Blister box filling apparatus

Abstract

The application provides a blister box loading equipment and relates to the technical field of packaging machinery. The equipment is designed to solve the problem of high labor intensity in the process of loading batteries and screw boxes into the same blister box. The equipment comprises a rack, a blister box feeding line, a battery feeding line, a screw box feeding line, a material taking manipulator, a box feeding mechanism, an opening and closing mechanism and a carrying mechanism, which are all installed on the rack. The rack is provided with an assembling station. The box feeding mechanism and the opening and closing mechanism are both arranged at the discharging end of the blister box feeding line, and the box feeding mechanism and the opening and closing mechanism are arranged on the two sides of the blister box feeding line. The opening and closing mechanism is arranged at the assembling station. The material taking manipulator is installed on the rack. The material taking manipulator is provided with a battery suction cup and a screw box suction cup. The material taking manipulator is configured to simultaneously take the battery on the battery feeding line and the screw box on the screw box feeding line to the assembling station. The carrying mechanism is used for carrying the assembled blister box out. The application can reduce the labor intensity.

Description

Technical Field

[0001] This invention relates to the field of packaging machinery technology, and more specifically, to a blister packing device. Background Technology

[0002] Blister boxes are widely used in the plastic packaging industry. They have advantages such as light weight, convenient transportation and good sealing. They can package various irregularly shaped products, and no additional cushioning material is needed after packing, which facilitates modern management.

[0003] In the battery packaging process, the battery and screw box need to be packed into the same blister pack. However, in the existing technology, the process of packing the battery and screw box into the blister pack is usually done manually, which is not only inefficient but also labor-intensive. Summary of the Invention

[0004] The purpose of this invention is to provide a blister packing device to solve the technical problem of high labor intensity in the existing process of packing batteries and screw boxes into the same blister pack.

[0005] The blister box filling equipment provided by this invention includes a frame and blister box feeding lines, battery feeding lines, screw box feeding lines, a picking robot, a box feeding mechanism, an opening and closing mechanism, and a transport mechanism, all mounted on the frame. The blister box feeding lines and battery feeding lines extend along a first horizontal direction, and the screw box feeding line extends along a second horizontal direction perpendicular to the first horizontal direction. The frame is provided with an assembly station. The box feeding mechanism and the opening and closing mechanism are both located at the outlet end of the blister box feeding lines, and are respectively located on both sides of the blister box feeding lines. The opening and closing mechanism is located at the assembly station. The box feeding mechanism is used to... The blister packs from the blister pack feeding line are pushed along the second horizontal direction to the opening and closing mechanism, which is used to open or close the blister packs. The material handling robot is mounted on the frame and is equipped with a battery suction cup and a screw box suction cup. The battery suction cup and the screw box suction cup are spaced apart in the horizontal direction, and the distance between the battery suction cup and the screw box suction cup is equal to the distance between the discharge end of the battery feeding line and the discharge end of the screw box feeding line. The material handling robot is configured to simultaneously pick up the batteries from the battery feeding line and the screw boxes from the screw box feeding line to the assembly station. The transport mechanism is used to transport the assembled blister packs out.

[0006] Furthermore, the blister box filling equipment also includes a defective product discharge line, which is arranged in a cross shape with the blister box feeding line and is located above the blister box feeding line; the picking robot is equipped with a vision detection component, which can detect defective products in both the battery and the screw box, and the picking robot can transfer the defective products in both the battery and the screw box to the defective product discharge line.

[0007] Furthermore, the blister pack filling equipment also includes a fire extinguishing sandbox, which is installed on the frame; the fire extinguishing sandbox includes a box body and a sand hopper rotatably disposed on the box body, the sand hopper is filled with sand, the sand hopper has a fire extinguishing position that can pour the sand into the box body, and a standby position that keeps the sand in the sand hopper; the material handling robot can put abnormal batteries into the box body.

