carton is adsorbed and released through the buffer suction cup; the tape cutting assembly is arranged at the bottom of the support frame, and the tape cutting assembly includes a mounting plate and a tape cutter, and the tape cutter is connected to the support frame through the mounting plate, and the tape cutter is used to cut the packing tape of the carton;

[0008] The carton loader is arranged on one side of the depalletizing robot. The carton loader has a loading station, and the loading station is used to receive the cartons input by the depalletizing robot and load them into the carton filling and sealing machine.

[0009] In an optional embodiment, it also includes an automatic empty pallet replacement machine, which is arranged on one side of the depalletizing robot. The automatic empty pallet replacement machine has a grabbing station, and the grabbing station is used to place carton pallets. The depalletizing robot removes the packing tape from the carton stack on the carton pallet on the grabbing station, grabs the cartons, and releases the cartons to the loading station.

[0010] In an optional embodiment, a protective net is further included, which is arranged on one side of the depalletizing robot and is used to isolate the depalletizing robot from the activity space of workers.

[0011] In an optional embodiment, the mechanical arm includes a first swing arm, a second swing arm, a third swing arm, a fourth swing arm, a fifth swing arm and a sixth swing arm connected in sequence; the end face of the first swing arm is rotatably connected to the base, the end face of the second swing arm is fixed to the circumferential surface of the first swing arm, the end face of the third swing arm is rotatably connected to the circumferential surface of the second swing arm, the end circumferential surface of the fourth swing arm is rotatably connected to the end circumferential surface of the third swing arm, the end circumferential surface of the fifth swing arm is connected to the circumferential surface of the fourth swing arm, and the circumferential surface of the sixth swing arm is rotatably connected to the circumferential surface of the fifth swing arm.

[0012] In an optional implementation, the support frame includes a flange support mounting frame and a flange shaft, one end of the flange shaft is connected to the flange support mounting frame, and the other end is rotatably connected to the end surface of the sixth swing arm.

[0013] In an optional embodiment, the first grabbing assembly further includes a suction cup driving member, the suction cup driving member having an output end, the suction cup driving member output end being linked to the suction cup bracket, and the suction cup driving member being used to drive the suction cup bracket to move relative to the support frame; the suction cup driving member is a suction cup telescopic cylinder, the suction cup telescopic cylinder having a fixed end and a telescopic end, the suction cup telescopic cylinder fixed end being connected to the support frame, and the telescopic end of the suction cup telescopic cylinder being connected to the suction cup bracket;

[0014] It also includes a second grabbing assembly, and the second grabbing assembly and the first grabbing assembly are respectively arranged on two opposite sides of the supporting frame.

[0015] In an optional embodiment, a slide rail is provided at the bottom of the support frame, the slide rail is arranged horizontally, and side sealing plates are provided at both ends of the slide rail; a slider is provided at the top of the mounting plate, the slider is adapted to the slide rail, and the mounting plate and the support frame are slidably connected through the cooperation of the slider and the slide rail, so that the belt cutter installed at the bottom of the mounting plate can move in the horizontal direction relative to the support frame;

[0016] The belt cutting assembly also includes a belt cutting drive mechanism, which has an output end. The output end of the belt cutting drive mechanism is linked to the mounting plate, and the belt cutting drive mechanism provides power to drive the mounting plate to slide relative to the support frame.

[0017] In an optional embodiment, the belt cutting drive mechanism includes a servo motor, a transmission structure, a screw and a ball screw nut; the servo motor is fixed to the support frame through a motor bracket, and the servo motor has an output shaft; both ends of the screw are connected to both ends of the slide rail through rolling bearings, the ball screw nut is sleeved on the surface of the screw, and the ball screw nut is connected to the mounting plate through a connecting plate;

[0018] The transmission structure includes a driving wheel, a power wheel and a synchronous toothed belt. The driving wheel is arranged on the output shaft of the servo motor, the power wheel is arranged on the end of the screw rod, and the synchronous toothed belt is sleeved on the circumference of the driving wheel and the power wheel. The servo motor provides power, and the synchronous toothed belt is engaged with the driving wheel and the power wheel to rotate the screw rod, thereby causing the ball screw nut to move back and forth along the length direction of the screw rod, driving the mounting plate to slide relative to the support frame.

