Automated boxing apparatus for bowl-shaped products

Abstract

An automatic boxing equipment for bowl-shaped products comprises a taking station, a straightening arrangement including a horizontal transfer module and a temporary platform, a moving end of the horizontal transfer module being provided with a taking module, the horizontal transfer module being used to drive the taking module to move between the taking station and the temporary platform along a direction parallel to a straight line, the taking module being used to obtain a single product from the taking station and release the single product to the temporary platform, a straightening gripping arrangement including N first grippers corresponding to N products on the temporary platform, the first grippers being used to grip and release the products, a straightening carrying arrangement including a transverse transfer module and a longitudinal transfer module installed on a moving end of the transverse transfer module, a moving end of the longitudinal transfer module being provided with the straightening gripping arrangement, a boxing station, and products in an upper part of a box and products in a lower part of the box being coaxially stacked in the box, the products in the box being oriented in the same direction, so as to reduce the bumping damage of the bowl-shaped products, and improve the utilization rate of the space in the box.

Description

Technical Field

[0001] This utility model relates to the field of automated handling technology, and in particular to an automated boxing equipment for bowl-shaped products. Background Technology

[0002] Currently, products cut by punch presses are usually conveyed directly to the material frame via a conveyor belt. The products in the material frame are piled up haphazardly, and some products may have their surfaces damaged, resulting in a high rate of defective products. This is especially true for bowl-shaped products, where the circular edge of the product is prone to bumping against the curved outer surface during the cutting process. Particularly during point contact, the impact force is relatively large, causing deep dents on the curved outer surface of the product. Furthermore, the utilization rate of the space inside the material frame is low, increasing the turnover frequency of the material frame and the labor intensity of the personnel handling the material frame.

[0003] To address the above technical issues, there is an urgent need for an automated packing device that can automate the regular packing of bowl-shaped products, reduce the risk of bumps and scratches on the surface of the products, improve the utilization rate of the space inside the packing box, and reduce the labor intensity of handling personnel. Utility Model Content

[0004] In response to the shortcomings of the existing production technology, the applicant provides an automated packing equipment for bowl-shaped products, thereby reducing the damage to the surface of the bowl-shaped products, improving the utilization rate of the space inside the material box, and reducing the labor intensity of the handling personnel.

[0005] The technical solution adopted in this utility model is as follows:

[0006] An automated boxing device for bowl-shaped products includes:

[0007] The material handling station is used to temporarily store single products.

[0008] The arranging mechanism includes a horizontal transfer module and a temporary placement platform for horizontally placing N products at equal intervals along a straight line. The moving end of the horizontal transfer module is equipped with a picking module. The horizontal transfer module is used to drive the picking module to move between the picking station and the temporary placement platform in a direction parallel to the straight line. The picking module is used to pick up a single product from the picking station and release the single product to the temporary placement platform.

[0009] The entire gripping mechanism includes N first grippers that correspond one-to-one with N products on the temporary placement platform for gripping and releasing products.

[0010] The row transport mechanism includes a transverse transfer module and a longitudinal transfer module installed on the moving end of the transverse transfer module, wherein the row clamping mechanism is installed on the moving end of the longitudinal transfer module;

[0011] A packing station, used for positioning and placing boxes;

[0012] The horizontal transfer module drives the entire row of gripping mechanisms to move between the top of the box and the top of the temporary placement platform. The vertical transfer module drives the entire row of gripping mechanisms to rise and fall, and adjusts the height of the first gripper when releasing the product, so that the products above and below are coaxially stacked in the box, and the products inside the box face the same direction.

[0013] As a further improvement to the above technical solution:

[0014] It also includes a robotic arm and a second gripper for gripping and releasing the product, wherein the moving end of the robotic arm is equipped with the second gripper for transporting the product from the processing equipment to the picking station.

[0015] The product has an opening facing downwards. The temporary placement platform has a straight through hole that runs vertically through the platform. The length of the straight through hole is consistent with the straight direction. One end of the straight through hole faces the material picking station and passes through the temporary placement platform. The material picking station has a through hole that runs vertically through the station. The sidewall of the through hole has a notch that faces the end of the straight through hole and passes through the station.

