Packaging box strapping cutting and recycling integrated mechanical hand

Abstract

The utility model discloses a kind of packing box strapping shearing recycling integrated manipulator, it includes rack and the band shearing recycling device being set on it, the top of rack is provided with two sets of linear module being mutually vertically arranged, the front side of rack is sequentially provided with strapping recycling box, material conveyor and clamping machine, band shearing recycling device can extrude packing box body and insert the gap between packing box and strapping to lift strapping to the band shearing position of preset, and then the band is gripped, sheared, extracted and recycled process, band shearing recycling device includes machine cover and the band shearing mechanism and the band extraction recycling mechanism being set in its interior.The utility model can realize the automatic band shearing recycling of packing box strapping, through the integrated design of lifting, band shearing, band extraction, recycling component integration, effectively solve the problem that cost increases due to the complex overall structure of manipulator in prior art, improve the operation efficiency, accuracy and adaptability of the integrated manipulator band shearing recycling described in the utility model.

Description

Technical Field

[0001] This utility model relates to the technical field of packaging box unpacking auxiliary equipment, and in particular to a packaging box cable tie cutting and recycling integrated robot. Background Technology

[0002] In the production systems of the food, pharmaceutical, cosmetic, and tobacco industries, materials are typically packed in boxes and secured with cable ties for easy storage and transportation. Before use, the boxes must be transported to a designated work location, the cable ties cut and retrieved, and then the boxes can be opened to retrieve the materials. Currently, the cable ties cutting and retrieval operations for unpacking boxes are primarily performed manually or using robotic arms.

[0003] When manually cutting and collecting cable ties, the large and heavy packaging boxes require workers to expend a great deal of physical strength, resulting in extremely high labor intensity and low work efficiency, making it difficult to meet the needs of large-scale production. Using robotic arms for unpacking also presents several problems: most existing robotic arms place the cutting and collecting processes at two separate stations, leading to a complex overall structure that increases equipment costs and control difficulty; during the cable tie extraction process, some cable ties may become trapped between the bottom of the packaging box and the conveyor, preventing proper extraction and requiring manual intervention, thus reducing automation; furthermore, there is a risk of missed cable tie cuts, resulting in a low success rate for cutting and collecting cable ties; additionally, inaccurate positioning or improper operation during the robotic arm's cable tie positioning and cutting processes can damage the packaging box, affecting the quality of the packaging and its internal materials. Utility Model Content

[0004] Therefore, the purpose of this utility model is to provide a robotic arm that integrates cutting and recycling of cable ties for packaging boxes. It can solve the technical problems of time-consuming and labor-intensive manual cutting of cable ties, the complex overall structure of the robotic arm leading to increased equipment costs, and the fact that some cut cable ties are pressed at the bottom of the packaging box and cannot be properly extracted.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] A robotic arm for cutting and recycling cable ties in packaging boxes includes a frame and a cable tie cutting and recycling device mounted thereon.

[0007] The frame provides stable support for the components on it. The top of the frame is equipped with two sets of vertically arranged linear modules, namely a horizontal linear module and a feed linear module located at the top. The feed linear module is connected to the tape cutting and recycling device through a moving arm. The front side of the frame is equipped with a cable tie recycling box, a material conveyor and a clamping machine in sequence. The side end of the moving arm is equipped with a laser positioning device facing the clamping machine.

[0008] The cable tie cutting and recycling device can squeeze the packaging box and insert it into the gap between the packaging box and the cable tie to lift the cable tie to a preset cutting position, and then perform clamping, cutting, pulling and recycling processes on the cable tie. The cable tie cutting and recycling device includes a machine cover and a cable tie cutting mechanism and a cable tie pulling and recycling mechanism installed inside it. The front end of the machine cover is provided with a cable tie cutting insertion plate. The cable tie cutting mechanism includes a cable tie cutting blade located behind the cable tie insertion plate, a blade motor directly connected to the cable tie cutting blade, a cable tie moving electric cylinder that pushes the cable tie cutting blade to move, and a blade protective cover installed outside the cable tie cutting blade. The cable tie pulling and recycling mechanism includes a large roller located behind the cable tie insertion plate, a large roller motor that is driven to drive the large roller, a roller moving electric cylinder that pushes the large roller to move, a small roller located on the front end face of the cable tie insertion plate, and a small roller motor that is driven to drive the small roller.

