Packaging system

Abstract

The present invention provides a packaging system, including a stacking device, a pushing device, a picking device and a transferring device; the stacking device includes a collecting device and a pushing device; the collecting device includes a collecting jig, a collecting support plate and a collecting driving device; the pushing device is spaced apart from the stacking device, the pushing device is arranged above the collecting jig, and the pushing device is used to push the sub-cut objects on the collecting jig into the corresponding dropping channel; the pushing device is arranged on the side of the material dropping position facing away from the pushing position, and is used to push the sub-cut objects at the material dropping position to the pushing position; the picking device is spaced apart from the collecting support plate, and the picking device is used to clamp the stacked sub-cut objects and transport them to a designated workstation; the transferring device is arranged on one side of the picking device, and the transferring device is used to move the sub-cut objects stacked at the designated workstation to the packaging workstation, so as to facilitate the collection of the sub-cut objects.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic sorting, and in particular relates to a packaging system. Background Art

[0002] When the object to be cut needs to be cut into several sub-objects, a die-cutting machine is usually used for cutting. The die-cutting machine includes a cutting device, a material conveying device and a material receiving platform. A cutting position is provided on the die-cutting machine. The cutting device is located on the upper side of the cutting position, and the material receiving platform is located on the lower side of the cutting position. The side of the cutting device adjacent to the upper side of the cutting device is the conveying side. The material conveying device is arranged on the conveying side of the cutting device. The cutting device is used to simultaneously cut the object to be cut in the cutting position into at least two sub-objects, and the sub-objects fall directly onto the material receiving platform. The object to be cut is continuously conveyed to the cutting position, and the subsequent sub-objects will fall on the previous sub-objects, and the sub-objects at the same position on the material receiving platform will be stacked together. However, since the sub-objects do not fall vertically during the falling process, the sub-objects at different positions will come into contact with each other, which is not conducive to directly taking out the stacked sub-objects at the same position. Summary of the invention

[0003] The technical problem to be solved by the present invention is: for the existing die-cutting machine, since the sub-cut objects do not fall vertically during the falling process, the sub-cut objects at different positions will come into contact with each other, which is not conducive to directly taking out the stacked sub-cut objects at the same position. A stacking device and a packaging system are provided.

[0004] In order to solve the above technical problems, on the one hand, an embodiment of the present invention provides a packaging system, including a stacking device, a pushing device, a taking device and a transferring device;

[0005] The stacking device includes a collecting device and a pushing device;

[0006] The collecting device comprises a collecting jig, a collecting support plate and a collecting driving device;

[0007] The collecting jig is provided with at least two dropping channels, the dropping channels run through the collecting jig, the two ends of the dropping channels are respectively located on the upper surface and the lower surface of the collecting jig, the port of the dropping channel located on the upper surface of the collecting jig is set as the upper port, the port of the dropping channel located on the lower surface of the collecting jig is set as the lower port, the caliber of the upper port is smaller than the caliber of the lower port, the collecting support plate is provided with a push-out position and a plurality of drop positions, and the dropping channels correspond to the drop positions one by one;

[0008] The collecting support plate is located at the lower side of the collecting jig;

[0009] The collecting driving device avoids the material dropping position, the movable part of the collecting driving device is fixed on the collecting support plate, and the collecting driving device is used to drive the collecting support plate to move away from or approach the collecting jig in the vertical direction;

[0010] The pushing device is spaced apart from the stacking device, and the pushing device is arranged above the collecting jig, and the pushing device is used to push the sub-cuts on the collecting jig into the corresponding dropping channel;

[0011] The ejection device is arranged at a side of the blanking position facing away from the ejection position, and is used to push the sub-cut material at the blanking position to the ejection position;

[0012] The picking device is spaced apart from the collecting support plate, and the packaging system is further provided with a designated station, and the picking device is used to clamp the stacked sub-cut materials and transport them to the designated station;

[0013] The transfer device is arranged at one side of the picking device, and the packaging system is further provided with a packaging station. The transfer device is used to move the sub-cut objects stacked at the designated station to the packaging station.

[0014] Optionally, the collecting fixture comprises a first collecting plate, a second collecting plate and a third collecting plate;

[0015] The first collecting plate has a first vertical guide surface, and two first collecting plates are arranged opposite to each other, one first vertical guide surface faces the other first vertical guide surface;

[0016] The second collecting plate and the third collecting plate are arranged between the two first collecting plates;

[0017] The second collecting plate comprises a first plate, a second plate and a third plate, the first plate and the third plate are arranged vertically, the third plate is located at one side below the first plate, the second plate is fixed between the first plate and the third plate, the second plate is arranged along an edge of the first plate and along an edge of the third plate, a collecting angle portion is formed between the second plate and the third plate, the angle of the collecting angle portion is an acute angle, and the first plate and the third plate are staggered in the vertical direction;

[0018] The third collecting plate has a second vertical guide surface and a third vertical guide surface, a plurality of the second collecting plates are provided, some of the second collecting plates are provided on one side of the second vertical guide surface, and another part of the second collecting plates are provided on one side of the third vertical guide surface, the second collecting plates located on one side of the second vertical guide surface are arranged at equal intervals, and the collecting angle portion located on one side of the second vertical guide surface faces the second vertical guide surface, the spacing between adjacent first plates is smaller than the spacing between adjacent second plates, and the spacing between adjacent second plates is smaller than or equal to the spacing between adjacent third plates;

[0019] The second collecting plates located on one side of the third vertical guide surface are arranged at equal intervals, and the collecting angle portion located on one side of the second vertical guide surface faces the third vertical guide surface.

[0020] Optionally, the first plate, the second plate and the third plate are integrally arranged.