[0008] Furthermore, the blister box filling equipment also includes a hopper assembly, which is located at the inlet end of the blister box feeding line and above it. The hopper assembly includes a blister box hopper and two sets of cylinder assemblies. The blister box hopper includes a support plate and multiple columns fixedly mounted on the support plate. The multiple columns surround a plurality of stacked blister boxes. The support plate has a bottom opening that allows the blister boxes in the blister box hopper to fall onto the blister box feeding line. The two sets of cylinder assemblies are respectively located on both sides of the blister box hopper along the second horizontal direction. Each set of cylinder assemblies includes an upper material-supporting cylinder and a lower material-distributing cylinder. The cylinder rod of the upper material-supporting cylinder is fixedly connected to a material-supporting plate, and the cylinder rod of the lower material-distributing cylinder is fixedly connected to a material-distributing plate. Both the material-supporting plate and the material-distributing plate face the blister box hopper.

[0009] Furthermore, there are multiple blister box hoppers, which are closely arranged along the first horizontal direction. Each blister box hopper is provided with the cylinder assembly on both sides along the second horizontal direction. The number of bottom openings is the same as the number of blister box hoppers, and the multiple bottom openings are respectively provided in one-to-one correspondence with the multiple blister box hoppers.

[0010] Furthermore, the material handling robot also includes a four-axis robot, a suction cup mounting plate, a mounting base plate, a guide shaft, a limiting plate, a helical spring, and a pressure sensor. The suction cup mounting plate is fixedly connected to the end shaft of the four-axis robot. The mounting base plate is located below the suction cup mounting plate. The guide shaft is fixedly connected to the mounting base plate and passes through a guide hole in the suction cup mounting plate. The limiting plate is located above the suction cup mounting plate and is fixedly connected to the guide shaft. The helical spring is sleeved on the guide shaft, with its lower end abutting against the upper surface of the mounting base plate and its upper end abutting against the lower surface of the suction cup mounting plate. The pressure sensor is disposed between the mounting base plate and the suction cup mounting plate, and its sensing end is fixedly connected to the mounting base plate. The battery suction cup is disposed on the mounting base plate.

[0011] Furthermore, the material handling robot also includes a vertical moving slide, the fixed end of which is fixedly connected to the suction cup mounting plate, and the screw box suction cup is fixedly connected to the sliding end of the vertical moving slide.

[0012] Furthermore, the opening and closing mechanism includes a loading platform, a translation cylinder, a rotating connecting plate, an opening and closing suction cup, and a discharge platform. The loading platform is fixedly disposed at the assembly station, and a fixed suction cup is provided on the bearing surface of the loading platform. The translation cylinder is disposed on one side of the loading platform along the first horizontal direction, and the discharge platform is disposed on the other side of the loading platform along the first horizontal direction. The translation cylinder is used to push the blister pack of the loading platform to the discharge platform. The rotating connecting plate has an open position at an angle to the bearing surface of the loading platform and a closed position parallel to the bearing surface of the loading platform. The opening and closing suction cup is fixedly disposed on the surface of the rotating connecting plate facing the loading platform.

[0013] Furthermore, the opening and closing mechanism also includes a first guide bar, a second guide bar, and a lifting cylinder, wherein the first guide bar and the second guide bar both extend along the second horizontal direction, and the first guide bar is fixedly connected to the cylinder rod of the translation cylinder; the lifting cylinder is disposed between the loading platform and the unloading platform, and the cylinder rod of the lifting cylinder extends upward, and the second guide bar is fixedly connected to the cylinder rod of the lifting cylinder; the first guide bar and the second guide bar are used to guide the blister box into the loading platform.

[0014] Furthermore, the discharge platform includes a first sheet metal support and a second sheet metal support, which are spaced apart along the second horizontal direction; the transport mechanism includes a transport linear module, a transport rotary cylinder, and a clamping cylinder, the transport linear module extends along the first horizontal direction, the transport rotary cylinder is installed at the linear output end of the transport linear module, the clamping cylinder is installed at the rotary output end of the transport rotary cylinder, and the two clamps of the clamping cylinder can extend between the first sheet metal support and the second sheet metal support.

