A pick-up packaging device and a packaging method

Abstract

The present application belongs to the field of packaging machinery, and discloses a pickup packaging device, which comprises one or more pickup mechanisms, the pickup mechanism comprising a gripper clamping driving device, a gripper horizontal driving device, a gripper vertical driving device, one or more gripper mechanisms and a first cross arm; the gripper mechanism is installed on the first cross arm, one set of gripper mechanisms comprises one or more grippers, the gripper clamps the material under the driving of the gripper clamping driving device, the gripper horizontal driving device drives the gripper to move forward and backward along the horizontal direction, and the gripper vertical driving device drives the gripper to move up and down along the vertical direction; the present application can realize automatic pickup of the pickup packaging device, and the pickup packaging device packages the material according to a preset form; in the second aspect of the present application, a packaging method is provided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of packaging machinery, and particularly relates to a picking and packaging device and a packaging method. BACKGROUND

[0002] In the technical field of packaging machinery, many materials have the need for customized packaging styles during packaging. The packaging systems on the market are mostly single in packaging form and few in packaging styles, and cannot well connect with the previous process. The packaging styles are single and cannot realize diversified and personalized packaging. The packaging systems cannot meet the needs of users for packaging styles. For example, in the current silk screen printing equipment, only automatic separation of the material after silk screen printing can be realized, and the silk screen printing equipment cannot be connected with the packaging system. In the current pinning equipment, only automatic separation of the material after pinning can be realized, and the pinning equipment cannot be connected with the packaging system. The picking and packaging device in the present application can be connected with the silk screen printing equipment, realize automatic packaging of the material after silk screen printing, and can be connected with the pinning equipment, realize automatic packaging of the material after pinning. The present application can realize automatic packaging of the material according to a preset form, and realizes diversified and personalized packaging styles. SUMMARY

[0003] The embodiment of the present application provides a picking and packaging device and a packaging method. The picking and packaging device in the present application can be connected with various equipment, realize automatic packaging of the material according to a preset style, save the labor cost, and improve the packaging quality. In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary part is not a general review, nor is it intended to determine the key / important constituent elements or delineate the protection scope of these embodiments. The only purpose is to present some concepts in a simple form as a prelude to the detailed description below.

[0004] The terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing this paper and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application; for example: the left, right, left side and right side described in this paper can also be the relative installation position, that is, the storage mechanism is on the right side of the picking and packaging device relative to the taking mechanism, and the taking mechanism is installed on the left side of the picking and packaging device relative to the storage mechanism.

[0005] In this article, the description of the driving device refers to the gripper clamping driving device, the gripper horizontal driving device, the gripper vertical driving device, and many other driving devices. The description of the driving device means that the device can provide power to drive some components, structures or devices to produce the described movement effect, and does not limit the specific form of the driving device. For example, in some optional embodiments, the load plate driving device can be in the form of a motor, an electric motor, an electric cylinder, an air cylinder, an air motor, an oil cylinder, an electro-hydraulic servo, or a combination of two or more of the above. The same applies to other driving devices.

[0006] In this article, the word "preset" is used in the words "preset number", "preset height", "first preset height" and the like. "Preset" means that the number or height can be set by the system or controlled by the program, and is not a fixed number or height.

[0007] According to a first aspect of an embodiment of the application, a pick-up packaging device is provided.

[0008] It comprises one or more pick-up mechanisms, which include a gripper clamping driving device, a gripper horizontal driving device, a gripper vertical driving device, one or more gripper mechanisms and a first cross arm. The gripper mechanism is installed on the first cross arm, and one set of gripper mechanism includes one or more grippers. The gripper holds the material under the drive of the gripper clamping driving device. The gripper horizontal driving device drives the gripper to move forward and backward in the horizontal direction, and the gripper vertical driving device drives the gripper to move up and down in the vertical direction. When picking up the packaging material, the gripper clamping driving device drives the gripper to hold the material, the gripper vertical driving device drives the gripper to move forward and backward in the horizontal direction, and the gripper vertical driving device drives the gripper to move up and down in the vertical direction, so as to convey the material to the right.

[0009] Optionally, the picking mechanism further comprises a gripper rotating driving device, which drives the first horizontal arm to rotate in the horizontal direction; the function of the gripper rotating driving device driving the first horizontal arm to rotate in the horizontal direction is to realize the change of the orientation and the exchange of the position of the material gripped by the left and right grippers during the conveying process. Optionally, the angle of the change of the orientation of the material gripped by the gripper during the conveying process is 90 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper during the conveying process is 180 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper during the conveying process is 270 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper during the conveying process is any angle; the horizontal rotation of the gripper can realize more stacking modes and packaging styles of the material; an optional embodiment of the horizontal rotation of the gripper is that when the material is of two shapes, the two shapes of the material are arranged in a left-right or interval manner, and when the picking mechanism picks up the material, the rotation can be selected alternately, so that the packaging style of the alternately stacked two shapes of the material is realized.

[0010] Optionally, the gripper mechanism comprises a gripper fixed base, a gripper connecting rod, a gripper gear and a gripper rack; the gripper gear and the gripper connecting rod are arranged on the gripper fixed base, and the gripper connecting rod connects the gripper gear and the gripper; the gripper clamping driving device drives the gripper gear to rotate, so as to drive the gripper connected thereto to complete the clamping or releasing action.

[0011] Optionally, the picking mechanism further comprises a gripper mechanism rotating driving device, which drives the gripper mechanism to rotate in the horizontal direction; the function of the gripper mechanism rotating driving device driving the gripper mechanism to rotate in the horizontal direction is to realize the change of the orientation of the material during the conveying process; optionally, the angle of the change of the orientation of the material during the conveying process is 90 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is 180 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is 270 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is any angle.

[0012] Optionally, the picking mechanism further comprises a gripper mechanism telescopic driving device, which drives one or more than one gripper mechanism to move left and right in the horizontal direction.

[0013] Optionally, the picking mechanism further comprises a shaping press plate mechanism; the shaping press plate mechanism comprises one or more than one shaping press plate and a press plate lifting driving device; the shaping press plate is arranged near the gripper mechanism, and the press plate lifting driving device drives the shaping press plate to move up and down in the vertical direction.

[0014] Optionally, the shaping press plates are arranged on both sides of the gripper mechanism and are arranged in front and behind the gripper mechanism; optionally, the shaping press plates are arranged on both sides of the gripper mechanism and are arranged on the left or right side of the gripper mechanism; optionally, the shaping press plates are arranged on both sides of the gripper mechanism and are arranged in pairs in front and behind the gripper mechanism; optionally, the shaping press plates are arranged on both sides of the gripper mechanism and are arranged in pairs on the left and right sides of the gripper mechanism; optionally, the shaping press plates are in the shape of a plate and the shaping press plates are vertically moved to press the materials; optionally, the shaping press plates are in the shape of a rod and the shaping press plates are vertically moved to press the materials; optionally, the shaping press plates are in the shape of a bent rod and the shaping press plates are vertically moved to press the materials; optionally, the shaping press plates are in the shape of a strip and the shaping press plates are vertically moved to press the materials; the shaping press plates can shape the materials placed in the storage container to cope with the phenomenon that different types of materials have different lofting heights during stacking; when the gripper mechanism is lowered to a set height, the shaping press plates are lowered to press the materials; if there are materials previously placed below the gripper mechanism, the shaping press plates can press the materials to make the gripper have space to open, and the pressing action of the shaping press plates can make multiple materials more closely attached, reduce the lofting degree, and make the materials more regular.

[0015] Optionally, the travel of the shaping press plates in the vertical direction is adjustable. The travel of the shaping press plates can be adjusted in two ways: one is to adjust the relative height of the shaping press plates and the gripper by adjusting the mechanical structure; the other is that when the shaping press plates are vertically moved under the driving of the press plate lifting driving device, the press plate lifting driving device can control the travel of the shaping press plates in each lifting movement; the adjustment of the travel of the shaping press plates can adjust the height of each pressing for different thicknesses or different lofting degrees of materials during shaping, and the pressing action of the shaping press plates is more obvious, which can make multiple materials more closely attached, reduce the lofting degree, and make the materials more regular.

[0016] Optionally, the picking and packaging device further comprises a material taking mechanism, the material taking mechanism comprising a material taking clamping driving device, a material taking horizontal driving device, and a material taking clamping mechanism, the material taking clamping mechanism comprising an upper opening and closing mold set and a lower opening and closing mold set, the material taking clamping driving device driving the upper opening and closing mold set and the lower opening and closing mold set to complete clamping or releasing actions, and the material taking horizontal driving device driving the material taking clamping mechanism to move left and right in the horizontal direction.

[0017] Optionally, the material taking mechanism further comprises a material taking rotating driving device, the material taking rotating driving device driving the material taking clamping mechanism to rotate in the vertical direction; the rotation of the material taking clamping mechanism in the vertical direction can realize turning of the materials, so that the system can realize more packaging styles.

[0018] Optionally, the taking mechanism further comprises a taking-lifting driving device, which drives the taking-clamping mechanism to move up and down along the vertical direction.

[0019] Optionally, the picking device further comprises one or more than one storage mechanism, which comprises one or more than one storage container.

[0020] Optionally, the storage container comprises one or more than one container side stopper and one or more than one container top plate. The container side stopper can stop the material from falling down, and the container top plate can support the material from below or push the material to move upward. Optionally, the container side stopper can be one or more than one vertical column to stop the material from one side. Optionally, the container side stopper can be one or more than one vertical column to stop the material from both sides. Optionally, the container side stopper can be a plate to stop the material from one side. Optionally, the container side stopper can be a plate to stop the material from both sides. Optionally, the container side stopper can be a flexible plate to stop the material from one side. Optionally, the container side stopper can be a flexible plate to stop the material from both sides. Optionally, the container side stopper can be a brush to stop the material from one side. Optionally, the container side stopper can be a brush to stop the material from both sides. Optionally, the container side stopper can be a silica gel strip to stop the material from one side. Optionally, the container side stopper can be a silica gel strip to stop the material from both sides. Optionally, the container top plate can be an integral plate to support the material from below. Optionally, the container top plate can be composed of two plates to support the material from below. Optionally, the container top plate can be composed of more than two plates to support the material from below. Optionally, the container top plate is composed of two or more than two plates, and a gap is left in the middle to facilitate the entry of the lower or upper clamping fork of the clamping and overturning assembly.

[0021] Optionally, the storage mechanism further comprises a container rotation driving device, which drives one or more than one storage container to move along the horizontal direction or the vertical direction, so that one or more than one storage container realizes position rotation. The position rotation of the storage container can realize that when the material in the storage container reaches the preset amount, the storage container without material is replaced to the corresponding position to receive the material. Optionally, the container rotation driving device drives the storage container to move forward and backward along the horizontal direction to realize position rotation. Optionally, the container rotation driving device drives the storage container to rotate along the horizontal direction to realize position rotation.