[0019] In an optional embodiment, the strap cutting assembly further includes a first strap shovel plate and a second strap shovel plate, wherein the first strap shovel plate and the second strap shovel plate are respectively arranged on opposite sides of the strap cutter, and the strapping strap is shoveled to the strap cutter by the first strap shovel plate and the second strap shovel plate;

[0020] The first strap shovel plate is L-shaped, and has a vertical section arranged vertically and a horizontal section arranged horizontally. The end of the vertical section is connected to the bottom of the mounting plate, a guide surface is inclined on one side of the horizontal section, and the end of the horizontal section forms a flat end; the strapping tape is scooped up by inserting the flat end between the strapping tape and the carton.

[0021] In an optional embodiment, a positioning surface is formed on one side of the horizontal section of the first strap shovel plate;

[0022] The strap cutting assembly also includes a strap positioning structure, which includes a strap positioning cylinder and a positioning plate. The strap positioning cylinder has a fixed end and a telescopic end. The fixed end of the strap positioning cylinder is fixed to the bottom of the mounting plate, and the telescopic end of the strap positioning cylinder is connected to the positioning plate. The positioning plate is arranged close to the positioning surface. The strap positioning cylinder drives the positioning plate close to the positioning surface, so that the strapping strap is clamped between the positioning plate and the positioning surface.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] The utility model provides an automatic carton feeding system for a carton filling and sealing machine, which drives a composite device arranged at the front end to destacker and cut the carton stack through a destacker robot, and then grabs, transfers, releases, etc. the destacker, so as to meet the automatic removal of the strapping tape process of the carton stack, the carton grabbing process, and the carton loading process, complete the loading work, the strapping tape cutting work, and the strapping tape vertex recovery work, and adopts an automatic destacker method to replace the manual handling of carton loading process, reduce labor input, and reduce the labor intensity of operators. The functions of cutting strapping tape, grabbing carton, and grabbing empty pallets are concentrated in the composite device, and the carton pallets transported by manual forklifts or AGV trolleys are always placed in the same position through the empty pallet automatic replacement machine, and the loading station is stable, which is convenient for the operation of the destacker robot; the composite device can take into account the functions of strap cutting and grabbing, and there is no need for two groups of robots to carry front-end execution devices with different functions to work together, thereby reducing investment costs, and the system has high integration, and each function cooperates with each other to improve production efficiency. The use of automated equipment improves the automation level of the production site, thereby achieving the purpose of improving work efficiency, reducing labor input, and reducing the labor intensity of operators. The invention has an innovative layout and is easy to repair and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0026] Figure 2 It is a structural schematic diagram of a depalletizing robot of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0027] Figure 3 It is a schematic structural diagram of the composite device of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0028] Figure 4 It is a schematic structural diagram of another angle of the composite device of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0029] Figure 5 It is a cross-sectional view of the composite device of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0030] Figure 6 It is a structural schematic diagram of another implementation method of the automatic carton feeding system of the carton filling and sealing machine of Example 1;

[0031] Figure 7 It is a structural schematic diagram of a depalletizing robot of the automatic carton feeding system of the carton filling and sealing machine of Example 2;

[0032] Figure 8 It is a schematic structural diagram of the composite device of the automatic carton feeding system of the carton filling and sealing machine of Example 2;

[0033] Fig. 9 This is a schematic structural diagram from another angle of the composite device of the automatic carton feeding system of the carton filling and sealing machine of Example 2.

[0034] In the figure: 100, depalletizing robot; 110, base; 120, mechanical arm; 121, first swing arm; 122, second swing arm; 123, third swing arm; 124, fourth swing arm; 125, fifth swing arm; 126, sixth swing arm; 130, composite device; 131, support frame; 1311, flange support mounting frame; 1312, flange shaft; 132, first grabbing assembly; 133, second grabbing assembly; 134, strap cutting assembly; 1341, mounting plate; 1342, strap cutter; 1343, first strap shovel plate; 1344, second strap shovel plate; 1345, strap positioning structure; 200, carton loader; 210, loading station; 300, carton filling and sealing machine; 400, automatic empty pallet replacement machine; 410, grabbing station; 500, protective net. DETAILED DESCRIPTION

[0035] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0036] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] Embodiment 1:

[0040] Please refer to Figure 1-6 , this embodiment provides a carton automatic feeding system for a carton packing and sealing machine, comprising a depalletizing robot 100 and a carton feeding machine 200;