[0009] As an improvement to the above technical solution, the linear module can drive the tape-cutting and recycling device to move horizontally on the frame. There are two horizontal linear modules, which are symmetrically and horizontally fixed at the top of the frame and parallel to the side of the packaging box. They can provide guidance and power for the horizontal movement of the entire tape-cutting and recycling device. The feed linear module is horizontally connected to the top of the two horizontal linear modules and is perpendicular to them. The moving arm is located on the top surface of the feed linear module, and the tape-cutting and recycling device is connected to the top surface of the moving arm. The feed linear module can drive the tape-cutting and recycling device to feed in a direction perpendicular to the horizontal linear modules. The perpendicular arrangement of the horizontal linear modules and the feed linear modules allows the tape-cutting and recycling device to move flexibly horizontally on the frame and accurately position the cable ties on packaging boxes of different positions and sizes.

[0010] As an improvement to the above technical solution, the cable tie recycling box is used to store recycled cable ties, and the material conveyor is responsible for conveying the packaging boxes with cable ties to be cut, so that they accurately reach the position facing the clamping machine. The clamping machine is used to firmly clamp and lift the packaging boxes that have reached the designated position, providing a stable operating object for the operation of the cable tie cutting and recycling device. The laser positioning device can emit a laser beam to accurately detect the height change between the actual height of the packaging box where the cable ties are tied and the actual height of the packaging box where the cable ties are not tied, so as to locate the position of the cable ties on the packaging box, accurately detect the distance between the cable tie cutting and recycling device and the packaging box, and feed back the detection data to provide a basis for accurately adjusting the motion parameters of the transverse linear module and the feed linear module, thereby achieving the purpose of adjusting the position and attitude of the cable tie cutting and recycling device, ensuring the accuracy of subsequent operations, and improving the accuracy, adaptability and efficiency of the integrated robotic arm cable tie cutting and recycling operation.

[0011] As an improvement to the above technical solution, the machine cover is fixedly connected to the top surface of one end of the moving arm. The tape cutting insertion plate is configured with an L-shaped structure, with one end of the tape cutting insertion plate connected to the side end face of the machine cover, so that the other end of the tape cutting insertion plate is positioned directly in front of the machine cover. A roller mounting groove for mounting small rollers is provided on the surface of the end of the tape cutting insertion plate directly in front of the machine cover. A cable tie limiting stop is provided below the roller mounting groove to limit the cable tie, facilitating precise cutting of the cable tie by the tape cutting mechanism. A cutting groove is provided at the bottom to facilitate the cutting blade to cut the cable tie smoothly, avoiding incomplete breakage of the cable tie due to limited cutting distance. The cutting insertion plate can move towards the packaging box held and lifted by the clamping machine under the drive of the feed linear module to a position where the packaging box is slightly squeezed. Under the drive of the transverse linear module, it moves laterally to smoothly insert into the gap between the side of the packaging box and the cable tie, thereby picking up the cable tie and moving the cable tie on the surface of the cutting insertion plate to the preset cutting position under the drive of the transverse linear module again.

[0012] As an improvement to the above technical solution, the cable cutting mechanism is located inside the lower part of the machine cover. This mechanism is responsible for cutting the cable ties, and the cutting blade is responsible for cutting the cable ties. The blade motor provides rotational power to the cutting blade, enabling it to quickly and effectively cut the cable ties. The blade motor is located below the cutting blade, and its output end passes through the center of the cutting blade and is securely connected to it. The cable cutting moving electric cylinder can push the cutting blade to move horizontally to cut the cable ties located on the surface of the cable cutting insertion plate. The cable cutting moving electric cylinder is equipped with... The device has a piston end and a cylinder end. The piston end of the tape-cutting moving electric cylinder is connected to the side end face of the cutter motor through the tape-cutting connecting support. The cylinder end of the tape-cutting moving electric cylinder is connected to the upper surface of the moving arm near the packaging box. The cutter protective cover can effectively prevent the blade from flying out during the tape-cutting process, avoid dangerous accidents, ensure the safety of operators, and also protect the tape-cutting cutter from accidental collision damage. The rear end of the cutter protective cover is fixedly connected to the tape-cutting connecting support, and the front end of the tape-cutting cutter extends a certain distance beyond the front end of the cutter protective cover to ensure that the tape-cutting cutter can smoothly cut the cable ties.

