Handling device, packaging apparatus, method of operating a handling device, and controller

Abstract

A handling device (2) is disclosed, comprising a first pick-up unit (21) for picking up a first article from a first location and handling the first article to a second location different from the first location, a second pick-up unit (22) for picking up a second article from a third location and handling the second article to a fourth location different from the third location, a support device (23) for at least supporting the first pick-up unit (21) and the second pick-up unit (22), and a drive device (24) for driving the first pick-up unit (21) and the second pick-up unit (22), wherein the first pick-up unit (21) and the second pick-up unit (22) are configured to be adapted to oscillate in a non-synchronous manner about a common first axis of rotation (5). A corresponding packaging apparatus, an opposite method and a corresponding controller are also disclosed. According to certain embodiments of the present invention, the structure can be simplified, the space requirement can be reduced, etc.

Description

Technical Field

[0001] The present invention relates to a handling device, a packaging device including the handling device, a method for operating the handling device, and a corresponding controller. Background Technology

[0002] In the packaging industry, various packaging equipment are widely used to complete packaging operations. Typically, conveyor belts transport unpackaged items, and handling devices move these items from the conveyor belt to the packaging station for packaging. Then, the handling devices move the packaged items from the packaging station back onto the conveyor belt. Therefore, the movement of the handling devices is a key factor affecting the final output.

[0003] Manufacturers are eager to increase the productivity of packaging equipment, and handling devices, as mentioned above, are a crucial component. To this end, handling devices comprising two arms are currently commonly used, working in tandem to move unpackaged items from the conveyor belt to the packaging station and to move packaged items from the packaging station to the conveyor belt. Specifically, one arm is used to move packaged items from the packaging station to the conveyor belt, and the other is used to move unpackaged items from the conveyor belt to the packaging station.

[0004] This approach saves changeover time and improves production efficiency. To control the movement of the two arms, existing handling devices either use two separate shafts to control each arm individually, or they keep the two arms relatively fixed while they move together. If the first approach is used, the handling device structure is usually complex, and the control is also relatively complex to coordinate the operation. If the second approach is used, the range of motion of the arms is larger, requiring more space to avoid this movement, which negatively impacts packaging operations and the miniaturization and weight reduction of the equipment.

[0005] This situation is particularly pronounced in syringe packaging equipment. Therefore, it is necessary to improve existing handling devices, especially those used in packaging equipment, to increase production efficiency, reduce costs, and simplify the structure. Summary of the Invention

[0006] The object of the present invention is to provide an improved handling device, a packaging device including the handling device, a method for operating the handling device, and a corresponding controller, so as to overcome at least one of the above-mentioned disadvantages.

[0007] According to a first aspect of the present invention, a conveying device is provided, comprising: a first picking unit for picking up a first item from a first position and conveying the first item to a second position different from the first position; a second picking unit for picking up a second item from a third position and conveying the second item to a fourth position different from the third position; a support device for supporting at least the first picking unit and the second picking unit; and a driving device for driving the first picking unit and the second picking unit; wherein the first picking unit and the second picking unit are configured to oscillate asynchronously about a common first axis of rotation.

[0008] According to an optional embodiment of the present invention, the first pickup unit and the second pickup unit are configured to swing in a predetermined relative relationship; and / or the conveying device is used for packaging equipment; and / or the swing angle of the first pickup unit and / or the second pickup unit is less than 180 degrees; and / or the first pickup unit and / or the second pickup unit are further configured to be suitable for vertical lifting motion; and / or the swing area of ​​the first pickup unit does not overlap with the swing area of ​​the second pickup unit.

[0009] According to an optional embodiment of the invention, the first pickup unit and the second pickup unit are configured to swing in opposite directions; and / or the packaging device is configured for filling drugs; and / or the first pickup unit and the second pickup unit are configured to move vertically in sync.

[0010] According to an optional embodiment of the invention, the first pickup unit and the second pickup unit are configured to oscillate at the same rotational speed; and / or the packaging device is configured for filling syringes, vials, or empty cartridges.