[0022] Optionally, the storage mechanism further comprises a container top plate lifting driving device, which drives the container top plate to move up and down in the vertical direction. Optionally, the up-and-down movement of the container in the vertical direction can be coordinated with the clamping mechanism to complete the stacking of the materials. Optionally, in some optional embodiments, when the stacking height of the materials in the storage container is much lower than the height of the container side stop, in order to facilitate packaging, the up-and-down movement of the container top plate in the vertical direction can push the materials up to a preset number, so that the height of the materials approaches the height of the container side stop, facilitating the on-site workers to put the materials into bags and take out the packaged materials.

[0023] Optionally, the storage mechanism further comprises a container lifting driving device, which drives the container to move up and down in the vertical direction. Optionally, the up-and-down movement of the container in the vertical direction can be coordinated with the clamping mechanism to complete the stacking of the materials.

[0024] Optionally, the storage mechanism further comprises a storage mechanism swing driving device, which drives the storage mechanism to swing in the vertical direction.

[0025] Optionally, the storage container further comprises a container bottom plate, and one or more container side stops are arranged around the container bottom plate. Optionally, in the same storage container, there are two container bottom plates, and the distance between the two container bottom plates can be adjusted. By adjusting the distance between the container bottom plates in the storage container, the distance between the container side stops can be adjusted.

[0026] Optionally, the picking and packaging device further comprises one or more than one supporting plate mechanism. Optionally, the supporting plate mechanism comprises a supporting plate and a supporting plate lifting driving device, which drives the supporting plate to move up and down in the vertical direction. The up-and-down movement of the supporting plate mechanism can effectively avoid interference with the vertical rotation of the material taking and clamping mechanism, and keep the materials at a certain distance from the supporting plate after the vertical rotation of the material taking and clamping mechanism is completed. The supporting plate can function as a glove holder, and can also function as a guide to prevent the materials from deforming during the material taking process. Optionally, the supporting plate is in the shape of a plate. Optionally, the supporting plate is in the shape of a bent plate.

[0027] Optionally, the supporting plate mechanism further comprises a supporting plate tongue and a supporting plate tongue horizontal driving device, the supporting plate tongue horizontal driving device drives the supporting plate tongue to move forward and backward in the horizontal direction. Optionally, the number of the supporting plate tongues is one or more than one, which are arranged near the supporting plate; optionally, the supporting plate tongue horizontal driving device drives the supporting plate tongue to move forward and backward in the horizontal direction according to the arrangement of the supporting plate, and the movement mode can be that two or more than two supporting plate tongues are divided into two groups, the two groups of supporting plate tongues move in the same direction, or the two groups of supporting plate tongues move towards each other or move in the opposite direction. Optionally, the supporting plate tongue is arranged below the supporting plate; optionally, the supporting plate tongue is arranged below the supporting plate and close to the supporting plate; optionally, the supporting plate tongue is arranged below the supporting plate and has a gap with the supporting plate; optionally, the surface of the supporting plate tongue is coated with a Teflon coating; optionally, an inclined angle is arranged in front of the supporting plate tongue, so that the material taken by the material taking mechanism can be guided, and the material is not easy to deform in the process of horizontal movement; optionally, when the number of the supporting plate tongues is more than one, the supporting plate tongues are symmetrically arranged; optionally, the distance between the supporting plate tongue and the supporting plate of the supporting plate mechanism is adjustable.

[0028] Optionally, the pick-up and packaging device further comprises one or more than one clamping and overturning mechanism, the clamping and overturning mechanism comprises a clamping and overturning assembly and a clamping and overturning assembly horizontal driving device, the clamping and overturning assembly comprises an upper clamping fork, a lower clamping fork, a clamping fork clamping driving device and a clamping fork overturning driving device; the clamping and overturning assembly horizontal driving device drives the clamping and overturning assembly to move left and right in the horizontal direction, the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to cooperate to complete the clamping or releasing action, and the clamping fork overturning driving device drives the upper clamping fork and the lower clamping fork to overturn in the vertical direction. Optionally, the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to cooperate to complete the clamping or releasing action in the mode that the clamping fork clamping driving device simultaneously drives the upper clamping fork and the lower clamping fork to move towards each other or move in the opposite direction, to complete the clamping or releasing action; optionally, the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to cooperate to complete the clamping or releasing action in the mode that the clamping fork clamping driving device separately drives the upper clamping fork to move close to or away from the lower clamping fork, to complete the clamping or releasing action; optionally, the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to cooperate to complete the clamping or releasing action in the mode that the clamping fork clamping driving device separately drives the lower clamping fork to move close to or away from the upper clamping fork, to complete the clamping or releasing action.

[0029] Optionally, the pick-up and packaging device further comprises a clamping and overturning assembly lifting driving device, the clamping and overturning assembly lifting driving device drives the clamping and overturning assembly to move up and down in the vertical direction.

[0030] In the second aspect of the present application, a screen printing packaging system is provided, which is characterized by comprising the pick-up and packaging device of any one of the above.

[0031] The screen printing packaging system comprises a rack, a carrier plate rotation device, a screen printing device, and a picking packaging device.

[0032] The carrier plate rotation device, the screen printing device, and the picking packaging device are arranged on the rack. The material is manually fed to the carrier plate rotation device, which sequentially delivers the material to the screen printing device and the picking packaging device. The screen printing device prints the material, and the picking packaging device packages the material according to the preset form. The carrier plate rotation device functions to carry the material manually fed and sequentially deliver the material to the screen printing device and the picking packaging device. When there is a drying device in the system, the material is delivered to the drying device before being picked by the picking packaging device. When the carrier plate rotation device delivers the material to the screen printing device, the material position corresponds to the position below the screen printing device, and the screen printing device prints the material. When the carrier plate rotation device delivers the material to the drying device, the drying device dries the printed part of the material. When the carrier plate rotation device delivers the material to the picking packaging device, the material position corresponds to the upper and lower opening and closing modules of the material clamping and driving device in the picking packaging device. The upper and lower opening and closing modules cooperate to complete the clamping action to clamp the material and deliver it to the pallet mechanism. If necessary, the glove is flipped by the material clamping mechanism along the vertical rotation. The pallet mechanism cooperates with the clamping hand to complete the picking action. The clamping hand can complete the folding of one side or both sides of the material when picking the material. If the material is a glove, the clamping hand can achieve the operation of folding the glove to make a large thumb. After picking the material, the clamping hand delivers the material to the storage mechanism. During the delivery process, the first horizontal arm can be rotated according to the packaging needs, and the clamping hand rotation drive device drives the first horizontal arm to rotate horizontally. If necessary, the clamping and flipping mechanism in the storage mechanism flips the material along the vertical direction according to the packaging needs. After the material is delivered to the storage mechanism, if the number reaches the preset number of packaging, the container rotation drive device drives one or more storage containers to move along the horizontal or vertical direction to exchange positions. The container carrying the preset number of containers is moved away from the picking mechanism to facilitate the next packaging operation by manual operation.

[0033] Optionally, the carrier plate rotation device comprises one or more carrier plate rotation mechanisms. The carrier plate rotation mechanism comprises a carrier plate drive device, a carrier plate, and a rotation assembly. The carrier plate is arranged on the rotation assembly, and the carrier plate drive device drives the carrier plate to circulate along the horizontal direction. The carrier plate carries the material, and the carrier plate circulates along the horizontal direction with the material.

[0034] Optionally, the carrier plate is plate-shaped. Optionally, the outer side of the carrier plate is circularly chamfered. Optionally, the upper surface of the carrier plate is flat.

[0035] Optionally, the carrier plate driving device is a combination of a motor and a speed reducer; optionally, the carrier plate driving device is a combination of a motor and a speed reducer, and the upper surface of the speed reducer is connected with the rotation component to directly drive the rotation component.

[0036] Optionally, the rotation component is a rotating disc, the carrier plates are arranged around the rotating disc, and the carrier plate driving device drives the rotating disc to rotate, so as to drive the carrier plates around the rotating disc to circulate in the horizontal direction; optionally, the rotating disc is in the shape of a regular polygon, and the carrier plates are uniformly arranged around the rotating disc.

[0037] Optionally, the rotation component is a circulating track, the carrier plates are arranged around the circulating track, and the carrier plate driving device drives the circulating track to rotate, so as to drive the carrier plates around the circulating track to circulate in the horizontal direction.

[0038] Optionally, the rotation component is a circulating chain, the carrier plate driving device drives the circulating chain to rotate, and the carrier plates are connected with the circulating chain.

[0039] Optionally, the screen printing device comprises one or more than one screen printing mechanism, the screen printing mechanism comprises a screen printing horizontal driving device, a screen printing vertical driving device, a screen plate and a screen printing head, the screen plate is arranged below the screen printing mechanism, the screen printing horizontal driving device drives the screen printing head to move forward and backward in the horizontal direction, and the screen printing vertical driving device drives the screen printing head and the screen plate to move up and down in the vertical direction; optionally, during printing, the rotation component delivers the material to below the screen plate, the screen plate has been previously added with the required ink, the screen printing vertical driving device drives the screen printing head and the screen plate to move downward in the vertical direction, the screen printing horizontal driving device drives the screen printing head to move forward and backward in the horizontal direction, and printing is completed.

[0040] Optionally, the screen printing head comprises a squeegee vertical driving device, an ink return blade vertical driving device, a squeegee and an ink return blade; the squeegee vertical driving device drives the squeegee to move up and down in the vertical direction, and the ink return blade vertical driving device drives the ink return blade to move up and down in the vertical direction. Optionally, during printing, the rotation component delivers the material to below the screen plate, the screen plate has been previously added with the required ink, the screen printing vertical driving device drives the screen printing head and the screen plate to move downward in the vertical direction, the squeegee vertical driving device drives the squeegee to move forward and backward in the horizontal direction, and printing is completed.

[0041] Optionally, the picking and packaging device comprises one or more picking and packaging mechanisms, and each picking and packaging mechanism comprises one or more material taking mechanisms, one or more picking mechanisms and one or more material storing mechanisms; the material taking mechanism comprises a material taking clamping driving device, a material taking horizontal driving device and a material taking clamping mechanism, the material taking clamping mechanism comprises an upper opening and closing mold set and a lower opening and closing mold set, the material taking clamping driving device drives the upper opening and closing mold set and the lower opening and closing mold set to complete the clamping or releasing action, and the material taking horizontal driving device drives the material taking clamping mechanism to move left and right along the horizontal direction; the picking mechanism comprises a hand clamping driving device, a hand clamping horizontal driving device, a hand clamping vertical driving device, one or more hand clamping mechanisms and a first cross arm, the hand clamping mechanism is installed on the first cross arm, one set of hand clamping mechanism comprises one or more hands, the hand clamps the material under the drive of the hand clamping driving device, the hand clamping horizontal driving device drives the hand to move forward and backward along the horizontal direction, and the hand clamping vertical driving device drives the hand to move up and down along the vertical direction; the material storing mechanism comprises one or more material storing containers.