[0013] As an improvement to the above technical solution, the cable tie extraction and retrieval mechanism is located above the cable tie cutting mechanism. This mechanism is responsible for clamping and retrieving the cable ties. The extraction and retrieval mechanism also includes a roller bracket, which provides connection and support for a large roller. One end of the large roller passes through one side of the roller bracket and is connected to a large roller motor via a synchronous belt I. The large roller motor drives the large roller to rotate and is connected to the top surface of the roller bracket. The roller moving cylinder pushes the large roller horizontally to approach the cable tie cutting insertion plate, thereby clamping the cable tie lifted by the cutting insertion plate and moving the cut cable tie for retrieval. The purpose is to provide a roller-moving electric cylinder with a piston end and a cylinder body end. The piston end of the roller-moving electric cylinder is connected to the rear end face of the roller bracket, and the cylinder body end of the roller-moving electric cylinder is located on the upper end face of the tape-cutting electric cylinder. The front end of the small roller can contact the front end of the large roller. One end of the small roller passes through one side end face of the tape-cutting insertion plate and is connected to the small roller motor via synchronous belt II. The small roller motor can drive the small roller to rotate. The cooperation between the large roller and the small roller can clamp the cable tie located at the small roller that is lifted by the tape-cutting insertion plate. Moreover, the large roller and the small roller work together by rotating synchronously in opposite directions to pull out the cable tie and ensure that the cable tie can be smoothly recycled into the cable tie recycling box.

[0014] As an improvement to the above technical solution, a control system is also included. The control system includes a PLC controller, which is electrically connected to the transverse linear module, the feed linear module, the laser positioning device, the cutter motor, the tape-cutting moving cylinder, the large roller motor, the roller moving cylinder, and the small roller motor. The PLC controller can receive data information on the position of the cable tie and the distance between the tape-cutting recovery device and the packaging box from the laser positioning device. It can adjust the motion parameters of the transverse linear module and the feed linear module according to the acquired data information, thereby adjusting the position and attitude of the tape-cutting recovery device. It can control the extension and retraction of the roller moving cylinder to clamp the cable tie located on the surface of the tape-cutting insertion plate. It can control the extension and retraction of the tape-cutting moving cylinder and the energization of the cutter motor to cut the cable tie located on the surface of the tape-cutting insertion plate. It can control the energization of the large roller motor and the small roller motor to pull out the cut cable tie for recovery. The PLC controller is a Siemens S7-1200 PLC controller, which is externally powered.

[0015] Compared with the prior art, the technical solution described in this utility model has the following beneficial effects:

[0016] 1. This utility model features a simple structure, convenient strap collection, high success rate of strap cutting and collection, low rate of missed cutting, and minimal damage to packaging boxes. This utility model can realize automatic strap cutting and recycling of packaging box straps. Through the integrated design of lifting, cutting, pulling and recycling components, it effectively solves the problem of increased cost caused by the complex overall structure of the robot in the prior art, reduces the equipment footprint, lowers equipment cost and maintenance difficulty, and improves the operational efficiency, accuracy and adaptability of the integrated robot strap cutting and recycling described in this utility model.

[0017] 2. In this utility model, when the clamping machine picks up and lifts the packaging box, there is no obstruction when the cable tie is cut, making it easy to retrieve. The blade protective cover in this utility model can effectively prevent the blade from flying out during the cutting process, avoiding dangerous accidents and ensuring the safety of operators. It can also protect the cutting blade from accidental collision damage. In this utility model, the cooperation between the large roller and the small roller can clamp the cable tie located at the small roller on the surface of the cutting insertion plate. The large roller and the small roller work together by rotating synchronously in opposite directions, which can pull out the cable tie and ensure that the cable tie can be smoothly retrieved into the cable tie recycling box.

