CN-121990252-A - Automatic unpacking feeding device and method

Abstract

The invention relates to the technical field of packaging production equipment, in particular to an automatic unpacking and feeding device and method, comprising an unpacking mechanism, wherein the unpacking mechanism comprises a positioning unit used for determining the position of a material, a manipulator used for grabbing and transferring the material, a pick-up unit arranged at the top of the manipulator and a shearing unit arranged on the pick-up unit, the positioning unit comprises a portal frame arranged above a material stack, a first positioning 3D camera arranged on the portal frame and a second positioning 3D camera arranged at the end part of the manipulator, the pick-up unit comprises a substrate arranged at the end part of the manipulator, at least one L-shaped clamping claw arranged on the substrate, a clamping cylinder arranged below the clamping claw, a clamping seat arranged at the far end of the clamping cylinder and at least two telescopic push rods symmetrically arranged at the upper end and the lower end of the clamping claw. The invention has the advantages of high automation degree, low labor intensity, high operation safety, high product standard consistency and the like, and has good market potential.

Inventors

• GU JINDONG
• Pan Suwei

Assignees

• 苏州前迅机电科技有限公司

Dates

Publication Date

20260508

Application Date

20260327

Claims (10)

1. 1. The automatic unpacking feeding device is characterized by comprising a controller and an unpacking mechanism, wherein the unpacking mechanism comprises a positioning unit used for determining the position of a material, a manipulator used for grabbing and transporting the material, a pick-up unit arranged at the top of the manipulator and a shearing unit arranged on the pick-up unit, the positioning unit comprises a portal frame arranged above a material stack, a first positioning 3D camera arranged on the portal frame and a second positioning 3D camera arranged at the end part of the manipulator, the pick-up unit comprises a base plate arranged at the end part of the manipulator, at least one clamping claw which is arranged on the base plate and is L-shaped, a clamping cylinder arranged below the clamping claw, a clamping seat arranged at the far end of the clamping cylinder, and at least two telescopic push rods symmetrically arranged at the upper end and the lower end of the clamping claw, and the shearing unit comprises a first telescopic cylinder with one side end part arranged on the base plate and a cutting knife arranged at the other side end part of the first telescopic cylinder.
2. 2. The automatic unpacking and feeding device according to claim 1, wherein the number of the clamping claws is at least 2, the cutting knife is arranged opposite to one of the clamping claws, and the clamping claws are provided with cutting holes which are arranged in parallel with the direction of the cutting edge of the cutting knife.
3. 3. The automatic unpacking and feeding device according to claim 1, wherein the bottom of the manipulator is provided with a lifting column, and/or the telescopic pushing rod comprises at least two second telescopic cylinders which are connected with the base plate and are respectively arranged at the upper end and the lower end of the base plate, a flat pushing rod which is connected with the end of the second telescopic cylinders and is arranged above the clamping claw, and a roller pushing rod which is connected with the end of the second telescopic cylinders and is arranged below the clamping claw.
4. 4. The automatic unpacking and feeding device according to claim 1, further comprising a feeding device, wherein the feeding device comprises at least one storage bin for storing materials, a conveying mechanism arranged at the bottom of the storage bin, and a discharging mechanism arranged at the output end of the conveying mechanism.
5. 5. The automatic unpacking and feeding device according to claim 4, wherein the bin comprises a body which is vertically penetrated and has a U-shaped cross section, a baffle which is arranged on the U-shaped opening side of the body and slides up and down along the body, a guide plate which is arranged at the bottom of the body and is obliquely arranged, and a plugging door which is rotatably arranged at the bottom of the body and is used for opening and closing the opening at the bottom.
6. 6. The automatic unpacking and feeding device according to claim 5, wherein at least one longitudinally arranged partition plate is arranged in the body, the partition plate divides the storage bin into different storage spaces, and a guide plate is arranged at the bottom of each storage space.
7. 7. The automatic unpacking and feeding device according to claim 6, wherein the bottom of the guide plate is provided with a paving plate arranged along the vertical direction.
8. 8. The automatic unpacking and feeding device according to claim 7, wherein the conveying mechanism comprises a frame, a first driving wheel and a first driven wheel which are arranged on the frame, a driving motor for driving the first driving wheel, a conveying belt which is sleeved on the first driving wheel and the first driven wheel and forms transmission fit, a plurality of positioning pieces are arranged on the conveying belt, and each positioning piece comprises a clamping seat connected with the conveying belt and a clamping groove which is arranged on the clamping seat and is matched with the outer shape of the material.
9. 9. The automatic unpacking and feeding device according to claim 8, wherein the discharging mechanism comprises a front and back detection sensor arranged at the output end of the conveying belt, a guide plate which is fan-shaped and arranged on the frame and arranged at the output end of the conveying belt, a connecting plate which is rotatably arranged at the downstream side of the guide plate and is obliquely arranged, a storage box arranged below the connecting plate, and a discharging hole arranged on the extension line of the moving line below the connecting plate.
10. 10. An automatic unpacking and feeding method, which is characterized by being used in the automatic unpacking and feeding device as claimed in claim 9, and specifically comprising the following steps: the controller receives the position information of a certain bundle of materials which can be taken away and is acquired by the first positioning 3D camera, and then controls the manipulator to move to the position information, namely, the position information is right in front of the bundle of materials; The controller receives the ribbon position identified by the second positioning 3D camera, controls the manipulator to finely adjust to a position above the ribbon, starts the clamping claw to abut against the material, starts the manipulator to move downwards, starts the clamping cylinder, further enables the clamping seat to abut against the clamping claw, and starts the telescopic push rod to abut against the material; The controller controls the mechanical arm to transfer the materials to a preset bin space of a preset bin; The controller starts the servo motor to rotate forward or reversely according to the number of the bundles of the materials thrown into the storage bin, so that the baffle plate is lifted or lowered; The controller starts the first telescopic cylinder, so that the cutter cuts the binding tape, and then starts the first telescopic cylinder to return; The controller controls the manipulator to move to the position above the waste material barrel, and starts the clamping cylinder to return to the position, so that the binding belt falls to the waste material box; The controller starts a driving motor to enable the conveyor belt to rotate, the controller controls opening and closing of the blocking door according to the state of the bin, the controller receives real-time detection data sent by the positive and negative detection sensors, starts a rotating assembly in the discharging mechanism according to the detection data, closes the rotating assembly if the detection data is positive, starts the rotating assembly to drive the connecting plate to rotate if the detection data is negative, determines the state of the bin through data uploaded to the controller by the full detection sensor, the emptying detection sensor and the no-material detection sensor, indicates that the bin is full if the full detection sensor is uploading full material data, and can be preferentially opened by the controller, controls to close the blocking door if the emptying detection sensor is uploading empty, and controls the manipulator to transfer the material to the bin if the no-material detection sensor is uploading no-material data.