[0016] The material handling module has the following structure: it includes a first linear actuator fixedly installed on the moving end of the horizontal transfer module. The moving end of the first linear actuator is equipped with a lifting member that matches the internal structure of the product. The dimension of the lifting member along the width direction of the straight perforation is smaller than the width of the straight perforation.

[0017] The first linear actuator drives the lifting member to rise through the through hole, lifting the product and causing it to rise and leave the picking station.

[0018] The first linear actuator drives the lifting member to descend, causing the product to fall onto the temporary platform and positioning the lifting member below the lower edge of the product.

[0019] It also includes a single-piece waiting mechanism, which includes a support frame on which two conveyor belts for simultaneously supporting the product are rotatably mounted side by side, and a motor fixed relative to the support frame, the output end of which is connected to the conveyor belts for transmission.

[0020] The first end of the conveying direction of the single-piece waiting mechanism receives the product from the second gripper, the picking station is located at the end of the conveying direction of the single-piece waiting mechanism, the support frame at the picking station is provided with the through hole, the notch penetrates the support frame, and two conveyor belts are located on both sides of the through hole.

[0021] It also includes a limiting mechanism fixedly connected to the support frame, the limiting mechanism being located directly above the material handling station, used to limit the highest position of the product.

[0022] The limiting mechanism includes a bracket fixedly connected to the support frame and a first guide shaft slidably connected to the bracket. A first limiting member is provided at one end of the first guide shaft, and a baffle is fixedly installed at the other end of the first guide shaft. The baffle is located below the bracket. A first spring is sleeved on the first guide shaft. One end of the first spring abuts against the bracket, and the other end of the first spring abuts against the baffle.

[0023] When the lifting member lifts the product at the material handling station, the product contacts the baffle, causing the first guide shaft to slide vertically while the first spring is compressed. The first limiting member is located above the bracket.

[0024] After the baffle detaches from the product, the first guide shaft moves in the opposite direction under the action of the first spring, and then the first limiting member contacts the bracket.

[0025] The robotic arm is a PPU robotic arm.

[0026] The moving end of the robotic arm is equipped with a rotary clamping cylinder, and the second gripper is installed on the gripper head of the rotary clamping cylinder.

[0027] It also includes a belt conveyor mechanism, wherein a stop mechanism is provided at the end of the conveying direction of the belt conveyor mechanism for separating a product corresponding to the second gripper at the end of the conveying direction of the belt conveyor mechanism.

[0028] The entire row clamping mechanism includes a mounting plate fixedly installed on the moving end of the longitudinal transfer module, and N second guide shafts slidably connected to the mounting plate. The first gripper is installed at one end of the second guide shaft, and a second limiting member is installed at the other end of the second guide shaft. The first gripper is located below the mounting plate. A second spring is sleeved on the outside of the second guide shaft. One end of the second spring abuts against the mounting plate, and the other end of the second spring abuts against the first gripper.

[0029] When the first gripper grasps the product, the second limiting member contacts the mounting plate.

[0030] After the lower part of the product, which is gripped by the first gripper and located inside the box, is limited, the moving end of the longitudinal transfer module moves downward, driving the second guide shaft to slide vertically. After the second spring is compressed and the second limiting member separates from the mounting plate, the first gripper releases the product.

[0031] It also includes the roller conveyor line, the boxing station is located on the roller conveyor line, and a limiting structure and a positioning mechanism are installed on the roller conveyor line. The limiting structure and the positioning mechanism are respectively located on both sides of the conveying direction of the roller conveyor line.

[0032] The positioning mechanism includes a second linear actuator fixedly installed on the roller conveyor line. The moving end of the second linear actuator is equipped with a limiting frame that matches the side profile of the box. The limiting frame pushes the box so that the box contacts the limiting structure simultaneously and is then positioned at the packing station.

[0033] The beneficial effects of this utility model are as follows:

[0034] This utility model has a compact and reasonable structure and is easy to operate. It adopts a row arrangement mechanism to arrange individual products into a row at equal intervals. Then, the row handling mechanism drives the row clamping mechanism to simultaneously clamp multiple products and transport them into the box. The multiple rows of products are stacked in sequence, thereby reducing the impact damage to the surface of the bowl-shaped products, improving the utilization rate of the space inside the box, and reducing the labor intensity of the handling personnel.