[0018] Other beneficial effects of this invention will be further explained in the following specific embodiments. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a side view of the structure of this utility model;

[0022] Figure 3 This is a top view of the structure of this utility model;

[0023] Figure 4 This is a schematic diagram of the tape-cutting and recycling device of this utility model;

[0024] Figure 5 This is a schematic diagram of the tape-cutting mechanism of this utility model;

[0025] Figure 6 This is a schematic diagram of the tape extraction and recycling mechanism of this utility model;

[0026] Figure 7 This is a schematic diagram of the tape-cutting insertion plate of this utility model;

[0027] The components include: 1. Frame; 11. Horizontal linear module; 12. Feed linear module; 2. Tape cutting mechanism; 21. Tape cutting blade; 22. Blade motor; 23. Tape cutting moving electric cylinder; 24. Blade protective cover; 3. Tape extraction and recycling mechanism; 31. Large roller; 32. Large roller motor; 33. Small roller; 34. Small roller motor; 35. Roller moving electric cylinder; 4. Laser positioning device; 5. Tape cutting insertion plate; 51. Cable tie limit block; 52. Tape cutting groove; 53. Roller mounting groove; 6. Packaging box; 61. Cable tie; 7. Clamping machine; 8. Material conveyor; 9. Cable tie recycling box. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be understood that the terms "above", "below", "front", "back", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "setting," "installing," "connecting," "linking," "fixing," and "communicating" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; they can refer to mechanical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] like Figures 1 to 7 As shown, this utility model provides an integrated robotic arm for cutting and recycling packaging box cable ties.

[0032] It includes a frame 1 and a tape-cutting and recycling device mounted thereon.

[0033] The frame 1 provides stable support for the components on it. The top of the frame 1 is provided with two sets of mutually perpendicular linear modules, namely a horizontal linear module 11 and a feed linear module 12 located at its top. The feed linear module 12 is connected to the tape cutting and recycling device through a moving arm. The front side of the frame 1 is provided with a cable tie recycling box 9, a material conveyor 8 and a clamping machine 7 in sequence. The side end of the moving arm is provided with a laser positioning device 4 facing the clamping machine 7.

[0034] The tape cutting and recycling device can squeeze the packaging box 6 and insert it into the gap between the packaging box 6 and the cable tie 61 to lift the cable tie 61 to a preset cutting position, and then perform clamping, cutting, pulling and recycling processes on the cable tie 61. The tape cutting and recycling device includes a machine cover and a tape cutting mechanism 2 and a tape pulling and recycling mechanism 3 set inside it. A tape cutting insertion plate 5 is set at the front end of the machine cover. The tape cutting mechanism 2 includes a tape cutting blade 21 located behind the tape cutting insertion plate 5, a blade motor 22 directly connected to the tape cutting blade 21, a tape cutting moving electric cylinder 23 that pushes the tape cutting blade 21 to move, and a blade protective cover 24 arranged outside the tape cutting blade 21. The tape pulling and recycling mechanism 3 includes a large roller 31 located behind the tape cutting insertion plate 5, a large roller motor 32 that is drivenly connected to the large roller 31, a roller moving electric cylinder 35 that pushes the large roller 31 to move, a small roller 33 set on the front end face of the tape cutting insertion plate 5, and a small roller motor 34 that is drivenly connected to the small roller 33.