[0021] Optionally, the ejection device includes an ejection drive mechanism and an ejection piece, the ejection device is arranged at intervals on the collection support plate, the ejection piece is arranged on the movable part of the ejection drive mechanism, the collection support plate is also provided with an ejection position, and the ejection drive mechanism is used to drive the ejection piece to move all or part of the stacked sub-cut materials to the ejection position.

[0022] Optionally, the pushing device includes a pushing and blowing device and a pushing and blowing mounting frame, the pushing and blowing device is arranged on the pushing and blowing mounting member, the pushing and blowing device is arranged above the collecting jig, and the pushing and blowing device is used to blow toward all the falling channels.

[0023] Optionally, the picking device includes a picking linear drive device, a picking mounting seat, a picking adjustment drive device and a picking manipulator;

[0024] The picking linear drive device is arranged below or on one side of the collecting support plate, and is used to drive the picking mounting seat to drive the picking adjustment drive device to move linearly;

[0025] The pick-up mounting seat is arranged on the output portion of the pick-up linear drive device;

[0026] The fixed part of the picking and adjusting driving device is arranged on the picking and mounting seat, and the picking and adjusting driving device is used to drive the picking manipulator to move back and forth between the designated position and the pushing position;

[0027] The fixed part of the picking robot is fixed on the output part of the picking and adjusting driving device.

[0028] Optionally, the transfer device includes a transfer drive device and a transfer clamping robot, the transfer drive device is used to drive the transfer clamping robot to move between the packaging station and the designated station, and the transfer clamping robot is used to clamp the stacked sub-cut materials located at the designated station.

[0029] Optionally, the transfer drive device includes a transfer rotation drive device and a first transfer linear drive device, and when the fixed part of the transfer rotation drive device is set on the output part of the first transfer linear drive device, the fixed part of the transfer clamping robot is set on the output part of the transfer rotation drive device; when the fixed part of the first transfer linear drive device is set on the output part of the transfer rotation drive device, the fixed part of the transfer clamping robot is set on the output part of the first transfer linear drive device.

[0030] Optionally, the transfer drive device also includes a transfer seat and a second transfer linear drive device, and two transfer clamping robots are provided. The transfer seat is fixed on the output part of the transfer rotation drive device, and the fixed parts of the first transfer linear drive device and the second transfer linear drive device are arranged on the transfer seat. The fixed parts of the transfer clamping robot are respectively arranged on the output part of the first transfer linear drive device and the output part of the second transfer linear drive device, and the output parts of the two transfer clamping robots are in opposite directions.

[0031] Optionally, the packaging system also includes a die-cutter, and the packaging system is provided with a cutting position. The cutting device of the die-cutter is located on the upper side of the cutting position, the material conveying device of the die-cutter is arranged on the conveying side of the cutting device, and the collecting jig is located on the lower side of the cutting position.

[0032] In the packaging system provided by the embodiment of the present invention, the sub-cuts fall on the upper surface of the collection jig and cover the corresponding upper ports. The sub-cuts located on the collection jig are automatically pushed into the corresponding drop channel, and the sub-cuts undergo a certain deformation and enter the drop channel through the upper port. At this time, the sub-cuts are not in a horizontally expanded state. The edge of the sub-cut moves in the drop channel along the side wall of the drop channel, that is, the drop channel plays a guiding role for the sub-cuts, and the sub-cuts move to the corresponding drop position through the corresponding drop channel. In the process of the sub-cuts gradually moving to the corresponding drop position, the deformed sub-cuts gradually enter a horizontally expanded state. Since the spacing between adjacent upper ports is the second material collection spacing, the spacing between adjacent sub-cuts located on the upper surface of the collection jig is less than the second material collection spacing. Since the spacing between a drop position and an adjacent drop position is the first material collection spacing, the spacing between the sub-cuts located at the drop position and the adjacent sub-cuts is greater than or equal to the first material collection spacing. After the sub-cuts are in a horizontally unfolded state along the drop channel, the spacing between adjacent sub-cuts becomes larger, ensuring that adjacent sub-cuts do not touch each other. The drop channel ensures that the subsequent sub-cuts move along the drop path of the previous sub-cuts, thereby ensuring that the subsequent sub-cuts are stacked on the previous sub-cuts, thereby ensuring that adjacent stacked sub-cuts do not touch each other, making it convenient for users to take out each stacked sub-cut. The packaging system automatically packages the stacked sub-cuts. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a packaging system provided by an embodiment of the present invention Figure 1 ;

[0034] Figure 2 A schematic diagram of a local structure of a packaging system provided by an embodiment of the present invention Figure 1 ;

[0035] Figure 3 A schematic diagram of the local structure of the packaging system provided by the embodiment of the present invention Figure 2 ;

[0036] Figure 4 Schematic diagram of the structure of the collection fixture provided by the embodiment of the present invention Figure 1 ;

[0037] Figure 5 Schematic diagram of the structure of the collection fixture provided by the embodiment of the present invention Figure 2 ;

[0038] Figure 6 Schematic diagram of the structure of the collection fixture provided by the embodiment of the present invention Figure 3 ;

[0039] Figure 7A schematic diagram of the structure of the packaging system provided by the embodiment of the present invention Figure 2 ;

[0040] Figure 8 for Figure 7 A schematic diagram of the enlarged structure at A in the middle;

[0041] Fig. 9 A schematic diagram of the structure of a taking device provided in an embodiment of the present invention;

[0042] Fig.10 A schematic diagram of the structure of a transfer device provided in an embodiment of the present invention.