[0011] According to an optional embodiment of the present invention, the conveying device is configured to switch between a first operating state and a second operating state. In the first operating state, the first pickup unit and the second pickup unit are arranged at 90 degrees apart. The device switches to the second operating state by simultaneously rotating the first pickup unit and the second pickup unit in opposite directions. In the second operating state, the first pickup unit and the second pickup unit are again arranged at 90 degrees apart.

[0012] According to an optional embodiment of the present invention, the driving device includes a first driving unit for swinging the first pickup unit and / or the second pickup unit, the first driving unit including a first power source and a first transmission mechanism, the first transmission mechanism being used to convert the driving action output by the first power source into the swinging of the first pickup unit and / or the second pickup unit; and / or the driving device includes a second driving unit for vertically lifting the first pickup unit and / or the second pickup unit, the second driving unit including a second power source and a second transmission mechanism, the second transmission mechanism being used to convert the driving action output by the second power source into the vertical lifting of the first pickup unit and / or the second pickup unit.

[0013] According to an optional embodiment of the present invention, the first power source is configured as a first rotary motor; and / or the second power source is configured as a second rotary motor; and / or the first transmission mechanism is configured to include a gear transmission mechanism; and / or the second transmission mechanism is configured to include a circulating transmission mechanism.

[0014] According to an optional embodiment of the present invention, the first transmission mechanism includes a first bevel gear, a second bevel gear, a third bevel gear, a first shaft, and a second shaft. The first bevel gear is fixed to the output shaft of the first rotary motor. The second bevel gear meshes with the first bevel gear and is fixed to the first shaft, enabling the rotational motion of the first bevel gear about a second rotation axis to be converted into rotational motion of the first shaft about a first rotation axis. The third bevel gear also meshes with the first bevel gear and is fixed to the second shaft, enabling the rotational motion of the first bevel gear about the second rotation axis to be converted into rotational motion of the second shaft about the first rotation axis. The first shaft and the second shaft are arranged coaxially. The first pickup unit is fixed to the first shaft, and the second pickup unit is fixed to the second shaft. And / or the circulating transmission mechanism is configured as a circulating transmission belt. And / or the circulating transmission mechanism is arranged vertically. And / or the switching between the first operating state and the second operating state is achieved through the forward and reverse rotational operation of the first rotary motor.

[0015] According to an optional embodiment of the present invention, the second rotation axis is perpendicular to the first rotation axis; and / or the second transmission mechanism includes a retaining structure, wherein the first shaft and the second shaft are fixed relative to the cyclic motion component of the cyclic transmission mechanism by the retaining structure, so that the first shaft and the second shaft move vertically up and down with the cyclic motion component; and / or the rotation axis of the second rotary motor is parallel to the second rotation axis; and / or the first rotary motor and the second rotary motor are arranged on the same side of the cyclic transmission mechanism; and / or the second rotary motor is arranged below the first rotary motor; and / or the second shaft is mounted on the first shaft; and / or the second bevel gear and the third bevel gear are arranged facing each other in the vertical direction.

[0016] According to an optional embodiment of the present invention, the retaining structure is fixed to the outside of the cyclic motion component by a fixing structure; and / or the retaining structure includes a first retaining component for vertically raising and lowering the first shaft, a second retaining component for vertically raising and lowering the second shaft, and a third retaining component connected between the first retaining component and the second retaining component to enable the first retaining component and the second retaining component to move vertically raising and lower synchronously.

[0017] According to an optional embodiment of the present invention, at least one of the first retaining member, the second retaining member, and the third retaining member is configured as a plate; and / or at least one first bearing is provided between the first retaining member and the first shaft; and / or at least one second bearing is provided between the second retaining member and the second shaft; and / or the first shaft and the second shaft are arranged on one side of the circulating transmission mechanism; and / or the retaining structure is configured as a U-shaped structure open toward the circulating transmission mechanism; and / or the second retaining member is fixed to the outside of the circulating motion member by the fixing structure.