[0035] In this embodiment, the linear module can drive the tape-cutting and recycling device to move horizontally on the frame 1. There are two horizontal linear modules 11, which are symmetrically and horizontally fixed at the top of the frame 1 and parallel to the side of the packaging box 6. They can provide guidance and power for the horizontal movement of the entire tape-cutting and recycling device. The feed linear module 12 is horizontally connected to the top of the two horizontal linear modules 11 and is perpendicular to the two horizontal linear modules 11. The moving arm is located at the top surface of the feed linear module 12, and the tape-cutting and recycling device is connected to the top surface of the moving arm. The feed linear module 12 can drive the tape-cutting and recycling device to feed in a direction perpendicular to the horizontal linear modules 11. The perpendicular arrangement of the horizontal linear modules 11 and the feed linear module 12 enables the tape-cutting and recycling device to achieve flexible horizontal movement on the frame 1 and accurately position the cable ties 61 on packaging boxes 6 of different positions and sizes.

[0036] In this embodiment, the cable tie recycling box 9 is used to store recycled cable ties 61. The material conveyor 8 is responsible for conveying the packaging box 6 with the cable ties 61 to be cut, ensuring it accurately reaches the position facing the clamping machine 7. The clamping machine 7 is used to firmly clamp and lift the packaging box 6 upon reaching the designated position, providing a stable operating object for the cable tie cutting and recycling device. When the clamping machine 7 clamps and lifts the packaging box 6, there is no obstruction after the cable tie 61 is cut, making it easy to collect. The laser positioning device 4 can emit a laser beam to accurately detect the height change between the height of the packaging box 6 where the cable tie 61 is tied and the actual height of the packaging box 6 where the cable tie 61 is not tied, in order to determine... The laser positioning device 4 accurately detects the position of the cable ties 61 on the packaging box 6, precisely detects the distance between the cable ties cutting and recycling device and the packaging box 6, and provides feedback detection data to provide a basis for accurately adjusting the motion parameters of the transverse linear module 11 and the feed linear module 12. This allows for the adjustment of the position and attitude of the cable ties cutting and recycling device, ensuring the accuracy of subsequent operations. This improves the accuracy, adaptability, and efficiency of the integrated robotic arm's cable ties cutting and recycling operation. The laser positioning device 4 can be a laser position sensor, which can accurately and non-contactly measure changes in the position and displacement of the object being measured. It is mainly used for measuring geometric quantities such as displacement, thickness, vibration, distance, and diameter of objects.

[0037] In this embodiment, the machine cover is fixedly connected to the top surface of one end of the moving arm. The tape cutting insertion plate 5 is configured with an L-shaped structure, with one end of the tape cutting insertion plate 5 connected to the side end face of the machine cover, so that the other end of the tape cutting insertion plate 5 is positioned directly in front of the machine cover. A roller mounting groove 53 for mounting small rollers 33 is provided on the surface of the end of the tape cutting insertion plate 5 located directly in front of the machine cover. A cable tie 61 limiting stop 51 is provided below the roller mounting groove 53 to limit the cable tie 61 so that the tape cutting mechanism 2 can accurately cut the cable tie 61. A tape cutting groove 52 is provided below the cable tie 61 limiting stop 51 to allow the tape cutting blade 21 to smoothly cut the cable tie 61. The cable tie 61 is cut to avoid incomplete breakage due to limited cutting distance. The cable tie 61 is moved by the feed linear module 12 towards the packaging box 6 held and lifted by the clamping machine 7 to a position where the packaging box 6 is slightly squeezed. It is then moved laterally by the transverse linear module 11 to smoothly insert into the gap between the side of the packaging box 6 and the cable tie 61, thereby lifting the cable tie 61. Under the further movement of the transverse linear module 11, the cable tie 61 is moved to the preset cutting position on the surface of the cable tie insertion plate 5. Specifically, the preset cutting position is the position where the side edge of the cable tie 61 abuts against the end side of the cable tie 61 limiting block 51.