[0015] The beneficial effects of the blister box filling equipment of this invention are:

[0016] By setting up a blister packing equipment mainly composed of a frame, blister pack feeding line, battery feeding line, screw box feeding line, picking robot, box feeding mechanism, opening and closing mechanism, and transport mechanism, when batteries and screw boxes need to be packed into the same blister pack, the blister pack feeding line feeds the blister pack, allowing it to flow along the line to the discharge end. For the blister packs flowing to the discharge end of the blister pack feeding line, the box feeding mechanism pushes them to the opening and closing mechanism at the assembly station, where the opening and closing mechanism opens the blister pack. At the same time, the picking robot uses battery suction cups and screw box suction cups to simultaneously pick up batteries from the battery feeding line and screw boxes from the screw box feeding line, transferring the batteries and screw boxes to the assembly station. The process involves first placing the battery into the battery slot of the blister pack. Then, using an opening and closing mechanism, the blister pack is closed, allowing the battery to be secured in the battery slot. Next, the blister pack is opened using the same mechanism, and the screw box is placed into its screw box slot. The blister pack is then closed again using the same mechanism, allowing the screw box to be secured in its screw box slot. This completes the loading of the battery and screw box into the blister pack. At this point, both the battery and screw box are inside the blister pack, and the lid is closed. Finally, a transport mechanism is used to remove the assembled blister pack.

[0017] Therefore, this blister packing equipment can not only smoothly assemble batteries and screw boxes into the same blister pack, with minimal human intervention required during the assembly process, thus effectively reducing the labor intensity of operators, but also, by setting the distance between the battery suction cup and the screw box suction cup to be equal to the distance between the discharge ends of the battery supply line and the screw box supply line, the picking robot can simultaneously pick up batteries and screw boxes, enabling simultaneous transfer of batteries and screw boxes to the assembly station and reducing the reciprocating frequency of the picking robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the blister packing equipment provided in an embodiment of the present invention;

[0020] Figure 2 This is a top view of the blister packing equipment provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the blister box feeding line and hopper assembly of the blister box filling equipment provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the material handling robot of the blister box filling equipment provided in an embodiment of the present invention;

[0023] Figure 5 for Figure 4 Enlarged view of the local structure at point A;

[0024] Figure 6 This is a schematic diagram of the feeding mechanism and opening / closing mechanism of the blister box filling equipment provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the transport mechanism of the blister packing equipment provided in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100 - Frame; 200 - Blister box feeding line; 300 - Battery feeding line; 400 - Screw box feeding line; 500 - Picking robot; 600 - Box feeding mechanism; 700 - Opening and closing mechanism; 800 - Carrying mechanism; 900 - Defective product discharge line;

[0028] 110 - Fire extinguishing sandbox; 111 - Box body; 112 - Sand bucket;

[0029] 210-Materials hopper assembly; 211-Blister box hopper; 2111-Support plate; 2112-Column; 2113-Bottom opening; 212-Cylinder assembly; 2121-Upper layer material support cylinder; 2122-Material support plate; 2123-Lower layer material distribution cylinder; 2124-Material distribution plate; 220-Material stop bar; 230-Box feeding sensor;

[0030] 510-Battery suction cup; 520-Screw box suction cup; 530-Vision inspection component; 540-Four-axis robot; 511-Suction cup mounting plate; 512-Mounting base plate; 513-Guide shaft; 514-Limit plate; 515-Pressure sensor; 521-Vertical moving slide; 541-End pivot;

[0031] 710 - Loading platform; 720 - Translation cylinder; 730 - Rotating connecting plate; 740 - Discharge platform; 741 - First sheet metal support component; 742 - Second sheet metal support component; 750 - First guide bar; 760 - Second guide bar; 770 - Lifting cylinder; 780 - Opening and closing rotary cylinder;

[0032] 810 - Carrying linear module; 820 - Carrying rotary cylinder; 830 - Clamping cylinder; 840 - Gripper. Detailed Implementation