[0035] This utility model also has the following advantages:

[0036] (1) With the product opening facing downwards, the first linear actuator drives the lifting component to rise and fall below the product. A through hole with an open notch on one side is provided at the material picking station, which forms a channel for the material picking module to move with the straight through hole on the temporary placement platform. The material picking module can acquire and release the product with a simple structure.

[0037] (2) Set the material picking station at the end of the single-piece waiting mechanism located between the robotic arm and the temporary platform, and set a limit mechanism to restrict the highest position of the product to avoid the product falling off the lifting part.

[0038] (3) At the end of the process of the lifting component moving upward to obtain the product at the picking station, a baffle is used to make elastic contact with the product to ensure that the lifting component does not separate after contacting the product at the picking station, and to ensure that the product is moved out of the picking station in the same posture, so as to achieve stable delivery and packaging of the product.

[0039] (4) The first gripper is elastically connected to the moving end of the longitudinal transfer module. When the products are stacked in the same direction and coaxially in the box, the products are stacked flexibly, avoiding rigid stacking or falling collisions caused by positional errors during vertical handling. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of this utility model.

[0041] Figure 2 This is a partial structural schematic diagram of the present invention.

[0042] Figure 3 for Figure 2 A magnified view of part A.

[0043] Figure 4 This is a partial structural cross-sectional view of the present invention.

[0044] Figure 5 This is a schematic diagram of the structure of this utility model (from another perspective).

[0045] Figure 6 for Figure 5 Enlarged view of section B in the middle.

[0046] Figure 7 This is a top view (partial) of the present invention.

[0047] in:

[0048] 10. Products;

[0049] 1. Row-mounted conveying mechanism; 11. Lateral transfer module; 12. Longitudinal transfer module;

[0050] 2. Entire row clamping mechanism; 21. Mounting plate; 22. First gripper; 23. Second spring; 24. Second guide shaft;

[0051] 3. Arrangement mechanism; 31. Temporary placement platform; 311. Linear perforation; 32. Horizontal transfer module; 33. First linear actuator; 34. Lifting component; 35. First sensor;

[0052] 4. Single-piece waiting mechanism; 41. Through hole; 411. Notch; 42. Support frame; 43. Conveyor belt; 44. Motor; 45. Limiting mechanism; 451. Bracket; 452. First guide shaft; 453. Second sensor; 454. Baffle; 40. Material picking station;

[0053] 5. Robotic arm; 6. Second gripper; 61. Rotary clamping cylinder;

[0054] 7. Belt conveyor mechanism; 71. Material blocking mechanism; 8. Housing;

[0055] 9. Roller conveyor line; 90. Packing station; 91. Positioning mechanism; 911. Second linear actuator; 912. Limiting frame; 9121. Guide part; 93. Third linear drive; 94. Insertion frame; 941. Insertion rod; 95. Fourth linear drive; 96. Limiting structure. Detailed Implementation

[0056] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0057] Example 1:

[0058] like Figures 1-5 As shown, the automated packing equipment for bowl-shaped products in this embodiment includes a material picking station 40, a row arranging mechanism 3, a row clamping mechanism 2, a row conveying mechanism 1, and a packing station 90.

[0059] Material handling station 40 is used to temporarily store 10 single products;

[0060] The arranging mechanism 3 includes a horizontal transfer module 32 and a temporary placement platform 31 for horizontally placing N products 10 at equal intervals along a straight line. The moving end of the horizontal transfer module 32 is equipped with a picking module. The horizontal transfer module 32 is used to drive the picking module to move between the picking station 40 and the temporary placement platform 31 in a direction parallel to the straight line. The picking module is used to pick up a single product 10 from the picking station 40 and release the single product 10 to the temporary placement platform 31.

[0061] The entire row of gripping mechanisms 2 includes N first grippers 22 that correspond one-to-one with the N products 10 on the temporary placement platform 31 for gripping and releasing the products 10;

[0062] The row transport mechanism 1 includes a transverse transfer module 11 and a longitudinal transfer module 12 installed on the moving end of the transverse transfer module 11. The moving end of the longitudinal transfer module 12 is equipped with a row clamping mechanism 2.

[0063] Packing station 90 is used to position and place box 8.