Description

Automatic unpacking feeding device and method Technical Field The invention relates to the technical field of packaging production equipment, in particular to an automatic unpacking and feeding device and method. Background With the rapid development of industrial automation, various materials are usually processed in a compressed and bundled manner for convenient storage, transportation and subsequent processing. The current common bundling materials comprise waste paper, waste plastic and steel coil bundling materials, and various packaged goods in the field of logistics storage. The unbinding operation is used as a front key process of material subsequent resource utilization or deep processing, and the operation efficiency, unbinding effect and operation safety are extremely important. The existing unbinding operation mostly adopts a manual mode to unbinding, is carried to the input end of the next procedure after unbinding, has low operation efficiency, and the existing unbinding equipment mostly aims at packing waste paper, steel coil and other materials with good consistency, but adopts manual unbinding for the dispersive materials such as cylindrical colloid packing cans, so that the transportation is convenient, the binding mode is mostly adopted to pack 30-50 colloid packing cans in each bundle, the dispersion is extremely easy to occur during the unbinding, the carrying process is extremely easy to drop, and the simple unbinding can cause more problems, so that the unbinding is always carried out manually, and the improvement is required. Disclosure of Invention Features and advantages of the invention will be set forth in part in the description which follows, or may be obvious from the description, or may be learned by practice of the invention. The invention provides an automatic unpacking and feeding device, which comprises a controller and an unpacking mechanism, wherein the unpacking mechanism comprises a positioning unit used for determining the position of a material, a manipulator used for grabbing and transferring the material, a pick-up unit arranged at the top of the manipulator and a shearing unit arranged on the pick-up unit, the positioning unit comprises a portal frame arranged above a material stack, a first positioning 3D camera arranged on the portal frame and a second positioning 3D camera arranged at the end of the manipulator, the pick-up unit comprises a substrate arranged at the end of the manipulator, at least one clamping claw which is arranged on the substrate and is L-shaped, a clamping cylinder arranged below the clamping claw, a clamping seat arranged at the far end of the clamping cylinder, and at least two telescopic push rods symmetrically arranged at the upper end and the lower end of the clamping claw, and the shearing unit comprises a first telescopic cylinder with one side end arranged on the substrate and a cutting knife arranged at the other side end of the first telescopic cylinder. Preferably, the number of the clamping claws is at least 2, the cutting knife and one of the clamping claws are arranged oppositely, and the clamping claws are provided with cutting holes which are arranged in parallel with the cutting edge direction of the cutting knife. The telescopic pushing rod comprises at least two second telescopic air cylinders which are connected with the base plate and are respectively arranged at the end parts of the upper side and the lower side of the base plate, a flat pushing rod which is connected with the end parts of the second telescopic air cylinders and is arranged above the clamping claw, and a roller pushing rod which is connected with the end parts of the second telescopic air cylinders and is arranged below the clamping claw. Preferably, the feeding device comprises at least one bin for storing materials, a conveying mechanism arranged at the bottom of the bin and a discharging mechanism arranged at the output end of the conveying mechanism. Preferably, the feed bin includes the body that link up from top to bottom and transversal U type that personally submits, locates the U type opening side of body and along the gliding baffle about the body, is equipped with the deflector that body bottom and slope set up to and rotate and locate body bottom and be used for opening and shutting bottom open-ended shutoff door. Preferably, at least one longitudinally arranged partition plate is arranged in the body, the partition plate divides the storage bin into different storage spaces, and a guide plate is arranged at the bottom of each storage space. Preferably, the bottom of the guide plate is provided with a paving plate arranged along the vertical direction. Preferably, the conveying mechanism comprises a frame, a first driving wheel and a first driven wheel which are arranged on the frame, a driving motor for driving the first driving wheel, a conveying belt which is sleeved on the first driving wheel and the first driven wheel and forms trans