[0033] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0034] Figure 1 This is a schematic diagram of the blister packing equipment provided in this embodiment; Figure 2 This is a top view of the blister packing equipment provided in this embodiment. Figure 1 and Figure 2As shown, this embodiment provides a blister packing device, including a frame 100 and blister pack feeding line 200, battery feeding line 300, screw box feeding line 400, a material handling robot 500, a box feeding mechanism 600, an opening and closing mechanism 700, and a transport mechanism 800, all mounted on the frame 100. Specifically, the blister pack feeding line 200 and the battery feeding line 300 extend along a first horizontal direction, and the screw box feeding line 400 extends along a second horizontal direction perpendicular to the first horizontal direction. The frame 100 is provided with an assembly station. The box feeding mechanism 600 and the opening and closing mechanism 700 are both located at the outlet end of the blister pack feeding line 200, and the box feeding mechanism 600 and the opening and closing mechanism 700 are respectively located on both sides of the blister pack feeding line 200. The opening and closing mechanism 700 is located at the assembly station. The feeding mechanism 600 pushes the blister boxes from the blister box feeding line 200 along the second horizontal direction to the opening and closing mechanism 700, which is used to open or close the blister boxes. The picking robot 500 is mounted on the frame 100 and is equipped with a battery suction cup 510 and a screw box suction cup 520. The battery suction cup 510 and the screw box suction cup 520 are spaced apart in the horizontal direction, and the distance between the battery suction cup 510 and the screw box suction cup 520 is equal to the distance between the discharge end of the battery feeding line 300 and the discharge end of the screw box feeding line 400. The picking robot 500 is configured to simultaneously pick up the batteries from the battery feeding line 300 and the screw boxes from the screw box feeding line 400 to the assembly station. The transport mechanism 800 is used to transport the assembled blister boxes out.

[0035] It should be noted that in this embodiment, the "first horizontal direction" can be determined by... Figure 1 and Figure 2 The arrow ab in the diagram represents the "second horizontal direction," which can be represented by... Figure 1 and Figure 2 The arrow cd in the diagram represents this.

[0036] When batteries and screw boxes need to be packed into the same blister pack, the blister pack feeding line 200 feeds the blister pack, causing it to flow along the line to the discharge end. For the blister packs that have reached the discharge end of the blister pack feeding line 200, the pack feeding mechanism 600 pushes them to the opening and closing mechanism 700 at the assembly station, where the blister pack is opened. Simultaneously, the picking robot 500 uses the battery suction cup 510 and the screw box suction cup 520 to simultaneously pick up the batteries from the battery feeding line 300 and the screw boxes from the screw box feeding line 400, transferring them to the assembly station. The process involves first placing the battery into the battery slot of the blister pack, then using the opening and closing mechanism 700 to close the blister pack, allowing the battery to be secured in the battery slot. Next, the opening and closing mechanism 700 is used to open the blister pack, and the screw box is placed into its screw box slot. The opening and closing mechanism 700 is then used again to close the blister pack, allowing the screw box to be secured in its screw box slot. This completes the loading of the battery and screw box into the blister pack. At this point, both the battery and screw box are inside the blister pack, and the lid is closed. Finally, the transport mechanism 800 transports the assembled blister pack out.

[0037] Therefore, this blister packing equipment can not only smoothly assemble batteries and screw boxes into the same blister pack, but also achieve the assembly process without much human intervention, thus effectively reducing the labor intensity of operators. Furthermore, by setting the distance between the battery suction cup 510 and the screw box suction cup 520 to be equal to the distance between the discharge end of the battery feeding line 300 and the discharge end of the screw box feeding line 400, the picking robot 500 can simultaneously pick up batteries and screw boxes, thereby achieving the simultaneous transfer of batteries and screw boxes to the assembly station and reducing the reciprocating frequency of the picking robot 500.

[0038] Please continue to refer to Figure 2 In this embodiment, the blister box feeding line 200 and the battery feeding line 300 are both located on the same side of the frame 100. This arrangement can reduce the occupation of the lateral space of the frame 100, thereby reducing the volume of the blister box filling equipment.