[0064] The horizontal transfer module 11 drives the row clamping mechanism 2 to move between the box 8 and the temporary platform 31. The vertical transfer module 12 drives the row clamping mechanism 2 to rise and fall, and adjusts the height of the first gripper 22 when releasing the product 10, so that the upper product 10 and the lower product 10 are coaxially stacked in the box 8, and the products 10 in the box 8 face the same direction.

[0065] After the single product 10 is arranged in a row at equal intervals by the row arrangement mechanism 3, the row handling mechanism 1 drives the row clamping mechanism 2 to simultaneously clamp multiple products 10 and transport them into the box 8. The multiple rows of products 10 are then stacked in sequence, thereby reducing the impact damage to the surface of the bowl-shaped product 10, improving the utilization rate of the space inside the box 8, and reducing the labor intensity of the handling personnel.

[0066] Typically, box 8 is a cuboid, such as Figure 5 As shown, the module has a certain width along a direction perpendicular to the aforementioned straight line. This means that the horizontal transfer module 11 can stop at multiple positions in the horizontal direction, allowing multiple rows of products 10 to be placed within the housing 8. Similarly, the vertical transfer module 12 can stop at multiple positions in the vertical direction, allowing multiple layers of products 10 to be placed within the housing 8. N is greater than or equal to two, as shown... Figure 2 The N shown is five.

[0067] The moving end of the horizontal transfer module 32 moves in a direction parallel to and horizontal to the aforementioned straight line direction. The moving end of the horizontal transfer module 32 stops at multiple positions in the straight line direction, thereby enabling the equal spacing of multiple N products 10.

[0068] When the opening of product 10 faces downwards, the first gripper 22 grips product 10 from the outside. For product 10 with a circular, bowl-shaped structure, a three-jaw pneumatic gripper is preferred. The first gripper 22 is made of non-metallic material to avoid damaging product 10.

[0069] The transverse transfer module 11, the longitudinal transfer module 12, and the horizontal transfer module 32 are all linear servo modules, which can be electric cylinders.

[0070] In another embodiment, such as Figure 2 As shown, the automated packing equipment also includes a robotic arm 5 and a second gripper 6 for gripping and releasing products 10. The second gripper 6 is installed on the moving end of the robotic arm 5 to transport products 10 from the processing equipment to the picking station 40. This achieves automated transport of products 10 from the processing equipment to the automated packing process, reducing the labor intensity of operators.

[0071] The robotic arm 5 can use two linear modules to achieve the movement of the second gripper 6 in both the horizontal and vertical directions. Preferably, the robotic arm 5 is a PPU robotic arm, which is an integrated PPU robotic arm, also known as a Picking and Placing Unit (PPU), to achieve the vertical and horizontal movement of the mobile end, thus miniaturizing the automated packing equipment.

[0072] In another embodiment, such as Figure 2 As shown, a rotary clamping cylinder 61 is installed on the moving end of the robotic arm 5, and a second gripper 6 is installed on the gripper head of the rotary clamping cylinder 61.

[0073] The rotary clamping cylinder 61 is used to reverse the second gripper 6 of the product 10 by 180 degrees, thereby changing the orientation of the product 10. The second gripper 6 is made of non-metallic material to avoid damaging the product 10.

[0074] In another embodiment, the automated packing equipment further includes a belt conveyor 7, and a stop mechanism 71 is provided at the end of the conveying direction of the belt conveyor 7 for separating a product 10 corresponding to the second gripper 6 at the end of the conveying direction of the belt conveyor 7.

[0075] The belt conveyor 7 continuously transports products 10 from the processing equipment, further improving automation efficiency and equipment uptime. The stop mechanism 71 includes a stop bar that is intermittently driven to move. When the stop bar is located between two products 10 at the end of the conveying direction of the belt conveyor 7, it blocks the movement of the products 10. After the last product 10 at the end of the conveying direction of the belt conveyor 7 is taken away by the second gripper 6, the stop bar retracts, allowing the products 10 on the belt conveyor 7 to be transported forward as a whole.