[0043] Among them, the reference numerals in the figure are:

[0044] 1. stacking device; 11. collecting device; 111. collecting fixture; 1111. dropping channel; 1112. upper port; 1113. lower port; 112. first collecting plate; 1121. first vertical guide surface; 113. second collecting plate; 1131. first plate; 1132. second plate; 1133. third plate; 1134. collecting angle portion; 114. third collecting plate; 1141. second vertical guide surface ; 1142, third vertical guide surface; 115, fourth collecting plate; 1151, fourth plate; 1152, fifth plate; 1153, sixth plate; 116, collecting support plate; 1161, material dropping position; 1162, ejection position; 117, collecting drive device; 12, ejection device; 121, ejection drive mechanism; 122, ejection member; 2, push-in device; 21, push-in blowing device; 211, air nozzle; 21 2. Air valve; 22. Push-in air blowing mounting frame; 3. Picking device; 31. Picking linear drive device; 32. Picking adjustment drive device; 33. Picking manipulator; 331. Picking finger cylinder; 332. First picking splint; 333. Second picking splint; 34. Picking mounting seat; 35. Picking workbench; 4. Transfer device; 41. Transfer drive device; 411. Transfer rotation drive device; 412. First transfer linear drive device; 413. Transfer seat; 414. Second transfer linear drive device; 42. Transfer clamping manipulator; 421. Transfer clamping finger cylinder; 422. First transfer clamp; 423. Second transfer clamp; 5. Packing machine; 61. Cutting position; 62. Preset mounting position; 63. Packing station; 71. Object to be cut; 72. Sub-cut object; 721. First stacking end; 722. Second stacking end. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figures 1 to 4As shown, a packaging system provided by an embodiment of the present invention includes a die-cutting machine (not shown) and a stacking device 1, the die-cutting machine includes a cutting device and a material conveying device, the stacking device 1 includes a collecting device 11, the packaging system is provided with a cutting position 61, the cutting device is located on the upper side of the cutting position 61, the side of the cutting device adjacent to the upper side of the cutting device is the conveying side, the material conveying device is arranged on the conveying side of the cutting device, and the material conveying device is used to convey a part of the object to be cut 71 to the cutting position 61. The cutting device is used to simultaneously cut the object to be cut 71 located in the cutting position 61 into at least two sub-cut objects 72, the cutting device includes a cutting drive device and a cutting blade, the cutting blade is arranged on the output part of the cutting drive device, the cutting drive device is used to drive the cutting blade to move toward or away from the cutting position 61, and the cutting blade is used to contact the object to be cut 71 located in the cutting position 61. The number of cutting blades is set according to the number of sub-cut objects 72 into which the parts of the object to be cut 71 are simultaneously cut. The collecting device 11 includes a collecting jig 111, a collecting support plate 116 and a collecting driving device 117. The collecting jig 111 is provided with at least two dropping channels 1111. The dropping channels 1111 penetrate the collecting jig 111. The two ends of the dropping channels 1111 are respectively located on the upper surface and the lower surface of the collecting jig 111. The port of the dropping channel 1111 located on the upper surface of the collecting jig 111 is set as the upper port 1112. The collecting jig 111 is located at the lower side of the cutting position 61, and the upper port 1112 faces the cutting position 61. The port of the dropping channel 1111 located on the lower surface of the collecting jig 111 is set as the lower port 1113. The sub-cuts 72 correspond to the dropping channels 1111 one by one, and the sub-cuts 72 fall on the upper surface of the collecting jig 111 and cover the port corresponding to the dropping channel 1111. At least two drop positions 1161 are provided on the collection support plate 116. The drop positions 1161 correspond to the drop channels 1111 one by one. The edge of the sub-cut object 72 moves along the inner wall of the corresponding drop channel 1111 to the corresponding drop position 1161. The sub-cut object 72 located at the drop position 1161 is in a horizontally unfolded state, that is, one surface of the sub-cut object 72 is completely facing the collection support plate 116. The spacing between a drop position 1161 and an adjacent drop position 1161 is a first material collection spacing, and the spacing between the port of the drop channel 1111 corresponding to the drop position 1161 located on the upper surface of the collection jig 111 and the port of the adjacent drop channel 1111 located on the upper surface of the collection jig 111 is a second material collection spacing. The size of the upper port 1112 is smaller than that of the lower port 1113. The collecting support plate 116 is located at the lower side of the collecting jig 111 , and one surface of the collecting support plate 116 is set as a supporting surface, which faces the lower surface of the collecting jig 111 . The collecting driving device 117 avoids the dropping position 1161 , and the movable part of the collecting driving device 117 is fixed on the collecting support plate 116 .The collecting driving device 117 is used to drive the collecting support plate 116 to move away from or close to the collecting jig 111 in the vertical direction. Preferably, the side surface of the collecting support plate 116 adjacent to the supporting surface and / or the surface of the collecting support plate 116 facing away from the supporting surface are connected to the output part of the collecting driving device 117.

[0047] It should be emphasized that the object to be cut 71 is a thin plate to be cut, plastic paper to be cut or a packaging bag to be cut. When the object to be cut 71 is a thin plate to be cut, the sub-object 72 is a sub-thin plate; when the object to be cut 71 is plastic paper to be cut, the sub-object 72 is a sub-plastic paper; when the object to be cut 71 is a packaging bag to be cut, the sub-object 72 is a sub-packaging bag.