[0018] According to an optional embodiment of the present invention, the first pickup unit includes a first suction claw and a first arm for holding the first suction claw and fixing it to the drive device; and / or the second pickup unit includes a second suction claw and a second arm for holding the second suction claw and fixing it to the drive device.

[0019] According to a second aspect of the present invention, a packaging apparatus is provided, wherein the packaging apparatus includes a conveying mechanism, a packaging station, and the handling device, wherein the handling device is used to handle articles between the packaging station and the conveying mechanism.

[0020] According to a third aspect of the present invention, a method for operating the conveying device is provided, the method comprising the steps of: controlling the drive device to at least cause the first pickup unit and the second pickup unit to oscillate asynchronously about a common first rotation axis.

[0021] According to a fourth aspect of the invention, a controller for the conveying device is provided, the controller being configured to control the drive device to at least cause the first pickup unit and the second pickup unit to oscillate asynchronously about a common first rotation axis.

[0022] According to certain embodiments of the present invention, the structure can be simplified and space requirements reduced. Attached Figure Description

[0023] The invention will now be described in more detail with reference to the accompanying drawings, which will provide a better understanding of its principles, features, and advantages. The drawings include:

[0024] Figure 1 The structure of the handling device area of ​​a packaging device according to an exemplary embodiment of the present invention is shown in partial perspective view.

[0025] Figure 2 A stereoscopic view from another perspective shows Figure 1 Part of the conveying device shown.

[0026] Figure 3 A partial cross-sectional view of a conveying device according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0027] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0028] In exemplary embodiments of the present invention, the technical concept of the invention is described using a handling device for packaging equipment as an example. However, those skilled in the art will understand that these exemplary embodiments do not imply any limitation on the invention. The handling device of the present invention can be used in any equipment and process requiring the transport of unprocessed articles from a conveyor belt to a processing station and the transport of processed articles to a conveyor belt. Furthermore, without conflict, various embodiments of the present invention and their features can be combined with each other.

[0029] Figure 1The structure of the handling device area of ​​a packaging device according to an exemplary embodiment of the present invention is shown in partial perspective view. Figure 1 The packaging equipment shown here is used exemplarily for packaging (filling) syringes, but is obviously not limited thereto and can also be used for packaging vials or empty cartridges.

[0030] like Figure 1 As shown, the packaging equipment includes a conveying mechanism 1, particularly a conveyor belt and a handling device 2. When packaging syringes, the syringes are typically held on a nest tray, which has a series of holes to receive multiple syringes, and the nest tray is usually placed inside a nest box. Figure 1 As shown, the nest box 3 is placed on a conveyor belt and can be transported by the conveyor belt, so the nest tray 4 placed in the nest box 3 can also move along with the nest box 3.

[0031] During operation, the conveying device 2 transports the nest tray 4 carrying the empty syringe from the nest box 3 to the filling station for filling, and then transports the nest tray 4 with the filled syringe from the filling station to the empty nest box 3 located on the conveyor belt, and then conveys it downstream. This working process is known in the prior art and is not the focus of this invention, so it will not be described in detail here for clarity.

[0032] like Figure 1 As shown, the conveying device 2 includes a first picking unit 21, a second picking unit 22, a support device 23, and a driving device 24. Figure 1 Not shown in the image, but can be seen in the image below. Figure 3 The supporting device 23 is used to support at least the first pickup unit 21 and the second pickup unit 22, and the driving device 24 is used to drive the first pickup unit 21 and the second pickup unit 22. The driving device 24 may also be supported by the supporting device 23.

[0033] From Figure 1 As can be seen from the exemplary embodiment of the present invention, the first pickup unit 21 may be configured to include a first arm 211 movably supported on the support device 23. Similarly, the second pickup unit 22 may be configured to include a second arm 221 movably supported on the support device 23. Here, the first arm 211 and the second arm 221 are exemplary cantilever arms.