[0076] Example 2:

[0077] Based on Example 1, such as Figures 2-4 As shown, in the bowl-shaped product automated packing equipment of this embodiment, the opening of product 10 faces downward. The temporary placement platform 31 is provided with a straight through hole 311 that runs vertically through the temporary placement platform 31. The length direction of the straight through hole 311 is consistent with the straight direction. The straight direction refers to the placement direction of N products 10 in Embodiment 1. One end of the straight through hole 311 faces the material picking station 40 and runs through the temporary placement platform 31. The material picking station 40 is provided with a through hole 41 that runs vertically through the material picking station 40. The side wall of the through hole 41 is provided with a notch 411 that faces the end of the straight through hole 311 and runs through the material picking station 40.

[0078] The structure of the material handling module is as follows: it includes a first linear actuator 33 fixedly installed on the moving end of the horizontal transfer module 32. The moving end of the first linear actuator 33 is equipped with a lifting member 34 that matches the internal structure of the product 10. The dimension of the lifting member 34 along the width direction of the straight through hole 311 is smaller than the width of the straight through hole 311.

[0079] The first linear actuator 33 drives the lifting component 34 to rise and pass through the through hole 41, lifting the product 10 and causing it to rise and detach from the picking station 40.

[0080] The first linear actuator 33 drives the lifting member 34 to descend, causing the product 10 to fall onto the temporary platform 31 and positioning the lifting member 34 below the lower edge of the product 10.

[0081] The first linear actuator 33 can be a cylinder.

[0082] The matching structure between the support member 34 and the inner surface of the product 10 is related to the internal structure of the product 10. When the inner surface of the product 10 is a rotating structure, the support member 34 can be provided with multiple line contact structures with multiple points on the inner surface of the product 10, or it can be a surface contact structure. According to the specific structural design of the product 10, the support member 34 is made of non-metallic material to avoid damaging the product 10 when it comes into contact with the inside of the product 10.

[0083] The temporary placement platform 31 is equipped with a first sensor 35 for detecting product 10. There are N first sensors 35, which correspond one-to-one with N products 10. When placing product 10 on the temporary placement platform 31, after placing the first product 10 at a position away from the material handling station 40, N-1 products 10 are placed on the temporary placement platform 31 in sequence.

[0084] With the product 10 opening downwards, the first linear actuator 33 drives the lifting component 34 to rise and fall below the product 10. The material picking station 40 has a through hole 41 with an open notch 411 on one side, which forms a channel for the material picking module to move with the straight through hole 311 on the temporary platform 31. The material picking module can pick up and release the product 10 with a simple structure.

[0085] Example 3:

[0086] Because the stamped bowl-shaped product 10 is relatively light, after the first linear actuator 33 drives the lifting member 34 to rise to the highest position, the product 10 is easily dislodged from the lifting member 34 due to inertia.

[0087] Based on Example 2, such as Figures 2-4 As shown, the automated packing equipment for bowl-shaped products in this embodiment also includes a single-piece waiting mechanism 4. The single-piece waiting mechanism 4 includes a support frame 42, on which two conveyor belts 43 for simultaneously supporting the product 10 are rotatably mounted side by side. It also includes a motor 44 fixed relative to the support frame 42, and the output end of the motor 44 is connected to the conveyor belts 43 for transmission.

[0088] The first end of the conveying direction of the single-piece waiting mechanism 4 receives the product 10 from the second gripper 6. The picking station 40 is located at the end of the conveying direction of the single-piece waiting mechanism 4. The support frame 42 at the picking station 40 is provided with a through hole 41, and a notch 411 penetrates the support frame 42. Two conveyor belts 43 are located on both sides of the through hole 41.

[0089] It also includes a limiting mechanism 45 fixedly connected to the support frame 42. The limiting mechanism 45 is located directly above the material handling station 40 and is used to limit the highest position of the product 10.

[0090] Specifically, the robotic arm 5 transports the product 10 from the processing equipment to the upstream conveying direction of the single-piece waiting mechanism 4, and then the single-piece waiting mechanism 4 transports the product 10 to the picking station 40.

[0091] In this embodiment, the automated packing equipment sets the material handling station 40 at the end of the single-piece waiting mechanism 4 located between the robotic arm 5 and the temporary placement platform 31. The robotic arm 5 is equipped with a limiting mechanism 45 to restrict the highest position of the product 10 and prevent the product 10 from falling off the lifting member 34.