[0048] like Figures 2 to 5 As shown, the sub-cut object 72 falls on the upper surface of the collection jig 111 and covers the corresponding upper port 1112. The sub-cut object 72 located on the collection jig 111 is pushed into the corresponding drop channel 1111 by external force, and the sub-cut object 72 undergoes a certain deformation and enters the drop channel 1111 through the upper port 1112. At this time, the sub-cut object 72 is not in a horizontally expanded state. The edge of the sub-cut object 72 moves in the drop channel 1111 along the side wall of the drop channel 1111, that is, the drop channel 1111 plays a guiding role for the sub-cut object 72. The sub-cut object 72 moves to the corresponding drop position 1161 through the corresponding drop channel 1111. In the process of the sub-cut object 72 gradually moving to the corresponding drop position 1161, the deformed sub-cut object 72 gradually enters a horizontally expanded state. Since the spacing between adjacent upper ports 1112 is the second material collection spacing, the spacing between adjacent sub-cut objects 72 located on the upper surface of the collecting jig 111 is less than the second material collection spacing. Since the spacing between a drop position 1161 and an adjacent drop position 1161 is the first material collection spacing, the spacing between a sub-cut object 72 located at the drop position 1161 and an adjacent sub-cut object 72 is greater than or equal to the first material collection spacing. After the sub-cut objects 72 are in a horizontally unfolded state along the drop channel 1111, the spacing between adjacent sub-cut objects 72 becomes larger, ensuring that adjacent sub-cut objects 72 do not contact each other. The drop channel 1111 ensures that the subsequent sub-cut object 72 moves along the drop path of the preceding sub-cut object 72, thereby ensuring that the subsequent sub-cut object 72 is stacked on the preceding sub-cut object 72, thereby ensuring that adjacent stacked sub-cut objects 72 do not contact each other, making it convenient for the user to take out each stacked sub-cut object 72.

[0049] In the process of stacking the sub-cut objects 72, the height of the stacked sub-cut objects 72 becomes higher and higher. The stacked sub-cut objects 72 are always in the dropping channel 1111 and will occupy the space of the dropping channel 1111. The collecting support plate 116 is driven downward by the collecting driving device 117, and the collecting support plate 116 drives the stacked sub-cut objects 72 to leave the dropping channel 1111, ensuring that the space in the dropping channel 1111 is not occupied.

[0050] Preferably, the specific shapes of the upper port 1112 and the lower port 1113 are set according to the specific shape of the sub-cut object 72. The upper port 1112 and the lower port 1113 are round ports or square ports.

[0051] Specifically, the plurality of sub-cuts 72 are arranged at equal intervals along a straight line.

[0052] In one embodiment, if Figure 1 As shown, the packaging system is provided with a preset mounting position 62, the collecting drive device 117 includes a screw and a stepper motor, the collecting support plate 116 is slidably connected to the preset mounting position 62, the fixed part of the stepper motor is fixed to the preset mounting position 62, the output part of the stepper motor is coaxially connected to one end of the screw, and the other end of the screw is threadedly connected to the collecting support plate 116.

[0053] Preferably, the preset installation position 62 is arranged on the taking workbench 35 .

[0054] In one embodiment, if Figure 2 and Figure 3 As shown, the stacking device 1 also includes an ejection device 12, which includes an ejection drive mechanism 121 and an ejection member 122. The ejection device 12 is arranged on the collection support plate 116 and is spaced apart from the cutting position 61. The ejection member 122 is arranged on the movable part of the ejection drive mechanism 121. The collection support plate 116 is also provided with an ejection position 1162. The ejection position 1162 is located on the side of the blanking position 1161 facing away from the ejection device 12. The ejection drive mechanism 121 is used to drive the ejection member 122 to drive all or part of the stacked sub-cut objects 72 to move to the ejection position 1162.

[0055] The push-out position 1162 is not located between the collection jig 111 and the collection support plate 116, ensuring that the sub-cut objects 72 in the collection jig 111 normally fall onto the collection support plate 116. When the stacked sub-cut objects 72 are located at the push-out position 1162, the stacked sub-cut objects 72 are not located between the collection jig 111 and the collection support plate 116, and the user does not need to take the stacked sub-cut objects 72 out from between the collection jig 111 and the collection support plate 116, thereby improving the convenience of taking the stacked sub-cut objects 72.

[0056] Preferably, in order to ensure that the ejection device 12 pushes all the stacked sub-cut objects 72 to the ejection position 1162, the ejection member 122 contacts all the stacked sub-cut objects 72 at the same time. In order to prevent the stacked sub-cut objects 72 from tipping over during the process of moving to the ejection position 1162, the height of the ejection member 122 is greater than the height of the stacked sub-cut objects 72.

[0057] More preferably, the ejection drive mechanism 121 is an ejection cylinder or an ejection linear motor.

[0058] Specifically, Figure 2 , Figure 3 , Fig. 9 and Fig.10 As shown, each stacked sub-cut object 72 has a first stacking end 721 and a second stacking end 722. When the stacked sub-cut objects 72 are located at the ejection position 1162, the first stacking end 721 is located on the collection support plate 116, and the second stacking end 722 is located on the outside of the collection support plate 116, and the stacked sub-cut objects 72 are stably placed on the collection support plate 116.

[0059] For ease of understanding, Figure 4 As shown in the figure, the direction of the collection fixture 111 when it is in normal use is shown; the Top axis is the up and down direction (i.e., the top and bottom direction), and its arrow points to the top; the Fr axis is the front and back direction, and its arrow points to the front; the Le axis is the left and right direction, and its arrow points to the left.