[0042] Optionally, the hand can be plate-shaped, the plate-shaped hand performs swing motion, pushes the thumb to move, and thus realizes clamping of the folded material; optionally, the hand can be plate-shaped, the plate-shaped hand performs swing motion, pushes the thumb to move, and thus realizes folding and clamping of the folded material; optionally, the hand can be plate-shaped with a certain bending or arc, the plate-shaped hand performs swing motion, folds the material, and thus realizes folding and clamping of the material; optionally, the hand can be in the form of a rod with one or more bending degrees, the rod-shaped hand performs swing motion, the rod-shaped hand pushes the thumb to move, and thus realizes folding and clamping of the material; optionally, the hand is coated with Teflon; optionally, the hand can be a pneumatic soft claw, the soft claw generates a deformation amount under different air pressures, and thus realizes folding and clamping of the material; optionally, the hand can be a mechanical soft claw or other forms of soft claw, the soft claw generates a deformation amount under the drive of the hand clamping driving device, and thus realizes folding and clamping of the material.

[0043] Optionally, the material taking mechanism further comprises a material taking rotating driving device, the material taking rotating driving device drives the material taking clamping mechanism to perform rotating motion along the vertical direction; the rotating motion of the material taking clamping mechanism along the vertical direction can realize turning of the material, so that the system can realize more packaging styles.

[0044] Optionally, the material taking mechanism further comprises a material taking lifting driving device, the material taking lifting driving device drives the material taking clamping mechanism to perform lifting motion along the vertical direction.

[0045] Optionally, the material taking mechanism further comprises a material taking clamping vertical driving device, the material taking clamping vertical driving device drives the material taking clamping mechanism to perform lifting motion along the vertical direction.

[0046] Optionally, the picking and packaging device further comprises one or more than one supporting plate mechanism; optionally, the supporting plate mechanism comprises a supporting plate and a supporting plate lifting driving device, the supporting plate lifting driving device drives the supporting plate to move up and down along the vertical direction. The lifting of the supporting plate mechanism can effectively avoid interference with the rotation of the material taking and clamping mechanism along the vertical direction, and keep the material at a certain distance from the supporting plate after the rotation of the material taking and clamping mechanism along the vertical direction is completed; the supporting plate can function as a receiving plate for gloves, and can also function as a guide to prevent the material from being deformed during the material taking process of the material taking mechanism; optionally, the supporting plate is in the shape of a plate; optionally, the supporting plate is in the shape of a bent plate.

[0047] Optionally, the supporting plate mechanism further comprises a supporting plate tongue and a supporting plate tongue horizontal driving device, the supporting plate tongue horizontal driving device drives the supporting plate tongue to move forward and backward along the horizontal direction. Optionally, the number of supporting plate tongues is one or more than one, which are arranged near the supporting plate; optionally, the supporting plate tongue horizontal driving device drives the supporting plate tongue to move forward and backward along the horizontal direction, and the movement mode can be that two or more than two supporting plate tongues are divided into two groups, the two groups of supporting plate tongues move in the same direction, or the two groups of supporting plate tongues move towards each other or in opposite directions. Optionally, the supporting plate tongue is arranged below the supporting plate; optionally, the supporting plate tongue is arranged below the supporting plate and close to the supporting plate; optionally, the supporting plate tongue is arranged below the supporting plate and has a certain gap with the supporting plate; optionally, the surface of the supporting plate tongue is coated with a Teflon coating; optionally, an inclined angle is arranged in front of the supporting plate tongue, which can guide the material taken by the material taking mechanism and prevent the material from being deformed during the horizontal movement; optionally, when the number of supporting plate tongues is more than one, the supporting plate tongues are symmetrically arranged; optionally, the distance between the supporting plate tongue and the supporting plate of the supporting plate mechanism is adjustable.

[0048] Optionally, the picking mechanism further comprises a clamping hand rotating driving device, the clamping hand rotating driving device drives the first horizontal arm to rotate horizontally; the rotation of the first horizontal arm drives the clamping hand to rotate horizontally, thereby realizing more stacking modes and packaging styles of the material; an optional embodiment of the horizontal rotation of the clamping hand is that when the material has two shapes, the two shapes of the material are arranged in left and right or spaced apart, and when the picking mechanism picks up the material, the clamping hand can be selected to rotate alternately, thereby realizing the packaging style of the alternately stacked two shapes of the material.

[0049] Optionally, the picking mechanism further comprises a clamping hand mechanism rotating driving device, the clamping hand mechanism rotating driving device drives the clamping hand mechanism to rotate along the horizontal direction. Optionally, the horizontal rotation of the clamping hand mechanism can realize the horizontal adjustment of the material; optionally, the horizontal rotation of the clamping hand mechanism can realize the adjustment of the material at any horizontal angle.

[0050] Optionally, the clamping mechanism further comprises a clamping hand fixing base, a clamping hand connecting rod, a clamping hand gear and a clamping hand rack; the clamping hand gear and the clamping hand connecting rod are arranged on the clamping hand fixing base, and the clamping hand connecting rod connects the clamping hand gear and the clamping hand; the clamping hand clamping driving device drives the clamping hand gear to rotate, thereby driving the clamping hand connected thereto to complete the clamping or releasing action.

[0051] Optionally, the picking mechanism further comprises a shaping press plate mechanism; the shaping press plate mechanism comprises one or more shaping press plates and a press plate lifting driving device; the shaping press plates are arranged near the clamping mechanism, and the press plate lifting driving device drives the shaping press plates to move up and down in the vertical direction.

[0052] Optionally, the travel of the shaping press plates moving up and down in the vertical direction is adjustable.

[0053] Optionally, the shaping press plates are arranged on both sides of the clamping mechanism and are arranged in front of and behind the clamping mechanism; optionally, the shaping press plates are arranged on both sides of the clamping mechanism and are arranged on the left or right side of the clamping mechanism; optionally, the shaping press plates are arranged on both sides of the clamping mechanism and are arranged in pairs in front of and behind the clamping mechanism; optionally, the shaping press plates are arranged on both sides of the clamping mechanism and are arranged in pairs on the left or right side of the clamping mechanism; optionally, the shaping press plates are in the shape of a plate, and the shaping press plates hold the materials by moving up and down in the vertical direction; optionally, the shaping press plates are in the shape of a rod, and the shaping press plates hold the materials by moving up and down in the vertical direction; optionally, the shaping press plates are in the shape of a bent rod, and the shaping press plates hold the materials by moving up and down in the vertical direction; optionally, the shaping press plates are in the shape of a strip, and the shaping press plates hold the materials by moving up and down in the vertical direction; the shaping press plates can shape the materials placed in the storage container to cope with the phenomenon of different lofting heights in the stacking process of different types of materials; when the clamping mechanism is lowered to a set height, the shaping press plates are lowered to hold the materials, such as the materials previously placed below the clamping mechanism, the shaping press plates can achieve the holding effect, so that there is space between the clamping hand and the lower materials to allow the clamping hand to open, and the holding effect of the shaping press plates can make multiple materials more closely, reduce the lofting degree, and the material stacking is more regular.

[0054] Optionally, the travel of the shaping press plate in vertical direction is adjustable. The shaping press plate travel adjustment can be in two forms, one is the mechanical connection of the shaping press plate is adjustable, that is, by adjusting the mechanical structure to adjust the relative height of the shaping press plate and the clamping hand; the other is that when the shaping press plate moves up and down in vertical direction under the driving of the press plate lifting driving device, the press plate lifting driving device can control the travel of the shaping press plate in each lifting movement; the adjustment of the travel of the shaping press plate can adjust the height of each time of pressing for different thickness or different bulkiness of the materials in the process of shaping the materials, and the pressing effect of the shaping press plate is more obvious, which can make the multiple materials more closely, reduce the bulkiness, and the stacking of the materials is more regular.

[0055] Optionally, the material storage mechanism further comprises a container rotation driving device, which drives one or more than one material storage container to move in horizontal or vertical direction to exchange positions; the position exchange of the material storage container can realize that when the materials in the material storage container reach the preset quantity, the material storage container without materials is replaced to the corresponding position to receive the materials; optionally, the container rotation driving device drives the material storage container to move forward and backward in horizontal direction to realize the position exchange; optionally, the container rotation driving device drives the material storage container to rotate in horizontal direction to realize the position exchange.

[0056] Optionally, the picking and packaging device further comprises one or more than one material storage mechanism, and the material storage mechanism comprises one or more than one material storage container.

[0057] Optionally, the storage container comprises one or more container side stops and one or more container top plates. The container side stops can block the material to prevent the material from falling; the container top plates can support the material below or push the material upward; optionally, the container side stops can be one or more vertical columns to block the material on one side; optionally, the container side stops can be one or more vertical columns to block the material on both sides; optionally, the container side stops can be a plate to block the material on one side; optionally, the container side stops can be a plate to block the material on both sides; optionally, the container side stops can be a flexible plate to block the material on one side; optionally, the container side stops can be a flexible plate to block the material on both sides; optionally, the container side stops can be a brush to block the material on one side; optionally, the container side stops can be a brush to block the material on both sides; optionally, the container side stops can be a silicone strip to block the material on one side; optionally, the container side stops can be a silicone strip to block the material on both sides; optionally, the container top plates can be a whole plate to support the material below; optionally, the container top plates can be composed of two plates to support the material below; optionally, the container top plates can be composed of more than two plates to support the material below; optionally, the container top plates can be composed of two or more plates with a gap in the middle to facilitate the entry of the lower or upper clamping fork of the clamping mechanism.

[0058] Optionally, the storage mechanism further comprises a container lifting drive device that drives the container to move vertically; optionally, the vertical movement of the container can be coordinated with the clamping mechanism to complete the stacking of the material.

[0059] Optionally, the storage mechanism further comprises a container top plate lifting drive device that drives the container top plate to move vertically; optionally, the vertical movement of the container can be coordinated with the clamping mechanism to complete the stacking of the material. Optionally, in some optional embodiments, when the stacking height of the material in the storage container is much lower than the height of the container side stop, in order to facilitate packaging, the vertical movement of the container top plate can push the material up to a preset number, so that the height of the material approaches the height of the container side stop, facilitating the on-site workers to bag and take out the material package.