[0034] According to an exemplary embodiment of the present invention, the first picking unit 21 may include a first suction claw 212 fixed to the first arm 211. Similarly, the second picking unit 22 may include a second suction claw 222 fixed to the second arm 221. The suction claws operate on the principle of vacuum adsorption, thereby facilitating the suction and release of the nest tray 4. When the nest tray 4 is suctioned, it can be transported by rotating the arm to a corresponding position, such as moving it to an empty nest box 3 on a conveyor belt or a filling station.

[0035] Figure 2 A stereoscopic view from another perspective shows Figure 1 Part of the conveying device 2 shown, wherein the first suction claw 212 and the second suction claw 222 both hold the nest plate 4.

[0036] According to an exemplary embodiment of the present invention, one of the first suction claw 212 and the second suction claw 222 is used to transport a nest box containing an empty syringe, and the other of the first suction claw 212 and the second suction claw 222 is used to transport a nest box containing a filled syringe.

[0037] Figure 3 A partial cross-sectional view of a conveying device 2 according to an exemplary embodiment of the present invention is shown to better understand the construction of the drive device and how it drives the first pickup unit 21 and the second pickup unit 22.

[0038] like Figure 3 As shown, the drive device 24 may include a first drive unit 241 for oscillating the first pickup unit 21 and the second pickup unit 22. The first drive unit 241 may include a first power source 2411 and a first transmission mechanism 2412. The first power source 2411 outputs a drive action, particularly a rotational motion. The first transmission mechanism 2412 converts the drive action output by the first power source 2411 into a rotational motion of the first pickup unit 21 and the second pickup unit 22 around a common first rotation axis 5 (particularly a vertical rotation axis, see [reference]). Figure 2 The first pickup unit 21 and the second pickup unit 22 oscillate, during which a relative rotation occurs between them. In other words, the first pickup unit 21 and the second pickup unit 22 oscillate about a common first rotation axis 5, but not synchronously about the same rotation direction. This means that the first pickup unit 21 and the second pickup unit 22 can each oscillate, but not synchronously along the same rotation direction, thus generating a relative rotation between them. Here, "synchronous" means moving in the same direction with consistent steps.

[0039] According to an exemplary embodiment of the invention, the first power source 2411 may be configured as a first rotary motor, which may be arranged to generate rotational motion about a second rotational axis 6 (e.g., a horizontal rotational axis) that is not parallel to, and in particular perpendicular to, the first rotational axis 5. In this case, the first transmission mechanism 2412 converts the rotational motion of the first rotary motor about the second rotational axis 6 into the oscillation of the first pickup unit 21 and the second pickup unit 22 about the common first rotational axis 5.

[0040] According to an exemplary embodiment of the present invention, the first transmission mechanism 2412 may include a first bevel gear 2413, a second bevel gear 2414, a third bevel gear 2415, a first shaft 2416, and a second shaft 2417. The first bevel gear 2413 is connected to the output shaft of the first rotary motor and can rotate with the output shaft. The second bevel gear 2414 meshes with the first bevel gear 2413 and is fixed to the first shaft 2416, converting the rotational motion of the first bevel gear 2413 about the second rotation axis 6 into the rotational motion of the first shaft 2416 about the first rotation axis 5. The third bevel gear 2415 also meshes with the first bevel gear 2413 and is fixed to the second shaft 2417, converting the rotational motion of the first bevel gear 2413 about the second rotation axis 6 into the rotational motion of the second shaft 2417 about the first rotation axis 5. The first shaft 2416 and the second shaft 2417 are arranged coaxially. Figure 3 In the exemplary embodiment shown, the second shaft 2417 is fitted onto the outer periphery of the first shaft 2416, allowing the first shaft 1416 and the second shaft 2417 to rotate relative to each other. The first pickup unit 21 can be fixed to the first shaft 2416 and rotate with the first shaft 2416, and the second pickup unit 22 can be fixed to the second shaft 2417 and rotate with the second shaft 2417, so that the rotation of the first shaft 2416 can cause the first pickup unit 21 to swing, and the rotation of the second shaft 2417 can cause the second pickup unit 22 to swing.