[0060] In one embodiment, if Figure 4 and Figure 5As shown, the collecting jig 111 includes a first collecting plate 112, a second collecting plate 113 and a third collecting plate 114. The first collecting plate 112 has a first vertical guide surface 1121. Two first collecting plates 112 are arranged opposite to each other, one first vertical guide surface 1121 faces the other first vertical guide surface 1121, and the second collecting plate 113 and the third collecting plate 114 are arranged between the two first collecting plates 112. The second collecting plate 113 includes a first plate 1131, a second plate 1132 and a third plate 1133. The first plate 1131 and the third plate 1133 are arranged vertically, the third plate 1133 is located at one side below the first plate 1131, the second plate 1132 is fixed between the first plate 1131 and the third plate 1133, the second plate 1132 is arranged along an edge of the first plate 1131 and along an edge of the third plate 1133, a collecting angle portion 1134 is formed between the second plate 1132 and the third plate 1133, the angle of the collecting angle portion 1134 is an acute angle, and the first plate 1131 and the third plate 1133 are staggered in the vertical direction. The third collecting plate 114 has a second vertical guide surface 1141 and a third vertical guide surface 1142. A plurality of second collecting plates 113 are provided, some of which are provided on one side of the second vertical guide surface 1141, and the other second collecting plates 113 are provided on one side of the third vertical guide surface 1142. The second collecting plates 113 on one side of the second vertical guide surface 1141 are provided at equal intervals, and the collecting angled portion 1134 on one side of the second vertical guide surface 1141 faces the second vertical guide surface 1141, the spacing between adjacent first plates 1131 is smaller than the spacing between adjacent second plates 1132, and the spacing between adjacent second plates 1132 is smaller than or equal to the spacing between adjacent third plates 1133. The second collecting plates 113 on one side of the third vertical guide surface 1142 are provided at equal intervals, and the collecting angled portion 1134 on one side of the second vertical guide surface 1141 faces the third vertical guide surface 1142.

[0061] When the sub-cut object 72 is placed on the upper ends of two adjacent first plates 1131, the sub-cut object 72 located on the upper ends of the two adjacent first plates 1131 is pressed, and the pressed sub-cut object 72 is deformed and enters between the two first vertical guide surfaces 1121 and the two adjacent first plates 1131. The four sides of the sub-cut object 72 are respectively in contact with the two first vertical guide surfaces 1121 and the two first plates 1131, ensuring that the sub-cut object 72 slides downward and that one bag surface of the sub-cut object 72 faces the collection support plate 116. When the sub-cut object 72 moves between the two adjacent second plates 1132, the two first vertical guide surfaces 1121 contact the sub-cut object 72 and one second plate 1132 makes the sub-cut object 72 move toward the other second plate 1132, that is, the sub-cut object 72 moves toward the collection angle portion 1134, which plays a role in adjusting the horizontal position of the sub-cut object 72 and ensuring that one bag surface of the sub-cut object 72 faces the collection support plate 116. When the sub-cut object 72 moves between two adjacent third plates 1133, the deformed sub-cut object 72 returns to its original shape and directly falls onto the collecting support plate 116. The falling channels 1111 formed by the adjacent second collecting plates 113 have the same function, so they will not be described in detail.

[0062] When the sub-cut object 72 is placed on the upper end of the first plate 1131 and the upper end of the third collecting plate 114, the sub-cut object 72 is then pressed, and the pressed sub-cut object 72 is deformed and enters between the two first vertical guide surfaces 1121, the first plate 1131 and the third collecting plate 114, and the four sides of the sub-cut object 72 are in contact with the two first vertical guide surfaces 1121, the first plate 1131 and the third collecting plate 114, ensuring that the sub-cut object 72 slides downward and that one bag surface of the sub-cut object 72 faces the collecting support plate 116. When the sub-cut object 72 moves between the two first vertical guide surfaces 1121, the second plate 1132 and the third collecting plate 114, the second plate 1132 enlarges the space in the falling channel 1111, so that the deformed sub-cut object 72 returns to its original state.

[0063] The distance between the two sub-cut objects 72 located on both sides of the third collecting plate 114 becomes larger due to the third collecting plate 114 .

[0064] Preferably, the first plate 1131, the second plate 1132 and the third plate 1133 are integrally arranged to facilitate mold making.

[0065] More preferably, the first collecting plate 112, the second collecting plate 113 and the third collecting plate 114 are integrally provided to facilitate mold making.

[0066] In one embodiment, if Figure 4As shown, the third collecting plate 114 of the above embodiment is replaced by the fourth collecting plate 115, and the fourth collecting plate 115 includes a fourth plate 1151, a fifth plate 1152 and a sixth plate 1153. The fourth plate 1151 and the sixth plate 1153 are arranged vertically, two fifth plates 1152 are arranged, and the sixth plate 1153 is located at the lower side of the fourth plate 1151. The fifth plate 1152 is fixed between the fourth plate 1151 and the sixth plate 1153. The two fifth plates 1152 are arranged along one edge of the fourth plate 1151 and along one edge of the sixth plate 1153. The angle between the two fifth plates 1152 is an acute angle. The fourth plate 1151 is arranged opposite to the first plate 1131. The sixth plate 1153 is arranged opposite to the third plate 1133.

[0067] For ease of understanding, Figure 3 and Figure 4 As shown, the two sides of the fourth collecting plate 115 are respectively set as the left side and the right side, and the left side of the fourth collecting plate 115 is described as follows: the distance between the fourth plate 1151 and the adjacent first plate 1131 is smaller than the distance between the fifth plate 1152 and the adjacent second plate 1132, and the distance between the fifth plate 1152 and the adjacent second plate 1132 is larger than or smaller than the distance between the sixth plate 1153 and the adjacent third plate 1133. The relationship between the right side of the fourth collecting plate 115 and the adjacent first plate 1131, the second plate 1132 and the third plate 1133 is the same as the relationship between the left side of the fourth collecting plate 115 and the adjacent first plate 1131, the second plate 1132 and the third plate 1133, so it will not be repeated. The function between the fourth collecting plate 115 and the adjacent second collecting plate 113 is the same as the function between the second collecting plate 113 and the adjacent second collecting plate, so it will not be repeated.

[0068] Preferably, the fourth plate 1151, the fifth plate 1152 and the sixth plate 1153 are integrally arranged.