[0038] In this embodiment, the cable cutting mechanism 2 is located inside the lower part of the machine cover. The cable cutting mechanism 2 is responsible for cutting the cable ties 61. The cable cutting blade 21 is responsible for cutting the cable ties 61. The blade motor 22 provides rotational power to the cable cutting blade 21, enabling it to quickly and effectively cut the cable ties 61. The blade motor 22 is located below the cable cutting blade 21, and its output end passes through the center of the cable cutting blade 21 and is securely connected to it. The cable cutting moving electric cylinder 23 can push the cable cutting blade 21 to move horizontally to cut the cable ties 61 located on the surface of the cable cutting insertion plate 5. 3. The device is equipped with a piston end and a cylinder end. The piston end of the tape-cutting moving electric cylinder 23 is connected to the side end face of the cutter motor 22 through the tape-cutting connecting support. The cylinder end of the tape-cutting moving electric cylinder 23 is connected to the upper surface of the moving arm near the packaging box 6. The cutter protective cover 24 can effectively prevent the blade from flying out during the tape-cutting process, avoid dangerous accidents, and ensure the safety of the operator. At the same time, it can also protect the tape-cutting cutter 21 from accidental collision damage. The rear end of the cutter protective cover 24 is fixedly connected to the tape-cutting connecting support. The front end of the tape-cutting cutter 21 extends a certain distance beyond the front end of the cutter protective cover 24 to ensure that the tape-cutting cutter 21 can smoothly cut the cable tie 61.

[0039] In this embodiment, the cable tie retrieval mechanism 3 is located above the cable tie cutting mechanism 2. The cable tie retrieval mechanism 3 is responsible for clamping and retrieving the cable tie 61. The cable tie retrieval mechanism 3 also includes a roller bracket, which provides connection and support for the large roller 31. One end of the large roller 31 passes through one side of the roller bracket and is connected to the large roller motor 32 via a synchronous belt I. The large roller motor 32 drives the large roller 31 to rotate and is connected to the top surface of the roller bracket. The roller moving electric cylinder 35 can push the large roller 31 to move horizontally closer to the cable tie cutting insertion plate 5, thereby clamping the cable tie 61 located on the surface of the cable tie cutting insertion plate 5 and moving the cut cable tie 61 for retrieval. The roller moving electric cylinder 35 is provided with a piston end and a cylinder end. The piston end of the roller moving electric cylinder 35 is connected to the rear end face of the roller bracket. The cylinder end of the roller moving electric cylinder 35 is located on the upper end face of the tape cutting moving electric cylinder 23. The front end of the small roller 33 can contact the front end of the large roller 31. One end of the small roller 33 passes through one side end face of the tape cutting insertion plate 5 and is connected to the small roller motor 34 through the synchronous belt II. The small roller motor 34 can drive the small roller 33 to rotate. The cooperation between the large roller 31 and the small roller 33 can clamp the cable tie 61 located at the small roller 33 on the surface of the tape cutting insertion plate 5. The large roller 31 and the small roller 33 work together by rotating synchronously in opposite directions to pull out the cable tie 61, ensuring that the cable tie 61 can be smoothly recycled into the cable tie recycling box 9.

[0040] In this embodiment, a control system is also included. The control system includes a PLC controller, which is electrically connected to the transverse linear module 11, the feed linear module 12, the laser positioning device 4, the cutter motor 22, the tape-cutting moving electric cylinder 23, the large roller motor 32, the roller moving electric cylinder 35, and the small roller motor 34. The PLC controller can receive data information from the laser positioning device 4 regarding the position of the cable tie 61 and the distance between the tape-cutting recycling device and the packaging box 6. It can adjust the transverse linear module 11 and the feed linear module 12 based on the acquired data information. The motion parameters of the line module 12 are used to adjust the position and posture of the cable ties and recovery device. This allows control of the roller moving cylinder 35 to extend and retract to clamp the cable tie 61 located on the surface of the cable tie insertion plate 5; control of the cutting cylinder 23 to extend and retract, and the energization of the cutter motor 22 to cut the cable tie 61 located on the surface of the cable tie insertion plate 5; and control of the large roller motor 32 and the small roller motor 34 to pull out the cut cable tie 61 for recovery. The PLC controller is a Siemens S7-1200 PLC controller, which has an external power supply.

[0041] It should be noted that this application does not improve the programmable program of the Siemens S7-1200 PLC controller, but only utilizes its existing control program and principles to realize the functions of data calculation, comparison and data transmission. For the control program and principles involved, please refer to the controller product manual or existing technical documents.