[0041] The depalletizing robot 100 includes a base 110, a mechanical arm 120 and a composite device 130; the base 110 plays a supporting role, one end of the mechanical arm 120 is installed on the base 110, and the other end of the mechanical arm 120 is connected to the composite device 130; the composite device 130 includes a support frame 131, a first grabbing component 132 and a belt cutting component 134;

[0042] The support frame 131 plays a connecting and supporting role; the first grabbing assembly 132 is arranged on the side of the support frame 131, and the first grabbing assembly 132 includes a suction cup bracket and a buffer suction cup. Several of the buffer suction cups are connected to the support frame 131 through the suction cup bracket, and the carton is adsorbed and released through the buffer suction cup; the tape cutting assembly 134 is arranged at the bottom of the support frame 131, and the tape cutting assembly 134 includes a mounting plate 1341 and a tape cutter 1342. The tape cutter 1342 is connected to the support frame 131 through the mounting plate 1341, and the tape cutter 1342 is used to cut the packing tape of the carton;

[0043] The carton loader 200 is disposed on one side of the depalletizing robot 100 . The carton loader 200 has a loading station 210 . The loading station 210 is used to receive cartons input by the depalletizing robot 100 and load them into the carton filling and sealing machine 300 .

[0044] When in use, the carton pallet is transported to the designated position by a manual forklift or an AGV trolley, and the mechanical arm 120 of the depalletizing robot 100 drives the composite device 130 installed on the front section of the mechanical arm 120 to move above the carton stack, and drives the tape cutter 1342 installed on the bottom surface of the mounting plate 1341 to cut the carton strapping tape, completing the strapping tape cutting process; then the carton is grabbed by the first grasping component 132, and the mounting plate 1341 drives a plurality of buffer suction cups at the bottom to vacuum-absorb the carton, and then the mechanical arm 120 drives the composite device 130 to place the carton adsorbed on the composite device 130 to the loading station 210 of the carton loader 200, and the vacuum is cut on the buffer suction cup to release the carton to the loading station 210, and the carton loader 200 receives the carton input by the depalletizing robot 100 and loads it into the carton filling and sealing machine 300, completing the carton loading action.

[0045] Furthermore, it also includes an automatic empty pallet replacement machine 400, which is arranged on one side of the depalletizing robot 100. The automatic empty pallet replacement machine has a gripping station 410, and the gripping station 410 is used to place carton pallets; the automatic empty pallet replacement machine 400 has a conveyor belt that can drive the carton pallet to move. By setting up the automatic empty pallet replacement machine 400, the position of the carton pallet is adjusted, and the carton pallet transported by a manual forklift or an AGV car is always placed in a consistent position to form a stable gripping station 410, which is convenient for the depalletizing robot 100 to remove the packing tape from the carton pallet on the gripping station 410, grab the carton, transfer and release the carton to the loading station 210.

[0046] The protective net 500 is also included. The protective net 500 is arranged on one side of the depalletizing robot 100. The protective net 500 is used to isolate the depalletizing robot 100 from the worker's activity space, thereby preventing the worker from approaching the depalletizing robot 100 when the depalletizing robot 100 is working and causing mechanical injuries, thereby improving the safety of the equipment.

[0047] The robot arm 120 of this embodiment includes a first swing arm 121, a second swing arm 122, a third swing arm 123, a fourth swing arm 124, a fifth swing arm 125 and a sixth swing arm 126 connected in sequence, forming a structure of a small six-axis robot. Specifically, the end surface of the first swing arm 121 is rotatably connected to the base 110; the end surface of the second swing arm 122 is fixed to the peripheral surface of the first swing arm 121, the end surface of the third swing arm 123 is rotatably connected to the peripheral surface of the second swing arm 122, the peripheral surface of the end of the fourth swing arm 124 is rotatably connected to the peripheral surface of the end of the third swing arm 123, the peripheral surface of the end of the fifth swing arm 125 is connected to the peripheral surface of the fourth swing arm 124, and the peripheral surface of the sixth swing arm 126 is rotatably connected to the peripheral surface of the fifth swing arm 125. Thus, the angle and distance of the position of the composite device 130 relative to the base 110 on the horizontal plane, the angle and distance on the vertical plane, and the swing angle of the composite device 130 can be adjusted to achieve all-round control, high operational freedom, and can adapt to different types of feeding methods of the carton packing and sealing machine 300, such as Figure 1 The YP11 carton packing and sealing machine shown in the figure is a carton horizontal feeding machine. Figure 6 The YP18 carton filling and sealing machine shown can adapt to the side vertical feeding method of cartons and is highly practical.