[0092] Furthermore, such as Figure 3As shown, the limiting mechanism 45 includes a bracket 451 fixedly connected to the support frame 42, and a first guide shaft 452 slidably connected to the bracket 451. A first limiting member is provided at one end of the first guide shaft 452, and a baffle 454 is fixedly installed at the other end of the first guide shaft 452. The baffle 454 is located below the bracket 451. A first spring is sleeved on the first guide shaft 452. One end of the first spring abuts against the bracket 451, and the other end of the first spring abuts against the baffle 454.

[0093] When the lifting member 34 lifts the product 10 at the material handling station 40, the product 10 contacts the baffle 454, causing the first guide shaft 452 to slide vertically while the first spring is compressed. The first limiting member is located above the bracket 451.

[0094] After the baffle 454 is detached from the product 10, the first guide shaft 452 moves in the opposite direction under the action of the first spring, and then the first limiting member contacts the bracket 451.

[0095] Specifically, the bracket 451 is equipped with a second sensor 453 for detecting the product 10, and the first sensor 35 and the second sensor 453 can be proximity switches.

[0096] At the end of the process of the lifting component 34 moving upward to obtain the product 10 at the picking station 40, the baffle 454 is used to elastically contact the product 10 to ensure that the lifting component 34 does not separate after contacting the product 10 at the picking station 40, and to ensure that the product 10 is moved out of the picking station 40 in the same posture, so as to achieve stable conveying and packaging of the product 10.

[0097] Example 4:

[0098] Based on the above embodiments, such as Figures 5-7 As shown, the row clamping mechanism 2 of the automated packing equipment for bowl-shaped products in this embodiment includes a mounting plate 21 fixedly installed on the moving end of the longitudinal transfer module 12, and N second guide shafts 24 slidably connected to the mounting plate 21. A first gripper 22 is installed at one end of the second guide shaft 24, and a second limiting member is installed at the other end of the second guide shaft 24. The first gripper 22 is located below the mounting plate 21. A second spring 23 is sleeved on the outside of the second guide shaft 24. One end of the second spring 23 abuts against the mounting plate 21, and the other end of the second spring 23 abuts against the first gripper 22.

[0099] When the first gripper 22 grasps product 10, the second limiting member contacts the mounting plate 21.

[0100] After the lower part of the product 10, which is gripped by the first gripper 22 and located inside the housing 8, is limited, the moving end of the longitudinal transfer module 12 moves downward, driving the second guide shaft 24 to slide vertically. After the second spring 23 is compressed and the second limiting member separates from the mounting plate 21, the first gripper 22 releases the product 10.

[0101] The first gripper 22 is elastically connected to the moving end of the longitudinal transfer module 12. When the products 10 are stacked in the same direction and coaxially in the box 8, the adjacent products 10 can be flexibly stacked, avoiding rigid stacking or falling collisions caused by positional errors during vertical handling.

[0102] For example, such as Figure 7 As shown, it also includes a roller conveyor line 9, a packing station 90 located on the roller conveyor line 9, a limiting structure 96 and a positioning mechanism 91 installed on the roller conveyor line 9, the limiting structure 96 and the positioning mechanism 91 being located on both sides of the conveying direction of the roller conveyor line 9 respectively;

[0103] The positioning mechanism 91 includes a second linear actuator 911 fixedly installed on the roller conveyor line 9. The moving end of the second linear actuator 911 is equipped with a limiting frame 912 that matches the side profile of the box 8. The limiting frame 912 pushes the box 8 so that the box 8 and the limiting structure 96 come into contact simultaneously and are positioned at the packing station 90.

[0104] For the rectangular box 8, the limiting structure 96 is a rod-shaped structure parallel to one side of the box 8, and the limiting frame 912 is a rod-shaped structure parallel to the other opposite side of the box 8. The limiting frame 912 has guide parts 9121 with inclined surfaces at both ends, which guide and position the box 8 from a direction perpendicular to the moving direction of the moving end of the second linear actuator 911.

