An all-enclosed box-packing robot end effector and box-packing method thereof

Abstract

The invention discloses a full-enclosed packing robot end effector, which comprises flanges, two sets of first splint assemblies, two sets of second splint assemblies and a pallet assembly; A splint assembly is symmetrically arranged on opposite sides in the width direction of the fixing plate, and two sets of second clamping assemblies are symmetrically arranged on opposite sides in the length direction of the fixing plate; the first splint assembly includes a connecting plate, a first guide shaft, a first The hinge plate, the first splint, and the first cylinder; the second clamping assembly includes the second hinge plate, the second guide shaft, the second cylinder, the connecting rod, and the pocket bottom plate, and the first splint assembly and the second splint assembly realize linkage. The tray assembly includes a tray, a blocking mechanism, and a third cylinder. The tray is set on the bracket, and both ends of the bracket are equipped with blocking mechanisms. There are two third cylinders in the middle of the bracket, and the telescopic rods of the two third cylinders The rotary mechanism is connected with the blocking mechanism; the invention greatly improves the packing efficiency of the medicine bag.

Description

technical field [0001] The invention belongs to the field of flexible packaging liquid technology, and more specifically relates to an end effector of a fully-enclosed box-packing robot and a box-packing method thereof. Background technique [0002] At present, in the production of liquid pharmaceutical preparations in recent years, more and more non-PVC multi-layer co-extruded film packaging methods are used. This method is low in cost and easy to realize filling automation. However, due to its soft texture, it brings a series of difficulties to the subsequent packing. The current automatic packing machine mainly has the following problems: [0003] (1) When the existing automatic box packing machine grabs the medicine bag, the grabbing position is above the outer packaging film of the medicine bag. Because the packaging film is soft and easy to deform, there is a risk that the bag will not be grasped stably and the bag will be dropped. The bag drop rate is as high as 20%...

AI Technical Summary

Problems solved by technology

[0003] (1) When the existing automatic box packing machine grabs the medicine bag, the grabbing position is above the outer packaging film of the medicine bag. Because the packaging film is soft and easy to deform, there is a risk that the bag will not be grasped stably and the bag will be dropped. Bag drop rate up to 20%

[0004] (2) The end effector of the existing boxing robot lacks a mechanism for squeezing the medicine bag. During the boxing process, the medicine bag is in an upright state. Due to the action of gravity, the medicine liquid is concentrated at the bottom, resulting in an increase in the overall width

Further cause difficulty in boxing and irregular boxing

After being loaded into the carton, the gap between the medicine bags is large, and the space of the carton is wasted

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