[0042] Based on the above, the specific working steps of this utility model include:

[0043] Step S1: When the material conveyor 8 transports the packaging box 6 to be processed to the clamping machine 7, the clamping machine 7 starts, firmly clamps and lifts the packaging box 6, so as to facilitate the smooth recovery of the cable tie 61 in the future, and avoids some of the cable tie 61 being pressed between the packaging box 6 and the material conveyor 8, which would make it impossible to extract.

[0044] Step S2: The laser positioning device 4 on the moving arm emits a laser beam to accurately detect the distance between the tape cutting and recycling device and the packaging box 6, and feeds back the detection data. Based on the detection data fed back by the laser positioning device 4, the horizontal linear module 11 and the feed linear module 12 are controlled to work together to drive the tape cutting and recycling device and the laser positioning device 4 closer to the packaging box 6. The laser positioning device 4 continuously collects the distance data between the tape cutting and recycling device and the packaging box 6. Based on the data collected by the laser positioning device 4, the feed distance of the feed linear module 12 is adjusted so that it stops at a suitable position. At this time, the tape cutting insertion plate 5 of the tape cutting and recycling device slightly squeezes the packaging box 6 to facilitate the subsequent insertion and lifting of the cable tie 61.

[0045] Step S3: Control the horizontal linear module 11 to drive the cable cutter and recycling device to move laterally along the surface of the packaging box 6, so that the cable cutter insertion plate 5 is inserted into the gap between the packaging box 6 and the cable tie 61, thereby lifting the cable tie 61. The laser positioning device 4 detects the height change between the cable tie 61 binding point and the actual height of the packaging box 6, and obtains the position information of the cable tie 61 on the side of the packaging box 6. Based on the position information fed back by the laser positioning device 4, the motion parameters of the horizontal linear module 11 are adjusted again, so that the cable tie 61 moves to the preset cutting position on the surface of the cable cutter insertion plate 5, that is, the side edge of the cable tie 61 is close to the cable tie 61 limiting block 51 set on the surface of the cable cutter insertion plate 5, in preparation for the cutting operation.

[0046] Step S4: Control the roller moving electric cylinder 35 to drive the large roller 31 to approach the small roller 33 set on the front end of the cutting insertion plate 5 to clamp the cable tie 61 at the cutting position, ensuring that the cable tie 61 remains stable and prevents deviation during the cutting process. Then, control the cutting electric cylinder 23 to drive the cutting blade 21 to approach the cable tie 61, and at the same time start the blade motor 22 to drive the cutting blade 21 to rotate to quickly cut the cable tie 61. Finally, control the cutting electric cylinder 23 to drive the cutting blade 21 to retreat, leaving working space for the cable tie retrieval operation. At the same time, control the feed linear module 12 to drive the cutting retrieval device to retreat, so as to ensure that the cable tie 61 can fall accurately into the cable tie retrieval box 9 when it is retrieved.

[0047] Step S5: After the preset time for the cable ties cutting operation in step S4 is completed, both the large roller motor 32 and the small roller motor 34 are started. Through the transmission of the synchronous belt, the large roller 31 and the small roller 33 are driven to rotate synchronously in opposite directions, thereby pulling out the cut cable ties 61 and collecting them into the cable tie recycling box 9. Then, the roller moving electric cylinder 35 is controlled to drive the large roller 31 to reset, completing one cable ties pulling action. Finally, the horizontal straight module 11 is controlled to drive the cable tie cutting and recycling device to move a distance along a direction parallel to the side of the packaging box 6, and steps S2 to S5 are repeated to complete the cutting and recycling of all cable ties 61.