[0041] like Figure 3 As shown, the second bevel gear 2414 and the third bevel gear 2415 are arranged opposite each other in the vertical direction, so that when the first bevel gear 2413 rotates, the second bevel gear 2414 and the third bevel gear 2415 rotate in opposite directions. Therefore, it can be understood that for... Figure 3 In the first transmission mechanism 2412 of the illustrated embodiment, when the first rotary motor is started, the first shaft 2416 and the second shaft 2417 swing about a common first rotation axis 5 in opposite rotational directions.

[0042] According to an exemplary embodiment of the present invention, the first transmission mechanism 2412 may be configured to cause the first pickup unit 21 and the second pickup unit 22 to oscillate by only 90 degrees respectively. This can be achieved by controlling the rotation angle of the first rotary motor.

[0043] Regarding the swinging of the first pickup unit 21 and the second pickup unit 22, the conveying device 2 can be configured to switch between a first operating state and a second operating state. In the first operating state, the first arm 211 of the first pickup unit 21 and the second arm 221 of the second pickup unit 22 are arranged at a 90-degree angle. Then, the first arm 211 of the first pickup unit 21 and the second arm 221 of the second pickup unit 22 can swing in opposite directions and preferably in a consistent pace around the first rotation axis 5 to the second operating state. In the second operating state, the first arm 211 of the first pickup unit 21 and the second arm 221 of the second pickup unit 22 are again arranged at a 90-degree angle. In this case, when switching between the first and second operating states, the first pickup unit 21 swings 90 degrees around the first rotation axis 5 only on one side, and the second pickup unit 22 swings 90 degrees around the first rotation axis 5 only on the other side, so that the area swept by each swing is small and will not adversely affect other structures. The small swing angle can also save movement time, thereby improving production efficiency.

[0044] It will be understood by those skilled in the art that, depending on the arrangement of the filling station and the working method, the swing angles of the first arm 211 and the second arm 221 may not be the same, the swing directions may not necessarily be opposite, and the swings may not necessarily be synchronized. As long as the movement area of ​​the first pickup unit 21 and the second pickup unit 22 is significantly reduced compared to their synchronous rotation, it is acceptable. In particular, the first pickup unit 21 and / or the second pickup unit 22 should not experience a swing of up to 180 degrees when switching between the first and second working states. In such a case, when a 180-degree swing is achieved, since the first pickup unit 21 and the second pickup unit 22 are identical, in terms of the area swept by the movement, it is effectively equivalent to the first pickup unit 21 and the second pickup unit 22 rotating together around the first rotation axis 5, which is highly detrimental to space utilization.

[0045] When the first arm 211 and the second arm 221 need to swing in a special pattern according to the requirements of the specific handling work, this can be achieved by adjusting the first drive unit 241. For example, two independent power sources can be used to drive the first shaft 2416 and the second shaft 2417 respectively.

[0046] During the process of the first picking unit 21 and the second picking unit 22 picking up and releasing the nest tray 4, it is usually also necessary for the first picking unit 21 and the second picking unit 22 to move vertically up and down to achieve placement and lifting. For this purpose, the driving device 24 may also include a second driving unit 242 for causing the first picking unit 21 and / or the second picking unit 22 to move vertically.

[0047] According to an exemplary embodiment of the present invention, the second drive unit 242 may be configured to cause the first pickup unit 21 and the second pickup unit 22 to move vertically synchronously. In this case, the first pickup unit 21 and the second pickup unit 22 may rise or fall together.

[0048] According to an exemplary embodiment of the present invention, the second drive unit 242 may include a second power source 2421 and a second transmission mechanism 2422, wherein the second transmission mechanism 2422 can convert the driving action output by the second power source 2421 into the vertical movement of the first pickup unit 21 and / or the second pickup unit 22.

[0049] According to an exemplary embodiment of the present invention, the second power source 2421 may be configured as a second rotary motor, and the second transmission mechanism 2422 may be configured to convert the rotational motion output by the second rotary motor into the vertical motion of the first shaft 2416 and the second shaft 2417.