[0105] For example, such as Figure 7 As shown, a horizontal drive mechanism is also provided upstream of the roller conveyor line 9. The horizontal drive mechanism includes a third linear driver 93 slidably mounted on the frame of the roller conveyor line 9 along the conveying direction of the roller conveyor line 9. The moving end of the third linear driver 93 is fixedly mounted with an insert frame 94. The insert frame 94 is provided with three insert rods 941 spaced apart along the conveying direction of the roller conveyor line 9, corresponding to the gaps between adjacent boxes 8. The third linear driver 93 drives the insert frame 94 to move closer to the box 8 so that the insert rods 941 are located between two adjacent boxes 8. The mechanism also includes a fixed mounting bracket. The fourth linear driver 95 is mounted on the frame of the roller conveyor line 9. The moving end of the fourth linear driver 95 is fixedly connected to the third linear driver 93. It is used to drive the third linear driver 93 and the inserter 94 to move as a whole along the direction of the roller conveyor line 9. The moving stroke is the position of one box 8. It is inserted between two adjacent boxes 8 through the insert rod 941. The fourth linear driver 95 drives the inserter 94 to move. The insert rod 941 pushes the three boxes 8 to move on the roller conveyor line 9, so that the roller conveyor line 9 can be used without power.

[0106] The second linear actuator 911, the third linear driver 93, and the fourth linear driver 95 can all be cylinders.

[0107] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. An automated packing equipment for bowl-shaped products, characterized in that: include: The material handling station (40) is used to temporarily place a single product (10). The arranging mechanism (3) includes a horizontal transfer module (32) and a temporary platform (31) for horizontally placing N products (10) at equal intervals along a straight line. The moving end of the horizontal transfer module (32) is equipped with a picking module. The horizontal transfer module (32) is used to drive the picking module to move between the picking station (40) and the temporary platform (31) in a direction parallel to the straight line. The picking module is used to pick up a single product (10) from the picking station (40) and release the single product (10) to the temporary platform (31). The entire row of gripping mechanisms (2) includes N first grippers (22) that correspond one-to-one with N products (10) on the temporary platform (31) for gripping and releasing products (10). The row transport mechanism (1) includes a transverse transfer module (11) and a longitudinal transfer module (12) installed on the moving end of the transverse transfer module (11). The row clamping mechanism (2) is installed on the moving end of the longitudinal transfer module (12). Packing station (90), the packing station (90) is used to position and place the box (8); The horizontal transfer module (11) drives the row clamping mechanism (2) to move between the box (8) and the temporary platform (31), and the vertical transfer module (12) drives the row clamping mechanism (2) to rise and fall, and adjusts the height of the first gripper (22) when releasing the product (10), so that the upper product (10) and the lower product (10) are coaxially stacked in the box (8), and the products (10) in the box (8) face the same direction.

2. The automated packing equipment for bowl-shaped products as described in claim 1, characterized in that: It also includes a robotic arm (5) and a second gripper (6) for gripping and releasing the product (10), the second gripper (6) being mounted on the moving end of the robotic arm (5) for transporting the product (10) from the processing equipment to the picking station (40).

3. The automated packing equipment for bowl-shaped products as described in claim 2, characterized in that: The product (10) has an opening facing downwards. The temporary platform (31) is provided with a straight through hole (311) that runs vertically through the temporary platform (31). The length direction of the straight through hole (311) is consistent with the straight direction. One end of the straight through hole (311) faces the material picking station (40) and runs through the temporary platform (31). The material picking station (40) is provided with a through hole (41) that runs vertically through the material picking station (40). The side wall of the through hole (41) is provided with a notch (411) that faces the end of the straight through hole (311) and runs through the material picking station (40). The structure of the material handling module is as follows: it includes a first linear actuator (33) fixedly installed on the moving end of the horizontal transfer module (32), and the moving end of the first linear actuator (33) is equipped with a lifting member (34) that matches the internal structure of the product (10). The dimension of the lifting member (34) along the width direction of the straight through hole (311) is smaller than the width of the straight through hole (311). The first linear actuator (33) drives the lifting member (34) to rise through the through hole (41), lifting the product (10) and causing the product (10) to rise and leave the picking station (40). The first linear actuator (33) drives the lifting member (34) to descend, causing the product (10) to fall onto the temporary platform (31) and positioning the lifting member (34) below the lower edge of the product (10).