[0048] Furthermore, the support frame 131 includes a flange support mounting frame 1311 and a profile bracket, the flange support mounting frame 1311 is equipped with a flange shaft 1312, and the flange shaft 1312 is used to connect the composite device 130 with the robot arm 120; the bottom of the flange support mounting frame 1311 is connected to the profile bracket; one end of the flange shaft 1312 is connected to the flange support mounting frame 1311, and the other end is rotatably connected to the end face of the sixth swing arm 126, driving the composite device 130 to rotate relative to the sixth swing arm 126 to adjust the placement angle of the carton.

[0049] The composite device 130 of this embodiment also includes a second grabbing component 133, and the first grabbing component 132 and the second grabbing component 133 are respectively arranged on opposite sides of the flange support mounting frame 1311. Three groups of buffer suction cups are respectively installed at the bottom of the suction cup brackets of the first grabbing component 132 and the second grabbing component 133, and the cartons are adsorbed and released together by the six groups of buffer suction cups. The suction cup bracket of the first grabbing component 132 is slidably connected to the side of the flange support mounting frame 1311, so that the suction cup bracket can move back and forth in the direction of gravity relative to the support frame 131, thereby driving the buffer suction cup to move up and down; the first grabbing component 132 also includes a suction cup driving component, and the suction cup driving component has an output end, and the output end of the suction cup driving component is linked to the suction cup bracket, and the suction cup bracket is driven to move relative to the support frame 131 through the suction cup driving component;

[0050] Specifically, the suction cup driving member is a suction cup telescopic cylinder, which has a fixed end and a telescopic end. The fixed end of the suction cup telescopic cylinder is connected to the side of the flange support mounting frame 1311, and the telescopic end of the suction cup telescopic cylinder is connected to the suction cup bracket. The suction cup telescopic cylinder provides power to drive the suction cup bracket connected to the end to move up and down relative to the support frame 131, extend or retract the buffer suction cup, and adsorb and release the carton.

[0051] The bottom of the profile support of the support frame 131 is provided with a slide rail, which is arranged horizontally, and the number of the slide rails is 2, and the two slide rails are along the two sides of the bottom of the profile support; the top of the mounting plate 1341 is provided with a slider, and the number of the sliders is 2, and the slider is adapted to the slide rail. The mounting plate 1341 and the support frame 131 are slidably connected through the matching of the slider and the slide rail, so that the tape cutter 1342 installed at the bottom of the mounting plate 1341 can move in the horizontal direction relative to the support frame 131 to cut the strapping tape. Side sealing plates are provided at both ends of the profile support, and the side sealing plates are also located at both ends of the slide rail to limit the extreme position of the slider to prevent excessive displacement. At the same time, the side sealing plates play a protective role to protect the staff from accidentally touching the device and getting hurt.

[0052] The ribbon cutting assembly 134 also includes a ribbon cutting drive mechanism, which has an output end. The output end of the ribbon cutting drive mechanism is linked to the mounting plate 1341, and the ribbon cutting drive mechanism provides power to drive the mounting plate 1341 to slide relative to the support frame 131.

[0053] Specifically, the belt cutting drive mechanism includes a servo motor, a transmission structure, a screw and a ball screw nut; the servo motor is fixed to one side of the plane on the profile bracket through a motor bracket, and the servo motor has an output shaft; screw fixing seats are respectively provided at both ends of the screw, and the two ends of the screw are respectively connected to the screw fixing seats through rolling bearings, and the screw fixing seats provide support and positioning functions for the two ends of the screw, and the ball screw nut is sleeved on the surface of the screw, and the ball screw nut is connected to the mounting plate 1341 through a connecting plate.

[0054] The transmission structure includes a driving wheel, a power wheel and a synchronous toothed belt. The driving wheel is arranged on the output shaft of the servo motor, the power wheel is arranged on the end of the screw rod, and the synchronous toothed belt is sleeved on the circumference of the driving wheel and the power wheel. The servo motor provides power, and the synchronous toothed belt is engaged with the driving wheel and the power wheel to rotate the screw rod, thereby causing the ball screw nut to move back and forth along the length direction of the screw rod, driving the mounting plate 1341 to slide relative to the support frame 131.