[0050] like Figure 3 As shown, according to an exemplary embodiment of the present invention, the second transmission mechanism 2422 may be configured to include a circulating transmission mechanism, such as a circulating belt transmission mechanism or a circulating chain transmission mechanism. Figure 3 The diagram shows a recirculating belt drive mechanism. In this case, the first shaft 2416 and / or the second shaft 2417 are fixed relative to the recirculating drive mechanism but can be driven by it.

[0051] like Figure 3 As shown, the circulating transmission mechanism is arranged vertically, and the first shaft 2416 and the second shaft 2417 are fixed to the circulating motion component of the circulating transmission mechanism (e.g., the outside of the transmission belt) by a retaining structure 2423.

[0052] According to an exemplary embodiment of the present invention, the retaining structure 2423 may be configured to enable the first axis 2416 and the second axis 2417 to move vertically in sync.

[0053] According to an exemplary embodiment of the present invention, the retaining structure 2423 may include a first retaining member 2424 for vertically moving a first shaft 2416, a second retaining member 2425 for vertically moving a second shaft 2417, and a third retaining member 2426 connected between the first retaining member 2424 and the second retaining member 2425 to enable the first retaining member 2424 and the second retaining member 2425 to move vertically synchronously.

[0054] According to an exemplary embodiment of the present invention, at least one of the first retaining member 2424, the second retaining member 2425 and the third retaining member 2426 may be configured as a plate.

[0055] Those skilled in the art will understand that the first retaining member 2424 and the second retaining member 2425 are used to enable the vertical movement of the first shaft 2416 and the second shaft 2417, respectively, but cannot restrict the rotation of the first shaft 2416 and the second shaft 2417. Therefore, according to an exemplary embodiment of the present invention, the first retaining member 2424 is connected to the first shaft 2416 via at least one first bearing 2427, and / or the second retaining member 2425 is connected to the second shaft 2417 via at least one second bearing 2428.

[0056] According to an exemplary embodiment of the present invention, there are two first bearings 2427. Alternatively, a single bearing can be provided between the second shaft 2417 and other fixed structures to more stably support the rotation of the second shaft 2417, such as... Figure 3 As shown.

[0057] According to an exemplary embodiment of the present invention, the second retaining member 2425 may be fixed to the cyclic motion member by means of the fixing structure 2429.

[0058] In order to avoid interference, such as Figure 3 As shown, the first shaft 2416 and the second shaft 2417 are arranged on one side of the cyclic transmission mechanism.

[0059] According to an exemplary embodiment of the present invention, the first rotary motor and the second rotary motor are arranged on the same side of the cyclic transmission mechanism. Preferably, the rotation axes are arranged parallel to each other, for example, both are arranged horizontally.

[0060] According to an exemplary embodiment of the present invention, the retaining structure 2423 may be configured as a U-shaped structure, with the open side of the U-shaped structure facing the circulating transmission mechanism.

[0061] Those skilled in the art will understand that the above description of the drive device 24 is merely exemplary and not restrictive. The drive device can be constructed in entirely different ways to achieve the technical objectives of this invention. Further details will not be elaborated here.

[0062] Obviously, the present invention also relates to a controller for controlling the conveying device 2 to enable the conveying device 2 to perform a desired conveying action. For this purpose, the controller is configured to control the movement of the first pickup unit 21 and the second pickup unit 22.

[0063] Although specific embodiments of the invention have been described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the invention.

Claims

1. A conveying device (2), comprising: The first picking unit (21) is used to pick up the first item from the first position and move the first item to a second position different from the first position; The second picking unit (22) is used to pick up the second item from the third position and move the second item to a fourth position different from the third position; Support device (23), which is used to support at least the first pickup unit (21) and the second pickup unit (22); and A driving device (24) is used to drive the first pickup unit (21) and the second pickup unit (22). The first pickup unit (21) and the second pickup unit (22) are configured to swing asynchronously about a common first rotation axis (5).