[0048] Step S6: The clamping machine 7 lowers the packaging box 6 after cutting all the cable ties 61 and places it on the material conveyor 8 to be transferred to the next process.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm for cutting and recycling cable ties in packaging boxes, characterized in that: Includes the frame and the tape-cutting and recycling device mounted on it. The frame provides stable support for the components on it. The top of the frame is equipped with two sets of vertically arranged linear modules, namely a horizontal linear module and a feed linear module located at the top. The feed linear module is connected to the tape cutting and recycling device through a moving arm. The front side of the frame is equipped with a cable tie recycling box, a material conveyor and a clamping machine in sequence. The side end of the moving arm is equipped with a laser positioning device facing the clamping machine. The cable tie cutting and recycling device can squeeze the packaging box and insert it into the gap between the packaging box and the cable tie to lift the cable tie to a preset cutting position, and then perform clamping, cutting, pulling and recycling processes on the cable tie. The cable tie cutting and recycling device includes a machine cover and a cable tie cutting mechanism and a cable tie pulling and recycling mechanism installed inside it. The front end of the machine cover is provided with a cable tie cutting insertion plate. The cable tie cutting mechanism includes a cable tie cutting blade located behind the cable tie insertion plate, a blade motor directly connected to the cable tie cutting blade, a cable tie moving electric cylinder that pushes the cable tie cutting blade to move, and a blade protective cover installed outside the cable tie cutting blade. The cable tie pulling and recycling mechanism includes a large roller located behind the cable tie insertion plate, a large roller motor that is driven to drive the large roller, a roller moving electric cylinder that pushes the large roller to move, a small roller located on the front end face of the cable tie insertion plate, and a small roller motor that is driven to drive the small roller.

2. The integrated robotic arm for cutting and recycling packaging box cable ties according to claim 1, characterized in that: The number of the horizontal linear modules is set to two. The two horizontal linear modules are horizontally fixed at the top of the frame in a symmetrical manner and are parallel to the side of the packaging box. The feed linear module is horizontally connected to the top of the two horizontal linear modules and is perpendicular to the two horizontal linear modules. The moving arm is located at the top surface of the feed linear module, and the tape cutting and recycling device is connected to the top surface of the moving arm.

3. The integrated robotic arm for cutting and recycling packaging box cable ties according to claim 1, characterized in that: The cover is fixedly connected to the top surface of one end of the moving arm. The tape cutting insert plate is configured with an L-shaped structure. One end of the tape cutting insert plate is connected to the side end face of the cover, so that the other end of the tape cutting insert plate is positioned in front of the cover. The surface of the tape cutting insert plate at the front end of the cover is provided with a roller mounting groove for mounting small rollers. A cable tie limiting block is provided below the roller mounting groove, and a tape cutting groove is provided below the cable tie limiting block.

4. The integrated robotic arm for cutting and recycling cable ties in packaging boxes according to claim 1, characterized in that: The tape cutting mechanism is located inside the lower part of the machine cover, and the cutter motor is located below the tape cutting cutter. The output end of the cutter motor passes through the center of the tape cutting cutter and is fastened to it.

5. The integrated robotic arm for cutting and recycling packaging box cable ties according to claim 1, characterized in that: The tape-cutting moving electric cylinder is provided with a piston end and a cylinder body end. The piston end of the tape-cutting moving electric cylinder is connected to the side end face of the cutter motor through the tape-cutting connecting support. The cylinder body end of the tape-cutting moving electric cylinder is connected to the upper surface of the moving arm near the packaging box. The rear end of the cutter protective cover is fixedly connected to the tape-cutting connecting support. The front end of the tape-cutting cutter extends a certain distance beyond the front end of the cutter protective cover to ensure that the tape-cutting cutter can smoothly cut the cable ties.

6. The integrated robotic arm for cutting and recycling packaging box cable ties according to claim 1, characterized in that: The tape extraction and recovery mechanism is located above the tape cutting mechanism. The tape extraction and recovery mechanism also includes a roller bracket. One end of the large roller passes through one side of the roller bracket and is connected to the large roller motor via a synchronous belt I. The large roller motor is connected to the top surface of the roller bracket. The roller moving electric cylinder is provided with a piston end and a cylinder body end. The piston end of the roller moving electric cylinder is connected to the rear end face of the roller bracket, and the cylinder body end of the roller moving electric cylinder is located on the upper end face of the tape cutting moving electric cylinder. The front end of the small roller can contact the front end of the large roller. One end of the small roller passes through one side of the tape cutting insertion plate and is connected to the small roller motor via a synchronous belt II.

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