[0055] In some preferred embodiments, the strap cutting assembly 134 also includes a first strap shovel plate 1343 and a second strap shovel plate 1344, and the first strap shovel plate 1343 and the second strap shovel plate 1344 are respectively arranged on opposite sides of the strap cutter 1342, and the first strap shovel plate 1343 and the second strap shovel plate 1344 on both sides of the strap cutter 1342 act simultaneously, and the strapping tape is scooped up and sent to the cutting edge of the strap cutter 1342 for cutting, which can ensure that the strapping tape is successfully cut and prevent the strap cutter 1342 from damaging the carton.

[0056] The first strapping shovel plate 1343 of this embodiment is L-shaped, and has a vertical section arranged vertically and a horizontal section arranged horizontally. The end of the vertical section is connected to the bottom of the mounting plate 1341, and a guide surface is arranged obliquely on one side of the horizontal section. The end of the horizontal section forms a flat end; the strapping tape is scooped up by inserting the flat end between the strapping tape and the carton. The flat end is conducive to better insertion between the strapping tape and the carton, and the inclined guide surface brings the strapping tape into the cutting edge, thereby improving cutting efficiency and quality.

[0057] A positioning surface is formed on one side of the horizontal section of the first strap shovel plate 1343 of the present embodiment; the strap cutting assembly 134 also includes a strap positioning structure 1345, and the strap positioning structure 1345 includes a strap positioning cylinder and a positioning plate, the strap positioning cylinder has a fixed end and a telescopic end, the fixed end of the strap positioning cylinder is fixed to the bottom of the mounting plate 1341, the telescopic end of the strap positioning cylinder is connected to the positioning plate, and the positioning plate is arranged close to the positioning surface; the positioning plate is driven close to the positioning surface by the strap positioning cylinder, and the strapping strap is clamped between the positioning plate and the positioning surface.

[0058] When the strapping tape is clamped between the positioning plate and the positioning surface and the relative positions of the strapping tape and the tape cutter 1342 are fixed, the tape cutter 1342 can use a retractable cutting edge to cut the strapping tape, that is, the cutting edge of the tape cutter 1342 is installed on the connecting plate of the tape cutter 1342 through a retractable part, so that the cutting edge can cut the strapping tape under the drive of the retractable part, which can be understood by those skilled in the art.

[0059] After the mechanical arm 120 drives the composite device 130 at the front end to the grabbing station 410, the servo motor rotates and drives the mounting plate 1341 to move through the transmission structure, and the strapping tape is scooped up by the first strap shovel plate 1343 and the second strap shovel plate 1344 installed at the bottom of the mounting plate 1341, and the strapping tape is extended by the strap positioning cylinder to fix the strapping tape between the positioning plate and the positioning surface; the strap cutter 1342, the first strap shovel plate 1343 and the second strap shovel plate 1344 are installed on the mounting plate 1341. During the process of the strap shovel plate moving forward, the strapping tape enters the working range of the strap cutter 1342. After the strap positioning structure 1345 positions the strapping tape, the strap cutter 1342 is used to cut the strapping tape. 342 cuts the strapping tape, and then the robot arm 120 drives the composite device 130 to drive the cut strapping tape to the recycling position at the same time. In this process, the strapping tape is pulled out of the carton stack, and the strap positioning cylinder retracts to release the strapping tape. After all the strapping tapes of the carton stack are removed by this reciprocating motion, the suction cup extension cylinder extends, driving the six groups of buffer suction cups at the bottom of the suction cup bracket to descend, so that the buffer suction cup grabbing plane is lower than the working bottom surface of the tape cutter 1342 and the first strap shovel plate 1343 and the second strap shovel plate 1344, and the buffer suction cup vacuum absorbs the carton, and then the robot arm 120 drives the composite device 130 to place the grabbed carton on the loading station 210, completing the automatic carton loading action.

[0060] Embodiment 2:

[0061] Please refer to Figure 7-9 This embodiment improves the depalletizing robot 100 on the basis of the embodiment 1. Specifically, the depalletizing robot 100 includes a base 110, a mechanical arm 120 and a composite device 130; the base 110 plays a supporting role, one end of the mechanical arm 120 is installed on the base 110, and the other end of the mechanical arm 120 is connected to the composite device 130; the composite device 130 includes a support frame 131, a first grabbing assembly 132, a second grabbing assembly 133 and a belt cutting assembly 134.

[0062] In this embodiment, a plurality of groups of buffer suction cups are respectively installed at the bottom of the suction cup brackets of the first grasping component 132 and the second grasping component 133. The plurality of groups of buffer suction cups are arranged in an array. The buffer suction cup groups in the array together constitute an adsorption surface for adsorbing and releasing the carton, thereby further increasing the grasping stability of the carton.