2. The conveying device (2) according to claim 1, wherein, The first pickup unit (21) and the second pickup unit (22) are configured to swing in a predetermined relative relationship; and / or The conveying device (2) is used for packaging equipment; and / or The swing angle of the first pickup unit (21) and / or the second pickup unit (22) is less than 180 degrees; and / or The first pickup unit (21) and / or the second pickup unit (22) are further configured to be suitable for vertical lifting and lowering motion; and / or The swing area of ​​the first pickup unit (21) does not overlap with the swing area of ​​the second pickup unit (22).

3. The conveying device (2) according to claim 2, wherein, The first pickup unit (21) and the second pickup unit (22) are configured to swing in opposite directions; and / or The packaging equipment is configured for filling pharmaceuticals; and / or The first pickup unit (21) and the second pickup unit (22) are configured to be suitable for synchronous vertical lifting and lowering motion.

4. The conveying device (2) according to claim 3, wherein, The first pickup unit (21) and the second pickup unit (22) are configured to oscillate at the same rotational speed; and / or The packaging equipment is configured for filling syringes, vials, or empty cartridges.

5. The conveying device (2) according to claim 4, wherein, The conveying device (2) is configured to switch between a first working state and a second working state. In the first working state, the first pickup unit (21) and the second pickup unit (22) are arranged at 90 degrees. The device switches to the second working state by rotating the first pickup unit (21) and the second pickup unit (22) in opposite directions at the same time. In the second working state, the first pickup unit (21) and the second pickup unit (22) are arranged at 90 degrees again.

6. The conveying device (2) according to any one of claims 1-4, wherein, The driving device (24) includes a first driving unit (241) for swinging the first pickup unit (21) and / or the second pickup unit (22). The first driving unit (241) includes a first power source (2411) and a first transmission mechanism (2412). The first transmission mechanism (2412) is used to convert the driving action output by the first power source (2411) into the swinging of the first pickup unit (21) and / or the second pickup unit (22); and / or The drive device (24) includes a second drive unit (242) for vertically lifting the first pickup unit (21) and the second pickup unit (22). The second drive unit (242) includes a second power source (2421) and a second transmission mechanism (2422). The second transmission mechanism (2422) is used to convert the drive action output by the second power source (2421) into vertical lifting motion of the first pickup unit (21) and the second pickup unit (22).

7. The conveying device (2) according to claim 5, wherein, The driving device (24) includes a first driving unit (241) for swinging the first pickup unit (21) and / or the second pickup unit (22). The first driving unit (241) includes a first power source (2411) and a first transmission mechanism (2412). The first transmission mechanism (2412) is used to convert the driving action output by the first power source (2411) into the swinging of the first pickup unit (21) and / or the second pickup unit (22); and / or The drive device (24) includes a second drive unit (242) for vertically lifting the first pickup unit (21) and the second pickup unit (22). The second drive unit (242) includes a second power source (2421) and a second transmission mechanism (2422). The second transmission mechanism (2422) is used to convert the drive action output by the second power source (2421) into vertical lifting motion of the first pickup unit (21) and the second pickup unit (22).

8. The conveying device (2) according to claim 7, wherein, The first power source (2411) is configured as a first rotary motor; and / or The second power source (2421) is configured as a second rotary motor; and / or The first transmission mechanism (2412) is configured to include a gear transmission mechanism; and / or The second transmission mechanism (2422) is configured to include a cyclic transmission mechanism.

9. The conveying device (2) according to claim 8, wherein, The first transmission mechanism (2412) includes a first bevel gear (2413), a second bevel gear (2414), a third bevel gear (2415), a first shaft (2416), and a second shaft (2417). The first bevel gear (2413) is fixed to the output shaft of the first rotary motor. The second bevel gear (2414) meshes with the first bevel gear (2413) and is fixed to the first shaft (2416), thereby converting the rotational motion of the first bevel gear (2413) around the second rotation axis (6) into the rotational motion of the first shaft (2416) around the first rotation axis (6). The rotational motion of the rotating shaft (5) is such that the third bevel gear (2415) also meshes with the first bevel gear (2413) and is fixed to the second shaft (2417), thus converting the rotational motion of the first bevel gear (2413) around the second rotating shaft (6) into the rotational motion of the second shaft (2417) around the first rotating shaft (5). The first shaft (2416) and the second shaft (2417) are arranged coaxially. The first pickup unit (21) is fixed to the first shaft (2416), and the second pickup unit (22) is fixed to the second shaft (2417); and / or The circulating drive mechanism is configured as a circulating drive belt; and / or The circulating transmission mechanism is arranged vertically; and / or The switching between the first working state and the second working state is achieved by rotating the first rotary motor in both directions.