4. The automated packing equipment for bowl-shaped products as described in claim 3, characterized in that: It also includes a single-piece waiting mechanism (4), which includes a support frame (42), on which two conveyor belts (43) for simultaneously supporting the product (10) are rotatably mounted side by side, and also includes a motor (44) fixed relative to the support frame (42), the output end of the motor (44) being connected to the conveyor belts (43) in a transmission connection. The first end of the conveying direction of the single-piece waiting mechanism (4) receives the product (10) from the second gripper (6). The picking station (40) is located at the end of the conveying direction of the single-piece waiting mechanism (4). The support frame (42) at the picking station (40) is provided with the through hole (41). The notch (411) penetrates the support frame (42). Two conveyor belts (43) are located on both sides of the through hole (41). It also includes a limiting mechanism (45) fixedly connected to the support frame (42), the limiting mechanism (45) being located directly above the material handling station (40) and used to limit the highest position of the product (10).

5. The automated packing equipment for bowl-shaped products as described in claim 4, characterized in that: The limiting mechanism (45) includes a bracket (451) fixedly connected to the support frame (42) and a first guide shaft (452) slidably connected to the bracket (451). A first limiting member is provided at one end of the first guide shaft (452), and a baffle (454) is fixedly installed at the other end of the first guide shaft (452). The baffle (454) is located below the bracket (451). A first spring is sleeved on the first guide shaft (452). One end of the first spring abuts against the bracket (451), and the other end of the first spring abuts against the baffle (454). When the lifting member (34) lifts the product (10) at the material handling station (40), the product (10) contacts the baffle (454), causing the first guide shaft (452) to slide vertically while the first spring is compressed. The first limiting member is located above the bracket (451). After the baffle (454) is detached from the product (10), the first guide shaft (452) moves in the opposite direction under the action of the first spring, and the first limiting member contacts the bracket (451).

6. The automated packing equipment for bowl-shaped products as described in claim 2, characterized in that: The robotic arm (5) is a PPU robotic arm.

7. The automated packing equipment for bowl-shaped products as described in claim 2, characterized in that: The moving end of the robotic arm (5) is equipped with a rotary clamping cylinder (61), and the second gripper (6) is installed on the gripper head of the rotary clamping cylinder (61).

8. The automated packing equipment for bowl-shaped products as described in claim 2, characterized in that: It also includes a belt conveyor (7), and a stop mechanism (71) is provided at the end of the conveying direction of the belt conveyor (7) for separating a product (10) corresponding to the second gripper (6) at the end of the conveying direction of the belt conveyor (7).

9. The automated packing equipment for bowl-shaped products as described in claim 1, characterized in that: The entire row clamping mechanism (2) includes a mounting plate (21) fixedly installed on the moving end of the longitudinal transfer module (12), and N second guide shafts (24) slidably connected to the mounting plate (21). The first gripper (22) is installed at one end of the second guide shaft (24), and the second limiting member is installed at the other end of the second guide shaft (24). The first gripper (22) is located below the mounting plate (21). The second guide shaft (24) is sleeved with a second spring (23). One end of the second spring (23) abuts against the mounting plate (21), and the other end of the second spring (23) abuts against the first gripper (22). When the first gripper (22) grasps the product (10), the second limiting member contacts the mounting plate (21). After the lower part of the product (10) held by the first gripper (22) and located inside the housing (8) is limited, the moving end of the longitudinal transfer module (12) moves downward, driving the second guide shaft (24) to slide vertically. After the second spring (23) is compressed and the second limiting member separates from the mounting plate (21), the first gripper (22) releases the product (10).

10. The automated packing equipment for bowl-shaped products as described in claim 1, characterized in that: It also includes a roller conveyor line (9), the packing station (90) is located on the roller conveyor line (9), and a limiting structure (96) and a positioning mechanism (91) are installed on the roller conveyor line (9). The limiting structure (96) and the positioning mechanism (91) are located on both sides of the conveying direction of the roller conveyor line (9); The positioning mechanism (91) includes a second linear actuator (911) fixedly installed on the roller conveyor line (9). The moving end of the second linear actuator (911) is equipped with a limiting frame (912) that matches the side profile of the box (8). The limiting frame (912) pushes the box (8) so that the box (8) contacts the limiting structure (96) simultaneously and is positioned at the packing station (90).

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