[0039] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the blister box filling equipment may further include a defective product discharge line 900. Specifically, the defective product discharge line 900 and the blister box feeding line 200 are arranged in a cross shape, and the defective product discharge line 900 is located above the blister box feeding line 200. The picking robot 500 is equipped with a vision detection component 530, which can detect defective products in both the battery and the screw box. The picking robot 500 can transfer the defective products in both the battery and the screw box to the defective product discharge line 900.

[0040] During operation, when the blister packing equipment moves to the positions of the battery feeding line 300 and the screw box feeding line 400, specifically: the battery suction cup 510 of the blister packing equipment is positioned above the battery at the discharge end of the battery feeding line 300, and the screw box suction cup 520 of the blister packing equipment is positioned above the screw box at the discharge end of the screw box feeding line 400, and the battery suction cup 510 picks up the battery and the screw box suction cup 520 picks up the screw box, the vision inspection component 530 takes pictures of the battery and screw box picked up by the blister packing equipment. When there are defective products in the battery and screw box, the blister packing equipment will move them to the top of the defective product discharge line 900 and discharge them using the defective product discharge line 900. Among them, batteries and screw boxes that are confirmed as qualified by the vision inspection component 530 are transferred to the assembly station by the picking robot 500 and placed in the blister box at the assembly station to realize the loading operation of the blister box.

[0041] This blister packing equipment, by incorporating the aforementioned defective product discharge line 900, can promptly remove substandard batteries and screw boxes during the assembly process, preventing them from being mistakenly installed into the blister packs. Furthermore, by positioning the defective product discharge line 900 above the blister pack feeding line 200 and arranging it in a cross shape with the feeding line 200, effective utilization of the upper space of the frame 100 is achieved, thus contributing to a more compact structural design for the blister packing equipment.

[0042] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the blister packing equipment may further include a fire extinguishing sandbox 110. Specifically, the fire extinguishing sandbox 110 is installed on the frame 100. The fire extinguishing sandbox 110 includes a box body 111 and a sand hopper 112 rotatably disposed on the box body 111. The sand hopper 112 is filled with sand. The sand hopper 112 has a fire extinguishing position that can pour the sand into the box body 111 and a standby position where the sand is held in the sand hopper 112. The material handling robot 500 can put the abnormal battery into the box body 111.

[0043] When a battery exhibits abnormal behavior such as smoking or catching fire, the material handling robot 500 will move the battery with the abnormal behavior to the fire extinguishing sand box 110, throw it into the box 111, and use the rotation of the sand bucket 112 to pour sand into the box 111 to cover the battery.

[0044] The aforementioned fire-extinguishing sandbox 110 enables the disposal of abnormal batteries, thereby effectively preventing fires from occurring during the operation of the blister packing equipment.

[0045] It should be noted that in this embodiment, a protective cover can be installed above the frame 100, forming a mounting cavity between the protective cover and the upper surface of the frame 100. By installing a thermal imager in the mounting cavity, it is possible to detect whether any abnormal phenomena such as smoke or fire occur in the batteries. This allows for the control of the material handling robot 500 to handle the batteries. Batteries that may exhibit abnormalities originate from the battery supply line 300. The thermal imager can be positioned directly opposite the discharge end of the battery supply line 300 to detect incoming batteries.

[0046] Figure 3 This is a schematic diagram of the blister box feeding line 200 and the hopper assembly 210 of the blister box filling equipment provided in this embodiment. Please continue to refer to... Figure 1 and Figure 2 and combined Figure 3 In this embodiment, the blister box filling equipment may further include a hopper assembly 210. Specifically, the hopper assembly 210 is disposed at the inlet end of the blister box feeding line 200 and is located above the blister box feeding line 200. The hopper assembly 210 includes a blister box hopper 211 and two sets of cylinder assemblies 212. The blister box hopper 211 includes a support plate 2111 and multiple columns 2112 fixedly disposed on the support plate 2111. The multiple columns 2112 surround a plurality of stacked blister boxes. The support plate 2111 is provided with a bottom opening 21. 13. The bottom opening 2113 allows the blister box in the blister box hopper 211 to fall to the blister box feeding line 200; two sets of cylinder assemblies 212 are respectively arranged on both sides of the blister box hopper 211 along the second horizontal direction. Each set of cylinder assemblies 212 includes an upper material support cylinder 2121 and a lower material distribution cylinder 2123. The cylinder rod of the upper material support cylinder 2121 is fixedly connected to a material support plate 2122, and the cylinder rod of the lower material distribution cylinder 2123 is fixedly connected to a material distribution plate 2124. The material support plate 2122 and the material distribution plate 2124 both face the blister box hopper 211.