10. The conveying device (2) according to claim 9, wherein, The second axis of rotation (6) is perpendicular to the first axis of rotation (5); and / or The second transmission mechanism (2422) includes a retaining structure (2423) by which the first shaft (2416) and the second shaft (2417) are fixed relative to the circulating motion component of the circulating transmission mechanism, so that the first shaft (2416) and the second shaft (2417) move vertically up and down with the circulating motion component; and / or The rotation axis of the second rotary motor is parallel to the second rotation axis (6); and / or The first rotary motor and the second rotary motor are arranged on the same side of the cyclic transmission mechanism; and / or The second rotary motor is arranged lower than the first rotary motor; and / or The second shaft (2417) is fitted onto the first shaft (2416); and / or The second bevel gear (2414) and the third bevel gear (2415) are arranged facing each other in the vertical direction.

11. The conveying device (2) according to claim 10, wherein, The retaining structure (2423) is fixed to the outside of the cyclic motion component by the fixing structure (2429); and / or The retaining structure (2423) includes a first retaining member (2424) for vertically raising and lowering the first shaft (2416), a second retaining member (2425) for vertically raising and lowering the second shaft (2417), and a third retaining member (2426) connected between the first retaining member (2424) and the second retaining member (2425) to enable the first retaining member (2424) and the second retaining member (2425) to move vertically and lower synchronously.

12. The conveying device (2) according to claim 11, wherein, At least one of the first retaining member (2424), the second retaining member (2425), and the third retaining member (2426) is configured as a plate; and / or At least one first bearing (2427) is provided between the first retaining member (2424) and the first shaft (2416); and / or At least one second bearing (2428) is provided between the second retaining member (2425) and the second shaft (2417); and / or The first shaft (2416) and the second shaft (2417) are arranged on one side of the circulating transmission mechanism; and / or The retaining structure (2423) is configured as a U-shaped structure open toward the circulating transmission mechanism; and / or The second retaining member (2425) is fixed to the outside of the cyclic motion member by the fixing structure (2429).

13. The conveying device (2) according to any one of claims 1-5 and 7-12, wherein, The first pickup unit (21) includes a first suction claw (212) and a first arm (211) for holding the first suction claw (212) and fixing it to the drive device (24); and / or The second pickup unit (22) includes a second suction claw (222) and a second arm (221) for holding the second suction claw (222) and fixing it to the drive device (24).

14. The conveying device (2) according to claim 6, wherein, The first pickup unit (21) includes a first suction claw (212) and a first arm (211) for holding the first suction claw (212) and fixing it to the drive device (24); and / or The second pickup unit (22) includes a second suction claw (222) and a second arm (221) for holding the second suction claw (222) and fixing it to the drive device (24).

15. A packaging device, wherein, The packaging equipment includes a conveying mechanism (1), a packaging station, and a handling device (2) according to any one of claims 1-14, wherein the handling device (2) is used to handle articles between the packaging station and the conveying mechanism (1).

16. A method for operating a conveying device (2) according to any one of claims 1-14, the method comprising the steps of: By controlling the drive device (24), at least the first pickup unit (21) and the second pickup unit (22) are made to swing asynchronously about a common first rotation axis (5).

17. A controller for a conveying device (2) according to any one of claims 1-14, the controller being configured to control the drive device (24) to at least cause the first pickup unit (21) and the second pickup unit (22) to oscillate asynchronously about a common first rotation axis (5).

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