[0060] Optionally, the storage mechanism further comprises a container side stop vertical drive device that drives the container side stop to move vertically; in some optional embodiments, when the stacking height of the material in the storage container is much lower than the height of the container side stop, in order to facilitate packaging, the container side stop vertical drive device drives the container side stop to move vertically downward when the material is taken out manually, so that the height of the material approaches the height of the container side stop, facilitating the on-site workers to bag and take out the material package.

[0061] Optionally, the storage mechanism further comprises a container side block opening and closing driving device, which drives the container side block to move in the horizontal direction; optionally, the container side block opening and closing driving device drives the container side block to move in the horizontal direction back and forth; optionally, the container side block opening and closing driving device drives the container side block to move in the horizontal direction left and right; in some optional embodiments, the movement of the container side block in the horizontal direction can increase or shorten the distance between the two container side blocks in the storage container; when the distance between the two container side blocks is relatively close, the material placed in the storage container is not easy to tilt, which helps to improve the neatness of the packaging material; when the distance between the two container side blocks in the storage container is relatively far, it is helpful for the clamping mechanism to deliver the material to the storage container, or it is helpful for the manual direct taking of the material in the storage container.

[0062] Optionally, the storage mechanism further comprises a storage mechanism swing driving device, which drives the storage mechanism to swing in the vertical direction.

[0063] Optionally, the storage container further comprises a container bottom plate, and one or more container side blocks are arranged around the container bottom plate. Optionally, in the same storage container, there are two container bottom plates, and the distance between the two container bottom plates can be adjusted; by adjusting the distance between the container bottom plates in the storage container, the distance between the container side blocks can be adjusted.

[0064] Optionally, the storage mechanism further comprises one or more clamping and overturning mechanisms, which comprise a clamping and overturning assembly and a clamping and overturning assembly horizontal driving device; the clamping and overturning assembly comprises an upper clamping fork, a lower clamping fork, a clamping fork clamping driving device and a clamping fork overturning driving device; the clamping and overturning assembly horizontal driving device drives the clamping and overturning assembly to move left and right in the horizontal direction; the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to cooperate to complete the clamping or releasing action; the clamping fork overturning driving device drives the upper clamping fork and the lower clamping fork to overturn in the vertical direction; optionally, the clamping fork clamping driving device drives the upper clamping fork and the lower clamping fork to move towards each other or in the opposite direction to complete the clamping or releasing action; optionally, the clamping fork clamping driving device drives the upper clamping fork to move close to or away from the lower clamping fork to complete the clamping or releasing action; optionally, the clamping fork clamping driving device drives the lower clamping fork to move close to or away from the upper clamping fork to complete the clamping or releasing action.

[0065] Optionally, the storage mechanism further comprises a clamping and overturning assembly lifting driving device, which drives the clamping and overturning assembly to move up and down in the vertical direction.

[0066] Optionally, the screen printing packaging system further comprises a drying device, the drying device dries the material after screen printing, the drying device comprises one or more than one drying mechanism.

[0067] Optionally, the drying mechanism comprises one or more than one drying fan, one or more than one drying fan cover, one or more than one heater, and one or more than one deflector cover; the heater is arranged in the deflector cover, and the drying fan cover connects the drying fan and the deflector cover; the drying device further comprises a heat adjusting system, which adjusts the drying heat by adjusting the air volume of the fan or adjusting the power of the heater.

[0068] Optionally, the drying mechanism can be in the form of infrared heating; optionally, the drying mechanism can be in the form of infrared precise temperature control drying; optionally, the drying mechanism can be in the form of electric heating tube; optionally, the drying mechanism can be in the form of gas heating; optionally, the drying mechanism can be in the form of ultraviolet heating; optionally, the drying mechanism can be in the form of ultraviolet lamp; optionally, the drying mechanism can be in the form of other heating devices.

[0069] According to a second aspect of the embodiments of the present application, a packaging method is provided, which uses the pick-up packaging device of any of the above optional embodiments for packaging.

[0070] In some optional embodiments, the packaging method comprises the following steps:

[0071] Step (a1) picking up the material by the picking mechanism;

[0072] Step (a2) arranging the material according to a preset pattern by the picking mechanism;

[0073] Step (a3) conveying the material to the storage mechanism by the picking mechanism.

[0074] Optionally, before the step (a1) picking up the material by the clamping mechanism, the following step is further included:

[0075] Step (a1-01) clamping the material by the material taking mechanism;

[0076] Step (a1-02) conveying the material to the pallet mechanism by the material taking mechanism;

[0077] Optionally, the process of conveying the material to the pallet mechanism by the material taking mechanism in the step (a1-02) further comprises the following steps:

[0078] Step (a1-0210) driving the material taking and clamping mechanism to make rotational movement in the vertical direction by the material taking rotational driving device, and turning over the material.

[0079] Optionally, the step (a1-02) further comprises the following steps:

[0080] Step (a1-0220) the tray in the tray mechanism is lowered along the vertical direction;

[0081] Step (a1-0221) the material is transported to the tray mechanism by the material taking mechanism moving along the horizontal direction;

[0082] Step (a1-0222) the tray in the tray mechanism is raised along the vertical direction, and the tray supports the material below the material.

[0083] Optionally, the step (a1) further comprises the following steps:

[0084] Step (a1-10) the gripper mechanism is lowered along the vertical direction; the side of the material is folded in the downward direction by the gripper opened in advance during the falling process;

[0085] Step (a1-20) the side of the material is pushed by the gripper, and the material is continuously folded;

[0086] Step (a1-30) the tray tongue in the tray mechanism is retracted (the tray tongue is initially in the extended state);

[0087] Step (a1-40) the material is continuously folded by the gripper pushing the material again, so that the material is continuously bent, and the material is clamped by the gripper.

[0088] Optionally, the step (a1) further comprises the following steps:

[0089] Step (a1-a10) the gripper mechanism is lowered along the vertical direction; the side of the material is folded in the downward direction by the gripper opened in advance during the falling process;

[0090] Step (a1-a20) the tray tongue in the tray mechanism is extended (the tray tongue is initially in the retracted state);

[0091] Step (a1-a30) the side of the material is pushed by the gripper, and the material is continuously folded;

[0092] Step (a1-a30) the tray tongue in the tray mechanism is retracted;

[0093] Step (a1-a40) the material is continuously folded by the gripper pushing the material again, so that the material is continuously bent, and the material is clamped by the gripper.

[0094] Optionally, the step (a1) further comprises the following steps:

[0095] Step (a1-b10) the shaping presser plate is lowered in the vertical direction to hold the material;

[0096] Step (a1-b20) the shaping presser plate is raised in the vertical direction to release the material;

[0097] Optionally, the process of step (a1) picking up the material by the picking mechanism further comprises the following steps:

[0098] Step (a1-03) the picking mechanism releases the material.

[0099] Optionally, the process of step (a2) arranging the material in a preset pattern by the picking mechanism further comprises the following steps:

[0100] Step (a2-10) the material is rotated in the horizontal direction with the first cross arm center as the center.

[0101] Optionally, the process of step (a2) arranging the material in a preset pattern by the picking mechanism further comprises the following steps:

[0102] Step (a2-20) the material is rotated in the horizontal direction with itself as the center.

[0103] Optionally, the process of step (a3) transporting the material to the storage mechanism by the picking mechanism further comprises the following steps:

[0104] Step (a3-10) the gripper mechanism is lowered to a preset height;

[0105] Step (a3-20) the gripper releases the material;

[0106] Step (a3-30) the gripper mechanism is raised.

[0107] Optionally, the process of step (a3-10) lowering the gripper mechanism to a preset height further comprises:

[0108] Step (a3-a10) the container top plate is lowered by a first preset height.

[0109] Optionally, the process of step (a3) transporting the material to the storage mechanism by the picking mechanism further comprises the following steps:

[0110] Step (a3-b10) when the material in the storage mechanism reaches a preset number, the position of one or more storage mechanisms is rotated.

[0111] Optionally, the process of step (a3) transporting the material to the storage mechanism by the picking mechanism further comprises the following steps:

[0112] Step (a3-c10) the material is flipped in the vertical direction by the clamping and flipping mechanism.

[0113] Optionally, the step (a3-c10) of the process that the clamping and overturning mechanism overturns the material along the vertical direction further comprises the following steps.

[0114] The step (a3-c1010) of the clamping and overturning assembly moving horizontally to the second preset position, at which the material is between the upper clamping fork and the lower clamping fork;

[0115] The step (a3-c1020) of the clamping and overturning assembly clamping the material;

[0116] The step (a3-c1030) of the clamping and overturning assembly overturning the material;

[0117] The step (a3-c1040) of the clamping and overturning assembly releasing the material.

[0118] Optionally, the step (a3-c1020) of the process that the clamping and overturning assembly clamps the material further comprises the following steps.

[0119] The step (a3-c102010) of the clamping and overturning assembly ascending along the vertical direction;

[0120] The step (a3-c1040) of the process that the clamping and overturning assembly releases the material further comprises the following steps.

[0121] The step (a3-c104010) of the clamping and overturning assembly descending along the vertical direction.

[0122] The technical scheme provided by the embodiment of the present application can have the following beneficial effects:

[0123] The material can be automatically packaged in a preset form, which saves labor cost and has good material neatness and beautiful packaging.

[0124] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0125] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0126] Figure 1a is a schematic side view of the overall structure of a pickup packaging device according to an exemplary embodiment;

[0127] Figure 2a is a schematic side view of a pickup mechanism in a pickup packaging device according to an exemplary embodiment;

[0128] Figure 2b is a schematic front view of a clamping mechanism in a pickup packaging device according to an exemplary embodiment;

[0129] Figure 2c is a side view schematic diagram of a clamping hand mechanism in a pick-up packaging device according to an exemplary embodiment;

[0130] Figure 2d is a side view schematic diagram of a clamping hand mechanism in a pick-up packaging device according to an exemplary embodiment;

[0131] Figure 2e is a side view schematic diagram of a clamping hand mechanism in a pick-up packaging device according to an exemplary embodiment;

[0132] Figure 3a is a side view schematic diagram of a storage mechanism in a pick-up packaging device according to an exemplary embodiment;

[0133] Figure 4a is a side view schematic diagram of a pick-up mechanism in a pick-up packaging device according to an exemplary embodiment;

[0134] Figure 5a is a side view schematic diagram of a pick-up mechanism in a pick-up packaging device according to an exemplary embodiment;

[0135] Figure 6a is a side view schematic diagram of a pick-up mechanism in a pick-up packaging device according to an exemplary embodiment;

[0136] Reference signs:

[0137] 403, pick-up mechanism; 410, gripper clamping drive; 411, gripper horizontal drive; 412, gripper vertical drive; 413, gripper mechanism; 414, first cross arm; 415, gripper; 423, gripper rotation drive; 425, gripper fixed base; 426, gripper connecting rod; 427, gripper gear; 428, gripper rack; 450, gripper connecting rod shaft; 451, gripper swing shaft; 452, gripper push shaft; 453, gripper drive shaft; 454, gripper rotation shaft hole; 455, gripper push shaft hole; 456, gripper body; 424, gripper mechanism rotation drive; 460, gripper mechanism extension drive; 429, shaping presser plate mechanism; 431, presser plate lifting drive; 402, material taking mechanism; 405, material taking clamping drive; 406, material taking horizontal drive; 407, material taking clamping mechanism; 408, upper mold opening and closing group; 409, lower mold opening and closing group; 417, material taking rotation drive; 404, material storage mechanism; 416, material storage container; 433, container side stop; 434, container top plate; 432, container wheel changing drive; 461, container top plate lifting drive; 418, pallet mechanism; 419, pallet; 420, pallet lifting drive; 421, pallet tongue; 422, pallet tongue horizontal drive; 436, clamping turnover mechanism; 437, clamping turnover assembly; 439, clamping turnover assembly horizontal drive; 440, upper clamping fork; 441, lower clamping fork; 442, clamping fork clamping drive; 443, clamping fork turnover drive; 438, clamping turnover assembly lifting drive. DETAILED DESCRIPTION

[0138] The following description and drawings are illustrative of specific embodiments thereof and are not intended to be limiting in any way in describing the present teachings. Some of the features of the embodiments can be included in or substituted for features of other embodiments. The scope of the present teachings encompasses the entire scope of the following claims and all available equivalents thereof. In the description below, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. In addition, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, device, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such structure, device, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the structure, device, or apparatus that includes the element. Various embodiments are described in progressive stages of progression through the description. Each of the various embodiments highlights a different aspect or feature of the embodiments, and the various embodiments are related to each other as described in the description.

[0139] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate relative positions or orientations based on the positions or orientations shown in the drawings, and are used merely for convenience and in the context of the description herein and for the purpose of simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure; for example, the front, back, front end, back end described herein can also be relative mounting positions, that is, relative to the screen printing device, the pick-up packaging device is on the right side of the screen printing device, and relative to the pick-up packaging device, the screen printing device is mounted on the left side of the rack.

[0140] In the description herein, unless otherwise specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be mechanical connection or electrical connection, can be internal communication of two elements, can be direct connection or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0141] In the present text, the term "a plurality of" means two or more, unless otherwise specified.

[0142] In the present text, the character " / " represents an "or" relationship between the objects before and after it. For example, A / B means A or B.

[0143] In this document, the term "and / or" is a descriptive term involving a relationship between objects, which means that there can be three relationships. For example, A and / or B means that there are three relationships of A or B, or A and B.

[0144] In this document, the description of the driving device relates to the gripper clamping driving device, the gripper horizontal driving device, the gripper vertical driving device, and many other driving devices. The description of the driving device means that the device can provide power to drive some components, structures or devices to produce the described movement effect, and does not limit the specific form of the driving device. For example, in some optional embodiments, the gripper clamping driving device can be in the form of a motor, an electric motor, an electric cylinder, a gas cylinder, a gas motor, an oil cylinder, an electro-hydraulic servo, or a combination of two or more of the above. The same applies to other driving devices.

[0145] Figure 1a An optional embodiment of the pick-up packaging device is shown.

[0146] In this optional embodiment, the pick-up packaging device comprises one or more pick-up mechanisms 403, which comprises a gripper clamping driving device 410, a gripper horizontal driving device 411, a gripper vertical driving device 412, one or more gripper mechanisms 413 and a first cross arm 414. The gripper mechanism 413 is installed on the first cross arm 414, and one set of gripper mechanism 413 comprises one or more grippers 415. The gripper 415 is driven to rotate, move horizontally, move along an arc, or move along a vertical broken line by the gripper clamping driving device 410. The gripper horizontal driving device 411 drives the gripper 415 to move forward and backward in the horizontal direction, and the gripper vertical driving device 412 drives the gripper 415 to move up and down in the vertical direction. When picking up the packaging material, the gripper clamping driving device 410 drives the gripper 415 to clamp the material, the gripper vertical driving device 412 drives the gripper 415 to move forward and backward in the horizontal direction, and the gripper vertical driving device 412 drives the gripper 415 to move up and down in the vertical direction to convey the material to the right.

[0147] Optionally, the picking mechanism 403 further comprises a gripper rotating driving device 423, which drives the first horizontal arm 414 to rotate in the horizontal direction; the function of the gripper rotating driving device 423 driving the first horizontal arm 414 to rotate in the horizontal direction is to realize the change of the orientation and the exchange of the position of the material gripped by the left and right grippers 415 during the conveying process. Optionally, the angle of the change of the orientation of the material gripped by the gripper 415 during the conveying process is 90 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper 415 during the conveying process is 180 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper 415 during the conveying process is 270 degrees; optionally, the angle of the change of the orientation of the material gripped by the gripper 415 during the conveying process is any angle; the horizontal rotation of the gripper 415 can realize more material stacking modes and packaging styles; one optional embodiment of the horizontal rotation of the gripper 415 is that when the material is of two shapes, the two shapes of the material are arranged in a left-right or interval manner, and when the picking mechanism 403 picks the material, the rotation can be selected alternately, so as to realize the packaging style of the alternative stacking of the two shapes of the material.

[0148] Optionally, the gripper mechanism 413 comprises a gripper fixed base 425, a gripper connecting rod 426, a gripper gear 427 and a gripper rack 428; the gripper gear 427 and the gripper connecting rod 426 are arranged on the gripper fixed base 425, and the gripper connecting rod 426 connects the gripper gear 427 and the gripper 415; the gripper clamping driving device 410 drives the gripper gear 427 to rotate, so as to drive the gripper 415 connected thereto to complete the clamping or releasing action.

[0149] Optionally, the picking mechanism 403 further comprises a gripper mechanism rotating driving device 424, which drives the gripper mechanism 413 to rotate in the horizontal direction; the function of the gripper mechanism rotating driving device 424 driving the gripper mechanism 413 to rotate in the horizontal direction is to realize the change of the orientation of the material during the conveying process; optionally, the angle of the change of the orientation of the material during the conveying process is 90 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is 180 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is 270 degrees; optionally, the angle of the change of the orientation of the material during the conveying process is any angle.

[0150] Optionally, the picking mechanism 403 further comprises a gripper mechanism telescopic driving device 460, which drives one or more than one gripper mechanism 413 to move left and right in the horizontal direction.

[0151] Optionally, the picking mechanism 403 further comprises a shaping presser mechanism 429; the shaping presser mechanism 429 comprises one or more shaping pressers and a presser lifting driving device 431; the shaping presser is arranged near the gripper mechanism 413, and the presser lifting driving device 431 drives the shaping presser to move up and down in the vertical direction.

[0152] Optionally, the shaping presser is arranged on both sides of the gripper mechanism 413 and arranged in front of and behind the gripper mechanism 413; optionally, the shaping presser is arranged on both sides of the gripper mechanism 413 and arranged on the left or right side of the gripper mechanism 413; optionally, the shaping presser is arranged on both sides of the gripper mechanism 413 and arranged in pairs in front of and behind the gripper mechanism 413; optionally, the shaping presser is arranged on both sides of the gripper mechanism 413 and arranged in pairs on the left and right sides of the gripper mechanism 413; optionally, the shaping presser is in the shape of a plate, and the shaping presser holds the material by moving up and down in the vertical direction; optionally, the shaping presser is in the shape of a rod, and the shaping presser holds the material by moving up and down in the vertical direction; optionally, the shaping presser is in the shape of a bent rod, and the shaping presser holds the material by moving up and down in the vertical direction; optionally, the shaping presser is in the shape of a strip, and the shaping presser holds the material by moving up and down in the vertical direction; the shaping presser can reshape the material placed in the storage container 416 to cope with the phenomenon of different lofting heights in the stacking process of different types of materials; when the gripper mechanism 413 is lowered to a set height, the shaping presser is lowered to hold the material, such as the material previously placed below the gripper mechanism 413, the shaping presser can achieve the effect of holding, so that there is space between the gripper 415 and the lower material to make the gripper 415 open, and the holding effect of the shaping presser can make multiple materials more closely, reduce the lofting degree, and the material stacking is more regular.

[0153] Optionally, the travel of the shaping presser moving up and down in the vertical direction is adjustable. The adjustment of the travel of the shaping presser can have two forms, one is the adjustment of the relative height of the shaping presser and the gripper 415 through the adjustment of the mechanical structure, and the other is that the presser lifting driving device 431 can control the travel of the shaping presser in each lifting movement when the shaping presser moves up and down in the vertical direction under the driving of the presser lifting driving device 431; the adjustment of the travel of the shaping presser can adjust the height of each pressing for different thicknesses or different lofting degrees of the material in the process of reshaping the material, and the holding effect of the shaping presser is more obvious, which can make multiple materials more closely, reduce the lofting degree, and the material stacking is more regular.

[0154] Optionally, the pick-and-pack device further comprises a material taking mechanism 402, which comprises a material taking clamping driving device 405, a material taking horizontal driving device 406, and a material taking clamping mechanism 407, wherein the material taking clamping mechanism 407 comprises an upper open-close mold set 408 and a lower open-close mold set 409, the material taking clamping driving device 405 drives the upper open-close mold set 408 and the lower open-close mold set 409 to complete clamping or releasing action, and the material taking horizontal driving device 406 drives the material taking clamping mechanism 407 to move left and right along the horizontal direction.

[0155] Optionally, the material taking mechanism 402 further comprises a material taking rotating driving device 417, which drives the material taking clamping mechanism 407 to rotate along the vertical direction; the rotation of the material taking clamping mechanism 407 along the vertical direction can realize material turning, so that the system can realize more packaging styles.

[0156] Optionally, the pick-and-pack device further comprises a material storing mechanism 404, which comprises one or more than one material storing container 416.

[0157] Optionally, the material storing container 416 comprises one or more than one container side stopper 433 and one or more than one container top plate 434; the container side stopper 433 can stop the material to prevent the material from pouring; the container top plate 434 can support the material below or push the material to move upward; optionally, the container side stopper 433 can be one or more than one column to stop the material on one side; optionally, the container side stopper 433 can be one or more than one column to stop the material on both sides; optionally, the container side stopper 433 can be a plate to stop the material on one side; optionally, the container side stopper 433 can be a plate to stop the material on both sides; optionally, the container side stopper 433 can be a flexible plate to stop the material on one side; optionally, the container side stopper 433 can be a flexible plate to stop the material on both sides; optionally, the container side stopper 433 can be a brush to stop the material on one side; optionally, the container side stopper 433 can be a brush to stop the material on both sides; optionally, the container side stopper 433 can be a silica gel strip to stop the material on one side; optionally, the container side stopper 433 can be a silica gel strip to stop the material on both sides; optionally, the container top plate 434 can be an integral plate to support the material below; optionally, the container top plate 434 can be composed of two plates to support the material below; optionally, the container top plate 434 can be composed of more than two plates to support the material below; optionally, the container top plate 434 is composed of two or more than two plates, and a gap is left in the middle to facilitate the entry of the lower clamping fork 441 or the upper clamping fork 440 in the clamping and turning assembly 437.