[0069] In one embodiment, if Figures 1 to 3 As shown, in order to facilitate pushing the sub-cut objects 72 on the collection jig 111 into the corresponding drop channel 1111, the packaging system also includes a pushing device 2, which is spaced apart from the die-cutting machine and the stacking device 1. The pushing device 2 is used to push the sub-cut objects 72 on the collection jig 111 into the corresponding drop channel 1111. The pushing device 2 is arranged above the collection jig 111. The pushing device 2 includes a pushing drive device, a pushing mounting frame, a pushing mounting seat, and a pushing member. The fixed part of the pushing drive device is arranged on the pushing mounting frame, and the movable part of the pushing drive device is connected to the pushing mounting seat. There are at least two pushing members, which correspond to the drop channels 1111 one by one, and are fixed on the side of the pushing mounting seat facing away from the pushing drive device.

[0070] When the sub-cut object 72 falls on the upper surface of the collection jig 111 and covers the corresponding upper port 1112, the push-in driving device is controlled to drive the push-in mounting seat to move toward the collection jig 111, and then the push-in mounting seat drives the push-in member to move toward the collection jig 111, and the push-in member pushes the sub-cut object 72 into the drop channel 1111. After the sub-cut object 72 is pushed into the drop channel 1111, the push-in driving device is controlled to make the push-in member move away from the collection jig 111, ensuring that the subsequent sub-cut object 72 falls on the upper surface of the collection jig 111. It is not necessary to manually push the sub-cut object 72 located on the collection jig 111 into the corresponding drop channel 1111.

[0071] Preferably, the push-in driving device is a push-in linear cylinder or a push-in linear motor. The push-in member is a push-in rod or a push-in block.

[0072] In one embodiment, if Figures 1 to 3 As shown, the push-in device 2 includes a push-in blowing device 21 and a push-in blowing mounting frame 22. The push-in blowing device 21 is arranged on the push-in blowing mounting member. The push-in blowing device 21 is arranged above the collecting jig 111, and the push-in blowing device 21 is used to blow air toward the upper ports 1112 of all the falling channels 1111.

[0073] When the sub-cut objects 72 fall on the upper surface of the collection jig 111 and cover the corresponding upper ports 1112, the push-in blowing device 21 is controlled to blow toward the upper ports 1112 of all the drop channels 1111, and the push-in blowing device 21 blows the sub-cut objects 72 into the drop channels 1111. After the sub-cut objects 72 are pushed into the drop channels 1111, the push-in driving device is controlled to move the pusher away from the collection jig 111, ensuring that the subsequent sub-cut objects 72 fall on the upper surface of the collection jig 111. It is not necessary to manually push the sub-cut objects 72 on the collection jig 111 into the corresponding drop channels 1111.

[0074] In one embodiment, the push-in blowing device 21 includes a plurality of air nozzles 211 and a plurality of air valves 212, the air nozzles 211 correspond to the air valves 212 one by one, the air nozzles 211 correspond to the drop channels 1111 one by one, one end of the air nozzle 211 faces the upper port 1112 of the corresponding drop channel 1111, and the other end of the air nozzle 211 is connected to the corresponding air valve 212, and the air valve 212 is used to connect to the air supply device to ensure that the push-in blowing device 21 blows each drop channel 1111 simultaneously or individually, making the packaging system more flexible to use. Preferably, the plurality of air nozzles 211 are integrally arranged. More preferably, the integrally arranged air nozzles 211 form a hollow plate structure.

[0075] In one embodiment, if Figures 7 to 9As shown, in order to make the stacked sub-cut objects 72 located at the push-out position 1162 separate from the collecting support plate 116, the packaging system further includes a picking device 3, which is spaced apart from the collecting support plate 116. The picking device 3 is used to clamp the stacked sub-cut objects 72 and transport the clamped sub-cut objects 72 to a designated station.

[0076] The picking device 3 comprises a picking linear drive device 31 , a picking mounting seat 34 , a picking adjustment drive device 32 and a picking manipulator 33 .

[0077] The picking linear drive device 31 is arranged below or on one side of the collecting support plate 116, and is used to drive the picking mounting seat 34 to drive the picking adjustment drive device 32 to move linearly. The picking linear drive device 31 drives the picking adjustment drive device 32 to adjust in a linear direction through the picking mounting seat 34, so that the picking adjustment drive device 32 drives the picking manipulator 33 to be at one side of each designated position.

[0078] The pick-up mounting seat 34 is arranged on the output portion of the pick-up linear drive device 31 .

[0079] The fixed part of the picking-up adjustment driving device 32 is arranged on the picking-up mounting seat 34 , and the picking-up adjustment driving device 32 is used to drive the picking-up manipulator 33 to move back and forth between the designated position and the pushing position 1162 .

[0080] The fixed part of the picking robot 33 is fixed on the output part of the picking and adjusting drive device 32 .

[0081] Preferably, the picking robot 33 is used to clamp the second stacking end 722 .

[0082] The picking device 3 can automatically move all the stacked sub-cut objects 72 on the collection support plate 116 to the designated workstation, and there is no need for manual labor to pick up the stacked sub-cut objects 72 on the collection support plate 116 and place them at the designated workstation.

[0083] Preferably, the pick-up adjustment drive device 32 is a pick-up clamping rotation drive device or a pick-up clamping linear drive device. The pick-up clamping rotation drive device is convenient for changing the orientation of the pick-up manipulator 33, thereby adjusting the end orientation of the stacked sub-cut objects 72 on the pick-up manipulator 33.

[0084] Preferably, if the ejection position 1162 is disposed along the X direction, the linear drive device 31 is an X module; if the ejection position 1162 is disposed along the Y direction, the linear drive device 31 is a Y module.

[0085] In one embodiment, in order to facilitate the installation and removal of the linear drive device 31, as shown in FIG. Figure 7 , Figure 8 and Fig.10As shown, the picking device 3 also includes a picking workbench 35 , and the picking linear drive device 31 is fixed on the table top of the picking workbench 35 .