[0063] The buffer suction cups at the bottom of the first grabbing assembly 132 and the second grabbing assembly 133 are arranged in a 3×5 array, and a total of 30 groups of buffer suction cups 220 work together to adsorb and grab the carton. Those skilled in the art can also adaptively adjust the number of buffer suction cups according to actual needs, which all falls within the protection scope of this embodiment.

[0064] In this embodiment, the depalletizing robot 100 drives the composite device 130 to depalletize and cut the tape of the carton stack, and then grabs, transfers, releases, etc. the depalletized cartons, so as to meet the automatic removal of the strapping tape process of the carton stack, the grabbing carton process, and the carton loading process, complete the loading work, the tape cutting work, and the strapping tape vertex recovery work, and adopt the automatic depalletizing method to replace the manual handling of the carton loading process, reduce the labor input, and reduce the labor intensity of the operator. The functions of cutting the strapping tape and grabbing the carton and grabbing the empty pallet are concentrated in the composite device 130, and the carton pallet transported by the manual forklift or the AGV car is always placed in the same position through the empty pallet automatic replacement machine 400. The loading station 210 is stable, which is convenient for the operation of the depalletizing robot 100; the composite device 130 can take into account the tape cutting and grabbing functions, and there is no need for two groups of robots to carry front-end execution devices with different functions to work together, which reduces the investment cost, and the system has a high degree of integration, and each function cooperates with each other to improve production efficiency. The use of automated equipment improves the automation level of the production site, thereby achieving the purpose of improving work efficiency, reducing labor input, and reducing the labor intensity of operators. The invention has an innovative layout and is easy to repair and maintain.

[0065] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes (e.g., changes in size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.) may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims.

[0066] Finally, it should be noted that the above-mentioned implementation mode is only a preferred embodiment of the present utility model, and cannot be used to limit the scope of protection of the present utility model. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present utility model shall fall within the scope of protection required by the present utility model.

Claims

1. An automatic carton feeding system for a carton filling and sealing machine, characterized in that: Including depalletizing robot and carton loader; The depalletizing robot comprises a base, a mechanical arm and a composite device; the base plays a supporting role, one end of the mechanical arm is mounted on the base, and the other end of the mechanical arm is connected to the composite device; the composite device comprises a support frame, a first grabbing assembly and a belt cutting assembly; The support frame plays a connecting and supporting role; the first grabbing assembly is arranged on the side of the support frame, and the first grabbing assembly includes a suction cup bracket and a buffer suction cup, and a plurality of the buffer suction cups are connected to the support frame through the suction cup bracket, and the carton is adsorbed and released through the buffer suction cup; the tape cutting assembly is arranged at the bottom of the support frame, and the tape cutting assembly includes a mounting plate and a tape cutter, and the tape cutter is connected to the support frame through the mounting plate, and the tape cutter is used to cut the packing tape of the carton; The carton loader is arranged on one side of the depalletizing robot. The carton loader has a loading station, and the loading station is used to receive the cartons input by the depalletizing robot and load them into the carton filling and sealing machine.

2. The automatic carton feeding system for a carton filling and sealing machine according to claim 1, characterized in that: It also includes an automatic empty pallet replacement machine, which is arranged on one side of the depalletizing robot. The automatic empty pallet replacement machine has a grabbing station, and the grabbing station is used to place carton pallets. The depalletizing robot removes the packing tape from the carton stack on the carton pallet on the grabbing station, grabs the cartons, and releases the cartons to the loading station.

3. The automatic carton feeding system for a carton packing and sealing machine according to claim 1, characterized in that: It also includes a protective net, which is arranged on one side of the depalletizing robot and is used to isolate the depalletizing robot from the activity space of workers.

4. The automatic carton feeding system for a carton filling and sealing machine according to claim 1, characterized in that: The mechanical arm includes a first swing arm, a second swing arm, a third swing arm, a fourth swing arm, a fifth swing arm and a sixth swing arm which are connected in sequence; the end surface of the first swing arm is rotatably connected to the base, the end surface of the second swing arm is fixed to the circumferential surface of the first swing arm, the end surface of the third swing arm is rotatably connected to the circumferential surface of the second swing arm, the end circumferential surface of the fourth swing arm is rotatably connected to the end circumferential surface of the third swing arm, the end circumferential surface of the fifth swing arm is connected to the circumferential surface of the fourth swing arm, and the circumferential surface of the sixth swing arm is rotatably connected to the circumferential surface of the fifth swing arm.