[0158] Optionally, the storage mechanism 404 further comprises a container rotation driving device 432, which drives one or more storage containers 416 to move horizontally or vertically, so that the one or more storage containers 416 achieve position rotation. The storage container 416 position rotation can achieve that when the material in the storage container 416 reaches a preset quantity, the storage container 416 without material is replaced to the corresponding position to receive the material; optionally, the container rotation driving device 432 drives the storage container 416 to move forward and backward horizontally to achieve position rotation; optionally, the container rotation driving device 432 drives the storage container 416 to rotate horizontally to achieve position rotation.

[0159] Optionally, the storage mechanism 404 further comprises a container top plate 434 lifting driving device, which drives the container top plate 434 to move vertically. Optionally, the vertical movement of the container can cooperate with the clamp mechanism 413 to complete the material stacking; optionally, in some optional embodiments, when the material stacking height in the storage container 416 is much lower than the height of the container side stop 433, in order to facilitate packaging, the vertical movement of the container top plate 434 can push the material reaching a preset quantity to move upward, so that the material height approaches the height of the container side stop 433, facilitating the on-site workers to bag and take out the material package.

[0160] Optionally, the storage mechanism 404 further comprises a container lifting driving device, which drives the container to move vertically; optionally, the vertical movement of the container can cooperate with the clamp mechanism 413 to complete the material stacking.

[0161] Optionally, the storage mechanism 404 further comprises a storage mechanism 404 swing driving device, which drives the storage mechanism 404 to swing vertically.

[0162] Optionally, the storage container 416 further comprises a container bottom plate, and one or more container side stops 433 are arranged around the container bottom plate. Optionally, in the same storage container 416, the container bottom plate has two plates, and the distance between the two plates can be adjusted, and by adjusting the distance between the container bottom plates in the storage container 416, the distance between the container side stops 433 can be adjusted.

[0163] Optionally, the picking and packaging device further comprises one or more than one set of a supporting plate mechanism 418, which comprises a supporting plate 419 and a supporting plate lifting driving device 420, and the supporting plate lifting driving device 420 drives the supporting plate 419 to move vertically. The lifting of the supporting plate mechanism 418 can effectively avoid the interference with the vertical rotation of the material taking and clamping mechanism 407, and keep the material and the supporting plate 419 at a set distance after the vertical rotation of the material taking and clamping mechanism 407 is completed. The supporting plate 419 can function as a glove receiving plate, and can also function as a guide to prevent the material from being deformed during the material taking process of the material taking mechanism 402. Optionally, the supporting plate 419 is in the shape of a plate. Optionally, the supporting plate 419 is in the shape of a bent plate.

[0164] Optionally, the supporting plate mechanism 418 further comprises a supporting plate tongue 421 and a supporting plate tongue horizontal driving device 422, and the supporting plate tongue horizontal driving device 422 drives the supporting plate tongue 421 to move forward and backward horizontally. Optionally, the number of the supporting plate tongues 421 is one or more than one, which are arranged near the supporting plate 419. Optionally, according to the arrangement of the supporting material plate, the supporting plate tongue horizontal driving device 422 drives the supporting plate tongue 421 to move forward and backward horizontally. The movement mode can be that two or more than two supporting plate tongues 421 are divided into two groups, and the two groups of supporting plate tongues 421 move in the same direction, or the two groups of supporting plate tongues 421 move towards each other or in the opposite direction. Optionally, the supporting plate tongue 421 is arranged below the supporting plate 419. Optionally, the supporting plate tongue 421 is arranged below the supporting plate 419 and close to the supporting plate 419. Optionally, the supporting plate tongue 421 is arranged below the supporting plate 419 and has a gap with the supporting plate 419. Optionally, the surface of the supporting plate tongue 421 is coated with a Teflon coating. Optionally, an inclined angle is arranged in front of the supporting plate tongue 421, which can guide the material taken by the material taking mechanism 402 and prevent the material from being deformed during the horizontal movement. Optionally, when the number of the supporting plate tongues 421 is more than one, the supporting plate tongues 421 are symmetrically arranged. Optionally, the distance between the supporting plate tongue 421 and the supporting plate 419 of the supporting plate mechanism 418 is adjustable.

[0165] Optionally, the pick-up and packaging device further comprises one or more than one clamping and flipping mechanism 436, which comprises a clamping and flipping assembly 437 and a clamping and flipping assembly horizontal driving device 439. The clamping and flipping assembly 437 comprises an upper clamping fork 440, a lower clamping fork 441, a clamping fork clamping driving device 442 and a clamping fork flipping driving device 443. The clamping and flipping assembly horizontal driving device 439 drives the clamping and flipping assembly to move horizontally left and right. The clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete clamping or releasing action. The clamping fork flipping driving device 443 drives the upper clamping fork 440 and the lower clamping fork 441 to flip vertically. Optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete clamping or releasing action by driving the upper clamping fork 440 and the lower clamping fork 441 to move towards each other or in opposite directions simultaneously. Optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete clamping or releasing action by driving the upper clamping fork 440 to move towards or away from the lower clamping fork 441. Optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete clamping or releasing action by driving the lower clamping fork 441 to move towards or away from the upper clamping fork 440.

[0166] Optionally, the pick-up and packaging device further comprises a clamping and flipping assembly lifting driving device 438, which drives the clamping and flipping assembly 437 to move vertically.

[0167] Figure 2a An optional embodiment of a pick-up mechanism 403 in a pick-up and packaging device of the present application is shown.

[0168] In the optional embodiment, the picking mechanism 403 comprises a gripper clamping driving device 410, a gripper horizontal driving device 411, a gripper vertical driving device 412, one or more than one gripper mechanism 413, and a first cross arm 414, the gripper mechanism 413 is installed on the first cross arm 414, a set of gripper mechanisms 413 comprises one or more than one gripper 415, the gripper 415 is driven to rotate or swing, or moves horizontally, or moves along an arc, or moves along a vertical broken line under the driving of the gripper clamping driving device 410, the gripper horizontal driving device 411 drives the gripper 415 to move forward and backward along the horizontal direction, and the gripper vertical driving device 412 drives the gripper 415 to move up and down along the vertical direction. When picking the packaging materials, the gripper clamping driving device 410 drives the gripper 415 to clamp the materials, the gripper vertical driving device 412 drives the gripper 415 to move forward and backward along the horizontal direction, and the gripper vertical driving device 412 drives the gripper 415 to move up and down along the vertical direction, so as to convey the materials to the right.

[0169] Optionally, the picking mechanism 403 further comprises a gripper rotating driving device 423, which drives the first cross arm 414 to rotate along the horizontal direction; the action of the gripper rotating driving device 423 driving the first cross arm 414 to rotate along the horizontal direction is to realize the change of the orientation and the exchange of the positions of the materials clamped by the left and right grippers 415 during the conveying process. Optionally, the angle of the change of the orientation of the materials clamped by the gripper 415 during the conveying process is 90 degrees; optionally, the angle of the change of the orientation of the materials clamped by the gripper 415 during the conveying process is 180 degrees; optionally, the angle of the change of the orientation of the materials clamped by the gripper 415 during the conveying process is 270 degrees; optionally, the angle of the change of the orientation of the materials clamped by the gripper 415 during the conveying process is any angle; driving the gripper 415 to rotate horizontally can realize more stacking modes and packaging styles of the materials, and one optional embodiment of the horizontal rotating movement of the gripper 415 is that when the materials are of two shapes and the materials of the two shapes are arranged in a left-right or interval manner, the gripper 415 can be alternatively rotated when the picking mechanism 403 picks the materials, so as to realize the packaging style of the materials of the two shapes being alternatively stacked.

[0170] Optionally, the gripper mechanism 413 comprises a gripper fixed base 425, a gripper connecting rod 426, a gripper gear 427, and a gripper rack 428; the gripper gear 427 and the gripper connecting rod 426 are arranged on the gripper fixed base 425, and the gripper connecting rod 426 connects the gripper gear 427 and the gripper 415; the gripper clamping driving device 410 drives the gripper gear 427 to rotate, so as to drive the gripper 415 connected thereto to complete the clamping or releasing action.

[0171] Optionally, the picking mechanism 403 further comprises a gripper rotating driving device 424, which drives the gripper 413 to rotate in the horizontal direction; the gripper rotating driving device 424 drives the gripper 413 to rotate in the horizontal direction, which can change the orientation of the material during the conveying process; optionally, the angle of the material during the conveying process is 90 degrees; optionally, the angle of the material during the conveying process is 180 degrees; optionally, the angle of the material during the conveying process is 270 degrees; optionally, the angle of the material during the conveying process is any angle.

[0172] Optionally, the picking mechanism 403 further comprises a gripper telescopic driving device 460, which drives one or more grippers 413 to move left and right in the horizontal direction.

[0173] Optionally, the picking mechanism 403 further comprises a shaping press plate mechanism 429; the shaping press plate mechanism 429 comprises one or more shaping press plates and a press plate lifting driving device 431; the shaping press plate is arranged near the gripper 413, and the press plate lifting driving device 431 drives the shaping press plate to move up and down in the vertical direction.

[0174] Optionally, the shaping press plate is arranged on both sides of the gripper 413, and is arranged in front of and behind the gripper 413; optionally, the shaping press plate is arranged on both sides of the gripper 413, and is arranged on the left or right side of the gripper 413; optionally, the shaping press plate is arranged on both sides of the gripper 413, and is arranged in pairs in front of and behind the gripper 413; optionally, the shaping press plate is arranged on both sides of the gripper 413, and is arranged in pairs on the left and right sides of the gripper 413; optionally, the shaping press plate is in the shape of a plate, and the shaping press plate holds the material by moving up and down in the vertical direction; optionally, the shaping press plate is in the shape of a rod, and the shaping press plate holds the material by moving up and down in the vertical direction; optionally, the shaping press plate is in the shape of a bent rod, and the shaping press plate holds the material by moving up and down in the vertical direction; optionally, the shaping press plate is in the shape of a strip, and the shaping press plate holds the material by moving up and down in the vertical direction; the shaping press plate can shape the material placed in the storage container 416 to cope with the phenomenon of different lofting heights during the stacking process of different types of materials; when the gripper 413 is lowered to a set height, the shaping press plate is lowered to hold the material; if there is previously placed material below the gripper 413, the shaping press plate can achieve the effect of holding, so that there is space between the gripper 415 and the lower material, allowing the gripper 415 to open, and the holding effect of the shaping press plate can make multiple materials more closely packed, reducing the lofting degree and making the material stacking more regular.