[0086] Preferably, the fixed part of the collection driving device 117 is arranged on the taking workbench 35 to facilitate the installation of the collection driving device 117 and reduce the installation cost of the collection driving device 117.

[0087] In one embodiment, the picking manipulator 33 includes a picking finger cylinder 331, a first picking splint 332, and a second picking splint 333. The first picking splint 332 is arranged at one output end of the picking finger cylinder 331, and the second picking splint 333 is arranged at the other output end of the picking finger cylinder 331. The first picking splint 332 and the second picking splint 333 are arranged opposite to each other, and the first picking splint 332 is located below the second picking splint 333. The first picking splint 332 is used to contact the bottom of the second stacking end 722, and the second picking splint 333 is used to contact the top of the second stacking end 722.

[0088] In one embodiment, if Figure 1 , Figure 7 and Figure 8 As shown, the packaging system is also provided with a packaging station 63, and the packaging station 63 is used to package the stacked sub-cut objects 72. In order to move the stacked sub-cut objects 72 located at the designated station to the packaging station 63, the packaging system also includes a transfer device 4, and the transfer device 4 is arranged on one side of the picking device 3. The transfer device 4 includes a transfer drive device 41 and a transfer clamping manipulator 42. The transfer drive device 41 is used to drive the transfer clamping manipulator 42 to move between the packaging station 63 and the designated station. The transfer clamping manipulator 42 is used to clamp the stacked sub-cut objects 72 located at the designated station. When the transfer clamping manipulator 42 moves the clamped sub-cut objects 72 to the packaging station 63, the picking device 3 is convenient for picking up the stacked sub-cut objects 72 from the collection support plate 116 and moving to the designated station.

[0089] In one embodiment, if Figure 8 and Fig.10 As shown, the transfer drive device 41 includes a transfer rotation drive device 411 and a first transfer linear drive device 412. When the fixed part of the transfer rotation drive device 411 is arranged on the output part of the first transfer linear drive device 412, the fixed part of the transfer clamping robot 42 is arranged on the output part of the transfer rotation drive device 411; when the fixed part of the first transfer linear drive device 412 is arranged on the output part of the transfer rotation drive device 411, the fixed part of the transfer clamping robot 42 is arranged on the output part of the first transfer linear drive device 412.

[0090] In one embodiment, if Figure 8 and Fig.10 As shown, in order to enable the transfer device 4 to move the stacked sub-cut objects 72 to the packaging station 63 and simultaneously clamp the stacked sub-cut objects 72 on the designated station, the transfer drive device 41 also includes a transfer seat 413 and a second transfer linear drive device 414, and two transfer clamping manipulators 42 are provided. The transfer seat 413 is fixed on the output part of the transfer rotary drive device 411, and the fixed part of the first transfer linear drive device 412 and the fixed part of the second transfer linear drive device 414 are arranged on the transfer seat 413. The fixed parts of the transfer clamping manipulator 42 are respectively arranged on the output parts of the first transfer linear drive device 412 and the output parts of the second transfer linear drive device 414. The output parts of the two transfer clamping manipulators 42 are in opposite directions.

[0091] Preferably, the first transfer linear drive device 412 and the second transfer linear drive device 414 are transfer linear cylinders or transfer linear motors. The transfer rotary drive device 411 is a transfer rotary cylinder or a transfer rotary motor.

[0092] In one embodiment, if Figure 8 and Fig.10 As shown, the transfer clamping manipulator 42 includes a transfer clamping finger cylinder 421, a first transfer clamp 422 and a second transfer clamp 423, the fixed part of the transfer clamping finger cylinder 421 is set as the fixed part of the transfer clamping manipulator 42, the first transfer clamp 422 is set on an output part of the transfer clamping finger cylinder 421, and the second transfer clamp 423 is set on another output part of the transfer clamping finger cylinder 421. The first transfer clamp 422 and the second transfer clamp 423 are set as the output part of the transfer clamping manipulator 42. Specifically, the first transfer clamp 422 and the second transfer clamp 423 cooperate to clamp the first stacking end 721.

[0093] Preferably, the first transfer clamp 422 is located below the second transfer clamp 423. The contact area between the first transfer clamp 422 and the stacked sub-cut objects 72 is greater than the contact area between the second transfer clamp 423 and the stacked sub-cut objects 72. The first transfer clamp 422 is a U-shaped member. The inner side of the U-shaped member is used to contact the stacked sub-cut objects 72.

[0094] In one embodiment, if Figure 1 , Figure 7 and Figure 8 As shown, in order to improve the convenience of packing the stacked sub-cut materials 72 , the packing system further includes a packing machine 5 , which is arranged on one side of the transfer device 4 , and the packing part of the packing machine 5 is a packing station 63 .

[0095] Preferably, the baler 5 is a high-platform automatic baler 5 or a low-platform automatic baler 5 .

[0096] In one embodiment, in order to improve the convenience of installing the transfer drive device 41, the transfer device 4 further includes a transfer workbench, and the fixed part of the transfer rotation drive device 411 is arranged on the table surface of the transfer workbench.

[0097] Preferably, the packaging machine 5 is arranged on the table top of the transfer workbench.

[0098] Preferably, the transfer workbench and the taking workbench 35 are integrally arranged.

[0099] Specifically, the material conveying device is arranged on the left side, right side, front side or rear side of the cutting device.

[0100] In addition, an embodiment of the present invention further provides a stacking device 1, which adopts the stacking device 1 of the above embodiment.