5. The automatic carton feeding system for a carton filling and sealing machine according to claim 4, characterized in that: The support frame includes a flange support mounting frame and a flange shaft. One end of the flange shaft is connected to the flange support mounting frame, and the other end is rotatably connected to the end surface of the sixth swing arm.

6. The automatic carton feeding system for a carton filling and sealing machine according to claim 1, characterized in that: The first grabbing assembly further includes a suction cup driving member, the suction cup driving member having an output end, the suction cup driving member output end being linked to the suction cup bracket, and the suction cup driving member being used to drive the suction cup bracket to move relative to the support frame; the suction cup driving member is a suction cup telescopic cylinder, the suction cup telescopic cylinder having a fixed end and a telescopic end, the suction cup telescopic cylinder fixed end being connected to the support frame, and the telescopic end of the suction cup telescopic cylinder being connected to the suction cup bracket; It also includes a second grabbing assembly, and the second grabbing assembly and the first grabbing assembly are respectively arranged on two opposite sides of the supporting frame.

7. The automatic carton feeding system for a carton packing and sealing machine according to claim 1, characterized in that: A slide rail is provided at the bottom of the support frame, the slide rail is arranged horizontally, and side sealing plates are provided at both ends of the slide rail; a slider is provided at the top of the mounting plate, the slider is adapted to the slide rail, and the mounting plate and the support frame are slidably connected through the cooperation of the slider and the slide rail, so that the belt cutter installed at the bottom of the mounting plate can move in the horizontal direction relative to the support frame; The belt cutting assembly also includes a belt cutting drive mechanism, which has an output end. The output end of the belt cutting drive mechanism is linked to the mounting plate, and the belt cutting drive mechanism provides power to drive the mounting plate to slide relative to the support frame.

8. The automatic carton feeding system for a carton packing and sealing machine according to claim 7, characterized in that: The belt cutting drive mechanism comprises a servo motor, a transmission structure, a screw and a ball screw nut; the servo motor is fixed to the support frame through a motor bracket, and the servo motor has an output shaft; the two ends of the screw are respectively connected to the two ends of the slide rail through rolling bearings, the ball screw nut is sleeved on the surface of the screw, and the ball screw nut is connected to the mounting plate through a connecting plate; The transmission structure includes a driving wheel, a power wheel and a synchronous toothed belt. The driving wheel is arranged on the output shaft of the servo motor, the power wheel is arranged on the end of the screw rod, and the synchronous toothed belt is sleeved on the circumference of the driving wheel and the power wheel. The servo motor provides power, and the synchronous toothed belt is engaged with the driving wheel and the power wheel to rotate the screw rod, thereby causing the ball screw nut to move back and forth along the length direction of the screw rod, driving the mounting plate to slide relative to the support frame.

9. The automatic carton feeding system for a carton filling and sealing machine according to claim 1, characterized in that: The strap cutting assembly further comprises a first strap shovel plate and a second strap shovel plate, wherein the first strap shovel plate and the second strap shovel plate are respectively arranged on two opposite sides of the strap cutter, and the strapping strap is shoveled to the strap cutter by the first strap shovel plate and the second strap shovel plate; The first strap shovel plate is L-shaped, and has a vertical section arranged vertically and a horizontal section arranged horizontally. The end of the vertical section is connected to the bottom of the mounting plate, a guide surface is inclined on one side of the horizontal section, and the end of the horizontal section forms a flat end; the strapping tape is scooped up by inserting the flat end between the strapping tape and the carton.

10. The automatic carton feeding system for a carton filling and sealing machine according to claim 9, characterized in that: A positioning surface is formed on one side of the horizontal section of the first strap shovel plate; The strap cutting assembly also includes a strap positioning structure, which includes a strap positioning cylinder and a positioning plate. The strap positioning cylinder has a fixed end and a telescopic end. The fixed end of the strap positioning cylinder is fixed to the bottom of the mounting plate, and the telescopic end of the strap positioning cylinder is connected to the positioning plate. The positioning plate is arranged close to the positioning surface. The strap positioning cylinder drives the positioning plate close to the positioning surface, so that the strapping strap is clamped between the positioning plate and the positioning surface.

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