[0175] Optionally, the travel of the shaping press plate in the vertical direction is adjustable. The shaping press plate travel adjustment can be in two forms. One is the mechanical connection of the shaping press plate, that is, the relative height of the shaping press plate and the clamping hand 415 is adjusted by adjusting the mechanical structure. The other is that when the shaping press plate moves up and down in the vertical direction under the drive of the press plate lifting drive device 431, the press plate lifting drive device 431 can control the travel of the shaping press plate in each lifting movement. The adjustment of the travel of the shaping press plate can adjust the height of each time of pressing for different thickness or different bulkiness of the material in the process of shaping the material, and the pressing effect of the shaping press plate is more obvious, which can make the multiple materials more closely, reduce the bulkiness, and the material stacking is more regular.

[0176] Figure 2b 、 2c , 2d shows an optional embodiment of the clamping hand structure 413 in the picking and packaging device.

[0177] In this optional embodiment, the clamping hand structure 413 includes one or more clamping hands 415, which are driven to rotate or move horizontally, or move along an arc, or move along a vertical broken line by the clamping hand clamping drive device 410.

[0178] Optionally, the clamping hand structure 413 includes a clamping hand fixed base 425, a clamping hand connecting rod 426, a clamping hand gear 427, and a clamping hand rack 428. The clamping hand gear 427 and the clamping hand connecting rod 426 are arranged on the clamping hand fixed base 425, and the clamping hand connecting rod 426 connects the clamping hand gear 427 and the clamping hand 415. The clamping hand clamping drive device 410 drives the clamping hand gear 427 to rotate, thereby driving the clamping hand 415 connected thereto to complete the clamping or releasing action.

[0179] Optionally, the clamping hand 415 includes a clamping hand body 456, a clamping hand rotating shaft hole 454, and a clamping hand pushing shaft 452 hole. The clamping hand body 456 is a plate with a certain curvature. Shafts can be arranged in the clamping hand rotating shaft hole 454 and the clamping hand pushing shaft 452 hole to complete the clamping action of the clamping hand 415 by cooperating with other parts.

[0180] Figure 2e An optional embodiment of the clamping hand structure 413 in the picking and packaging device is shown.

[0181] In this optional embodiment, the clamping hand structure 413 includes one or more clamping hands 415, which are driven to rotate or move horizontally, or move along an arc, or move along a vertical broken line by the clamping hand clamping drive device 410. Figure 2b 、 2cThe difference between the embodiment shown in FIG. 2d and the embodiment shown in FIG. 2c is that, in the alternative embodiment, the picking mechanism 403 further comprises a gripper rotating driving device 424, which drives the gripper 413 to rotate in the horizontal direction; the function of the gripper rotating driving device 424 driving the gripper 413 to rotate in the horizontal direction is to change the orientation of the material during the conveying process; alternatively, the angle of the change of the orientation of the material during the conveying process is 90 degrees; alternatively, the angle of the change of the orientation of the material during the conveying process is 180 degrees; alternatively, the angle of the change of the orientation of the material during the conveying process is 270 degrees; alternatively, the angle of the change of the orientation of the material during the conveying process is any angle.

[0182] Figure 3a An alternative embodiment of the storage mechanism 404 in the picking and packaging device of the present application is shown.

[0183] In the alternative embodiment, the storage mechanism 404 comprises one or more than one storage container 416; the storage container 416 comprises one or more than one container side stop 433 and one or more than one container top plate 434.

[0184] Alternatively, the storage container 416 comprises one or more than one container side stop 433 and one or more than one container top plate 434. The container side stop 433 can stop the material to prevent the material from pouring; the container top plate 434 can support the material below or push the material upward; alternatively, the container side stop 433 can be one or more than one column to stop the material on one side; alternatively, the container side stop 433 can be one or more than one column to stop the material on both sides; alternatively, the container side stop 433 can be a plate to stop the material on one side; alternatively, the container side stop 433 can be a plate to stop the material on both sides; alternatively, the container side stop 433 can be a flexible plate to stop the material on one side; alternatively, the container side stop 433 can be a flexible plate to stop the material on both sides; alternatively, the container side stop 433 can be a brush to stop the material on one side; alternatively, the container side stop 433 can be a brush to stop the material on both sides; alternatively, the container side stop 433 can be a silica gel strip to stop the material on one side; alternatively, the container side stop 433 can be a silica gel strip to stop the material on both sides; alternatively, the container top plate 434 can be an integral plate to support the material below; alternatively, the container top plate 434 can be composed of two plates to support the material below; alternatively, the container top plate 434 can be composed of more than two plates to support the material below; alternatively, the container top plate 434 is composed of two or more than two plates, and a gap is left in the middle to facilitate the entry of the lower clamp fork 441 or the upper clamp fork 440 in the clamping and flipping assembly 437.

[0185] Optionally, the storage mechanism 404 further comprises a container rotation driving device 432, which drives one or more storage containers 416 to move horizontally or vertically, so that the one or more storage containers 416 achieve position rotation. The storage container 416 position rotation can achieve that when the material in the storage container 416 reaches a preset quantity, the storage container 416 without material is replaced to the corresponding position to receive the material; optionally, the container rotation driving device 432 drives the storage container 416 to move forward and backward horizontally to achieve position rotation; optionally, the container rotation driving device 432 drives the storage container 416 to rotate horizontally to achieve position rotation.

[0186] Optionally, the storage mechanism 404 further comprises a container top plate 434 lifting driving device, which drives the container top plate 434 to move vertically. Optionally, the vertical movement of the container can cooperate with the clamp mechanism 413 to complete the material stacking; optionally, in some optional embodiments, when the material stacking height in the storage container 416 is far lower than the height of the container side stop 433, in order to facilitate packaging, the vertical movement of the container top plate 434 can push the material reaching a preset quantity to move upward, so that the material height approaches the height of the container side stop 433, facilitating the on-site workers to bag and take out the material package.

[0187] Optionally, the storage mechanism 404 further comprises a container lifting driving device, which drives the container to move vertically; optionally, the vertical movement of the container can cooperate with the clamp mechanism 413 to complete the material stacking.

[0188] Optionally, the storage mechanism 404 further comprises a storage mechanism 404 swing driving device, which drives the storage mechanism 404 to swing vertically.

[0189] Optionally, the storage container 416 further comprises a container bottom plate, and one or more container side stops 433 are arranged around the container bottom plate. Optionally, in the same storage container 416, the container bottom plate has two plates, and the distance between the two plates can be adjusted, and the distance between the container side stops 433 can be adjusted by adjusting the distance between the container bottom plates in the storage container 416.

[0190] Figure 4a An optional embodiment of a material taking mechanism 402 in a picking and packaging device of the present application is shown.

[0191] In the optional embodiment, the material taking mechanism 402 comprises a material taking clamping driving device 405, a material taking horizontal driving device 406, and a material taking clamping mechanism 407, wherein the material taking clamping mechanism 407 comprises an upper mold opening and closing module 408 and a lower mold opening and closing module 409, the material taking clamping driving device 405 drives the upper mold opening and closing module 408 and the lower mold opening and closing module 409 to complete the clamping or releasing action, and the material taking horizontal driving device 406 drives the material taking clamping mechanism 407 to move left and right along the horizontal direction.

[0192] In the optional embodiment, the material taking mechanism 402 further comprises a material taking rotating driving device 417, which drives the material taking clamping mechanism 407 to rotate along the vertical direction; the vertical rotation of the material taking clamping mechanism 407 can realize the turning of the material, so that the system can realize more packaging styles.

[0193] Figure 5a An optional embodiment of a supporting plate mechanism 418 in the pick-up packaging device is shown.

[0194] In the optional embodiment, the supporting plate mechanism 418 comprises a supporting plate 419 and a supporting plate lifting driving device 420, which drives the supporting plate 419 to move up and down along the vertical direction. The lifting of the supporting plate mechanism 418 can effectively avoid the interference with the vertical rotation of the material taking clamping mechanism 407, and keep the material and the supporting plate 419 at a set distance after the vertical rotation of the material taking clamping mechanism 407 is completed; the supporting plate 419 can play the role of receiving the gloves, and the supporting plate 419 can also play the role of guiding, so that the material is not easy to deform in the process of being taken by the material taking mechanism 402; optionally, the shape of the supporting plate 419 is plate-shaped; optionally, the shape of the supporting plate 419 is bent plate-shaped.

[0195] In the optional embodiment, the pallet mechanism 418 further comprises a pallet tongue 421 and a pallet tongue horizontal driving device 422, which drives the pallet tongue 421 to move forward and backward in the horizontal direction. Optionally, the number of pallet tongues 421 is one or more, which are arranged near the pallet 419; optionally, the pallet tongue horizontal driving device 422 drives the pallet tongue 421 to move forward and backward in the horizontal direction according to the arrangement of the pallet, and the movement mode can be that two or more pallet tongues 421 are divided into two groups, the two groups of pallet tongues 421 move in the same direction, or the two groups of pallet tongues 421 move towards each other or in the opposite direction. Optionally, the pallet tongue 421 is arranged below the pallet 419; optionally, the pallet tongue 421 is arranged below the pallet 419 and close to the pallet 419; optionally, the pallet tongue 421 is arranged below the pallet 419 and has a gap with the pallet 419; optionally, the surface of the pallet tongue 421 is coated with a Teflon coating; optionally, the front of the pallet tongue 421 is provided with an inclined angle, which can guide the material taken by the material taking mechanism 402 and make the material not easy to deform during horizontal movement; optionally, when the number of pallet tongues 421 is more than one, the pallet tongues 421 are symmetrically arranged; optionally, the distance between the pallet tongue 421 and the pallet 419 of the pallet mechanism 418 is adjustable.

[0196] Figure 6a An optional embodiment of the clamping and overturning mechanism 436 in the pick-up packaging device of the present application is shown.