[0101] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A packaging system, characterized in that: It includes a stacking device, a pushing device, a taking device and a transferring device; The stacking device includes a collecting device and a pushing device; The collecting device comprises a collecting jig, a collecting support plate and a collecting driving device; The collecting jig is provided with at least two dropping channels, the dropping channels run through the collecting jig, the two ends of the dropping channels are respectively located on the upper surface and the lower surface of the collecting jig, the port of the dropping channel located on the upper surface of the collecting jig is set as the upper port, the port of the dropping channel located on the lower surface of the collecting jig is set as the lower port, the caliber of the upper port is smaller than the caliber of the lower port, the collecting support plate is provided with a push-out position and a plurality of drop positions, and the dropping channels correspond to the drop positions one by one; The collecting support plate is located at the lower side of the collecting jig; The collecting driving device avoids the material dropping position, the movable part of the collecting driving device is fixed on the collecting support plate, and the collecting driving device is used to drive the collecting support plate to move away from or approach the collecting jig in the vertical direction; The pushing device is spaced apart from the stacking device, and the pushing device is arranged above the collecting jig, and the pushing device is used to push the sub-cuts on the collecting jig into the corresponding dropping channel; The ejection device is arranged at a side of the blanking position facing away from the ejection position, and is used to push the sub-cut material at the blanking position to the ejection position; The picking device is spaced apart from the collecting support plate, and the packaging system is further provided with a designated station, and the picking device is used to clamp the stacked sub-cut materials and transport them to the designated station; The transfer device is arranged at one side of the picking device, and the packaging system is further provided with a packaging station, and the transfer device is used to move the sub-cut objects stacked at the designated station to the packaging station; The transfer device comprises a transfer drive device and a transfer clamping manipulator, wherein the transfer drive device is used to drive the transfer clamping manipulator to move between the packaging station and the designated station, and the transfer clamping manipulator is used to clamp the stacked sub-cut objects located at the designated station; The packaging system also includes a die-cutter, and the packaging system is provided with a cutting position. The cutting device of the die-cutter is located on the upper side of the cutting position, the material conveying device of the die-cutter is arranged on the conveying side of the cutting device, and the collecting jig is located on the lower side of the cutting position.

2. The packaging system according to claim 1, characterized in that: The collecting fixture comprises a first collecting plate, a second collecting plate and a third collecting plate; The first collecting plate has a first vertical guide surface, and two first collecting plates are arranged opposite to each other, one first vertical guide surface faces the other first vertical guide surface; The second collecting plate and the third collecting plate are arranged between the two first collecting plates; The second collecting plate comprises a first plate, a second plate and a third plate, the first plate and the third plate are arranged vertically, the third plate is located at one side below the first plate, the second plate is fixed between the first plate and the third plate, the second plate is arranged along an edge of the first plate and along an edge of the third plate, a collecting angle portion is formed between the second plate and the third plate, the angle of the collecting angle portion is an acute angle, and the first plate and the third plate are staggered in the vertical direction; The third collecting plate has a second vertical guide surface and a third vertical guide surface, a plurality of the second collecting plates are provided, some of the second collecting plates are provided on one side of the second vertical guide surface, and another part of the second collecting plates are provided on one side of the third vertical guide surface, the second collecting plates located on one side of the second vertical guide surface are arranged at equal intervals, and the collecting angle portion located on one side of the second vertical guide surface faces the second vertical guide surface, the spacing between adjacent first plates is smaller than the spacing between adjacent second plates, and the spacing between adjacent second plates is smaller than or equal to the spacing between adjacent third plates; The second collecting plates located on one side of the third vertical guide surface are arranged at equal intervals, and the collecting angle portion located on one side of the second vertical guide surface faces the third vertical guide surface.

3. The packaging system according to claim 2, characterized in that: The first plate, the second plate and the third plate are integrally provided.

4. The packaging system according to claim 1, characterized in that: The ejection device includes an ejection drive mechanism and an ejection member. The ejection device is arranged on the collection support plate at intervals. The ejection member is arranged on the movable part of the ejection drive mechanism. The collection support plate is also provided with an ejection position. The ejection drive mechanism is used to drive the ejection member to move all or part of the stacked sub-cut materials to the ejection position.

5. The packaging system according to claim 1, characterized in that: The pushing device includes a pushing and blowing device and a pushing and blowing mounting frame, the pushing and blowing device is arranged on the pushing and blowing mounting member, the pushing and blowing device is arranged above the collecting jig, and the pushing and blowing device is used to blow toward all the falling channels.

6. The packaging system according to claim 1, characterized in that: The picking device comprises a picking linear drive device, a picking mounting seat, a picking adjustment drive device and a picking manipulator; The picking linear drive device is arranged below or on one side of the collecting support plate, and is used to drive the picking mounting seat to drive the picking adjustment drive device to move linearly; The pick-up mounting seat is arranged on the output portion of the pick-up linear drive device; The fixed part of the picking and adjusting driving device is arranged on the picking and mounting seat, and the picking and adjusting driving device is used to drive the picking manipulator to move back and forth between the designated station and the pushing position; The fixed part of the picking robot is fixed on the output part of the picking and adjusting driving device.

7. The packaging system according to claim 6, characterized in that: The transfer drive device includes a transfer rotation drive device and a first transfer linear drive device. When the fixed part of the transfer rotation drive device is arranged on the output part of the first transfer linear drive device, the fixed part of the transfer clamping robot is arranged on the output part of the transfer rotation drive device; when the fixed part of the first transfer linear drive device is arranged on the output part of the transfer rotation drive device, the fixed part of the transfer clamping robot is arranged on the output part of the first transfer linear drive device.

8. The packaging system according to claim 7, characterized in that: The transfer drive device also includes a transfer seat and a second transfer linear drive device. Two transfer clamping robots are provided. The transfer seat is fixed on the output part of the transfer rotation drive device, and the fixed parts of the first transfer linear drive device and the second transfer linear drive device are arranged on the transfer seat. The fixed parts of the transfer clamping robots are respectively arranged on the output parts of the first transfer linear drive device and the output parts of the second transfer linear drive device, and the output parts of the two transfer clamping robots are in opposite directions.

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