[0197] In the optional embodiment, the clamping and overturning mechanism 436 comprises a clamping and overturning assembly 437 and a clamping and overturning assembly horizontal driving device 439, the clamping and overturning assembly 437 comprises an upper clamping fork 440, a lower clamping fork 441, a clamping fork clamping driving device 442 and a clamping fork overturning driving device 443; the clamping and overturning assembly horizontal driving device 439 drives the clamping and overturning assembly to move left and right in the horizontal direction, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete the clamping or releasing action, and the clamping fork overturning driving device 443 drives the upper clamping fork 440 and the lower clamping fork 441 to overturn in the vertical direction. Optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete the clamping or releasing action in the following manner: the clamping fork clamping driving device 442 simultaneously drives the upper clamping fork 440 and the lower clamping fork 441 to move towards each other or in the opposite direction, thereby completing the clamping or releasing action; optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete the clamping or releasing action in the following manner: the clamping fork clamping driving device 442 separately drives the upper clamping fork 440 to move close to or away from the lower clamping fork 441, thereby completing the clamping or releasing action; optionally, the clamping fork clamping driving device 442 drives the upper clamping fork 440 and the lower clamping fork 441 to complete the clamping or releasing action in the following manner: the clamping fork clamping driving device 442 separately drives the lower clamping fork 441 to move close to or away from the upper clamping fork 440, thereby completing the clamping or releasing action.

[0198] Optionally, the pick-up packaging device further comprises a clamping and overturning assembly lifting driving device 438, which drives the clamping and overturning assembly 437 to move up and down in the vertical direction.

Claims

1. A pick-up packaging device, characterized in that It includes: One or more than two sets of picking mechanism, which includes clamping hand clamping drive device, clamping hand horizontal drive device, clamping hand vertical drive device, one or more than two sets of clamping hand mechanism and first horizontal arm; The clamping hand mechanism is installed on the first horizontal arm, and the one or more than two sets of clamping hand mechanism includes one or more than two sets of clamping hands, the clamping hands clamp materials under the drive of the clamping hand clamping drive device, the clamping hand horizontal drive device drives the clamping hands to move forward and backward along the horizontal direction, and the clamping hand vertical drive device drives the clamping hands to move up and down along the vertical direction; The picking and packaging device also includes one or more than two sets of clamping and overturning mechanism, which includes clamping and overturning assembly and clamping and overturning assembly horizontal drive device, and the clamping and overturning assembly includes upper clamping fork, lower clamping fork, clamping fork clamping drive device and clamping fork overturning drive device; The clamping and overturning assembly horizontal drive device drives the clamping and overturning assembly to move left and right along the horizontal direction, the clamping fork clamping drive device drives the upper clamping fork and the lower clamping fork to complete clamping or releasing action, and the clamping fork overturning drive device drives the upper clamping fork and the lower clamping fork to overturn along the vertical direction; The picking and packaging device also includes clamping and overturning assembly lifting drive device, which drives the clamping and overturning assembly to move up and down along the vertical direction.

2. The picking and packaging device according to claim 1, wherein The picking mechanism also includes clamping hand rotating drive device, which drives the first horizontal arm to rotate along the horizontal direction.

3. The picking and packaging device according to claim 1, wherein The clamping hand mechanism includes clamping hand fixed base, clamping hand connecting rod, clamping hand gear and clamping hand rack; The clamping hand gear and the clamping hand connecting rod are arranged on the clamping hand fixed base, the clamping hand connecting rod is connected with the clamping hand gear and the clamping hand, and the clamping hand clamping drive device drives the clamping hand gear to rotate, so as to drive the clamping hand connected with the clamping hand gear to complete clamping or releasing action.

4. The picking and packaging device according to claim 1, wherein The picking mechanism also includes clamping hand mechanism rotating drive device, which drives the clamping hand mechanism to rotate along the horizontal direction.

5. The picking and packaging device according to claim 1, wherein The picking mechanism also includes clamping hand mechanism telescopic drive device, which drives the one or more than two sets of clamping hand mechanism to move left and right along the horizontal direction.

6. The picking and packaging device according to claim 1, wherein The picking mechanism also includes shaping pressure plate mechanism; The shaping pressure plate mechanism includes one or more than two sets of shaping pressure plates and pressure plate lifting drive device; The shaping pressure plate is arranged near the clamping hand mechanism, and the pressure plate lifting drive device drives the shaping pressure plate to move up and down along the vertical direction.

7. The picking and packaging device according to claim 1, wherein The picking and packaging device also includes material taking mechanism, which includes material taking clamping drive device, material taking horizontal drive device and material taking clamping mechanism, and the material taking clamping mechanism includes upper opening and closing mold group and lower opening and closing mold group; The material taking clamping drive device drives the upper opening and closing mold group and the lower opening and closing mold group to complete clamping or releasing action, and the material taking horizontal drive device drives the material taking clamping mechanism to move left and right along the horizontal direction.

8. The pick-and-pack device of claim 7, wherein the pick mechanism further comprises a pick rotation drive configured to drive the pick gripper to rotate in the vertical direction.

9. The pick-and-pack device of claim 7, wherein the pick mechanism further comprises a pick lift drive configured to drive the pick gripper to move in the vertical direction.

10. The pick-and-pack device of claim 1, wherein the pick-and-pack device further comprises one or more sets of storage mechanisms, and each set of storage mechanisms comprises one or more storage containers.

11. The pick-and-pack device of claim 10, wherein each storage container comprises one or more container side walls and a container top plate.

12. The pick-and-pack device of claim 10, wherein each set of storage mechanisms further comprises a container rotation drive configured to drive one or more storage containers to move in the horizontal direction or the vertical direction, so that the one or more storage containers are rotated in position.

13. The pick-and-pack device of claim 10, wherein each set of storage mechanisms further comprises a container top plate lift drive configured to drive the container top plate to move in the vertical direction.

14. The pick-and-pack device of claim 1, wherein the pick-and-pack device further comprises one or more sets of pallet mechanisms.

15. The pick-and-pack device of claim 14, wherein each set of pallet mechanisms comprises a pallet and a pallet lift drive configured to drive the pallet to move in the vertical direction.

16. The pick-and-pack device of claim 14, wherein each set of pallet mechanisms further comprises a pallet tongue and a pallet tongue horizontal drive configured to drive the pallet tongue to move in the horizontal direction. A pick-and-pack device based on any one of claims 1 to 16, wherein the pick-and-pack device is configured to perform a packaging operation comprising the following steps: (a1) picking the material by the pick mechanism; (a2) arranging the material by the pick mechanism according to a predetermined pattern; (a3) delivering the material by the pick mechanism to the storage mechanism. Before the step (a1), the pick-and-pack device is further configured to perform the following steps: (a1-01) gripping the material by the pick mechanism; (a1-02) delivering the material by the pick mechanism to the pallet mechanism. The step (a1-02) of delivering the material by the pick mechanism to the pallet mechanism further comprises the following steps: (a1-0210) rotating the pick gripper in the vertical direction by the pick rotation drive to flip the material.

17. A packaging method, characterized by The step (a1-02) of delivering the material by the pick mechanism to the pallet mechanism further comprises the following steps: (a1-0220) lowering the pallet in the vertical direction by the pallet mechanism; (a1-0221) moving the pick mechanism in the horizontal direction to deliver the material to the pallet mechanism; ​ 18. A method of packaging according to claim 17, wherein, ​ ​ ​ 19. A method of packaging according to claim 18, wherein, ​ ​ 20. A method of packaging according to claim 18, wherein, ​ ​ ​ Step (a1-0222) the pallet in the pallet mechanism rises along the vertical direction, and the pallet supports the material below the material.

21. The method of claim 17, wherein, The step (a1) of picking up the material by the picking mechanism further comprises the following steps: Step (a1-10) the gripper mechanism descends along the vertical direction; the pre-opened gripper bends one side of the material downward during the falling process; Step (a1-20) the gripper pushes one side of the material to continue to bend the material; Step (a1-30) the pallet tongue in the pallet mechanism retracts (the pallet tongue is initially in the extended state); Step (a1-40) the gripper pushes the material again to continue to bend, so that the material continues to bend, and the gripper holds the material.

22. The method of claim 17, wherein, The step (a1) of picking up the material by the picking mechanism further comprises the following steps: Step (a1-a10) the gripper mechanism descends along the vertical direction; the pre-opened gripper bends one side of the material downward during the falling process; Step (a1-a20) the pallet tongue in the pallet mechanism extends (the pallet tongue is initially retracted); Step (a1-a30) the gripper pushes one side of the material to continue to bend the material; Step (a1-a30) the pallet tongue in the pallet mechanism retracts; Step (a1-a40) the gripper pushes the material again to continue to bend, so that the material continues to bend, and the gripper holds the material.

23. The method of claim 17, wherein, The step (a1) of picking up the material by the picking mechanism further comprises the following steps: Step (a1-b10) the shaping press plate descends along the vertical direction and holds the material; Step (a1-b20) the shaping press plate rises along the vertical direction and releases the material.

24. The method of claim 17, wherein, The step (a1) of picking up the material by the picking mechanism further comprises the following steps: Step (a1-03) the picking mechanism releases the material.

25. The method of claim 17, wherein, The step (a2) of arranging the material by the picking mechanism according to the preset pattern further comprises the following steps: Step (a2-10) the first horizontal arm drives the picked material to rotate along the horizontal direction.

26. The method of claim 17, wherein, The step (a2) of arranging the material by the picking mechanism according to the preset pattern further comprises the following steps: Step (a2-20) the material rotates along the horizontal direction with itself as the center.

27. The method of claim 17, wherein, The step (a3) of conveying the material to the storage mechanism by the picking mechanism further comprises the following steps: Step (a3-10) the gripper mechanism descends to a preset height; Step (a3-20) the gripper releases the material; Step (a3-30) the gripper mechanism rises.

28. The method of claim 27, wherein, The step (a3-10) of descending the gripper mechanism to a preset height further comprises: Step (a3-a10) the container top plate is lowered to a first preset height.

29. The method of claim 17, wherein, The step (a3) of the picking mechanism delivering the material to the storage mechanism further comprises the following steps: Step (a3-b10) when the material in the storage mechanism reaches a preset number, the position of one or more storage mechanisms is rotated.

30. The method of claim 17, wherein, The step (a3) of the picking mechanism delivering the material to the storage mechanism further comprises the following steps: Step (a3-c10) the clamping and flipping mechanism flips the material in the vertical direction.

31. The method of claim 30, wherein, The step (a3-c10) of the clamping and flipping mechanism flipping the material in the vertical direction further comprises the following steps: Step (a3-c1010) the clamping and flipping assembly moves horizontally to a second preset position, at which time the material is between the upper and lower clamping forks; Step (a3-c1020) the clamping and flipping assembly clamps the material; Step (a3-c1030) the clamping and flipping assembly flips the material; Step (a3-c1040) the clamping and flipping assembly releases the material; Step (a3-c1050) the clamping and flipping assembly moves horizontally to a third preset position.

32. The method of claim 31, wherein, The step (a3-c1020) of the clamping and flipping assembly clamping the material further comprises the following steps: Step (a3-c102010) the clamping and flipping assembly rises in the vertical direction; The step (a3-c1040) of the clamping and flipping assembly releasing the material further comprises the following steps: Step (a3-c104010) the clamping and flipping assembly descends in the vertical direction.

Images