[0047] In its initial state, the material hopper assembly 210 has its supporting plate 2122, connected to the upper supporting cylinder 2121, extending into the blister box hopper 211, and its distributing plate 2124, connected to the lower distributing cylinder 2123, also extending into the blister box. Operators can place multiple stacked blister boxes into the blister box hopper 211, supported by the supporting plate 2122 of the upper supporting cylinder 2121. Subsequently, the upper supporting cylinders 2121 on both sides of the blister box hopper 211 retract the supporting plate 2122, and the lower distributing cylinders 2123 on both sides of the blister box hopper 211 retract the distributing plate 2124. The material distribution plates 2124 on both sides extend to support the blister packs. Then, the upper material support cylinders 2121 on both sides drive the material support plates 2122 to extend. At this time, the material support plates 2122 insert between the bottommost blister pack and the second-bottommost blister pack, distributing the material to the bottommost blister pack. Finally, the lower material distribution cylinders 2123 drive the material distribution plates 2124 to retract, releasing the supporting effect on the bottommost blister pack, allowing the bottommost blister pack to fall under its own weight through the bottom opening 2113 of the support plate 2111 to the blister pack supply line 200 for transfer. This process is repeated to feed each blister pack in the blister pack hopper 211 to the blister pack supply line 200.

[0048] This configuration of the hopper assembly 210 not only enables the temporary storage of multiple stacked blister packs, allowing operators to replenish blister packs to the hopper assembly 210 in a concentrated manner, thereby reducing the frequency of blister pack replenishment, but also enables the automatic feeding of blister packs using the cylinder assembly 212, and avoids adhesion between any two adjacent blister packs, thereby improving the operational reliability of the blister pack loading equipment in this embodiment.

[0049] Please continue to refer to Figure 3 In this embodiment, a baffle bar 220 is provided at the discharge end of the blister box feeding line 200. The baffle bar 220 can block the blister box feeding line 200 at the discharge end to prevent the blister box from falling off the blister box feeding line 200.

[0050] Please continue to refer to Figure 3 In this embodiment, a box-feeding sensor 230 is provided on the side of the baffle bar 220 facing the hopper assembly 210, and the box-feeding sensor 230 is electrically connected to the box-feeding mechanism 600. When the blister box moves along the conveyor belt to the position of the baffle bar 220, the box-feeding sensor 230 senses the blister box and sends a signal to the controller of the blister box filling equipment. The controller then controls the box-feeding mechanism 600 to move, pushing the blister box towards the opening and closing mechanism 700. This arrangement enables automatic advancement of the blister box towards the opening and closing mechanism 700 after it has moved into position.

[0051] In this embodiment, the box feeding mechanism 600 may include a cylinder.

[0052] Please continue to refer to Figure 3 In this embodiment, there are multiple blister box material bins 211, which are arranged closely along the first horizontal direction. Each blister box material bin 211 is provided with a cylinder assembly 212 on both sides along the second horizontal direction. The number of bottom openings 2113 is the same as the number of blister box material bins 211, and the multiple bottom openings 2113 are respectively provided in a one-to-one correspondence with the multiple blister box material bins 211.

[0053] By setting up multiple blister box hoppers 211 closely arranged along the first horizontal direction, on the one hand, the capacity of the hopper assembly 210 can be increased, allowing the hopper assembly 210 to temporarily store more blister boxes, thereby further reducing the frequency of manual replenishment. On the other hand, multiple blister boxes can be fed to the blister box feeding line 200 at the same time, improving feeding efficiency.

[0054] In this embodiment, there are six blister pack hoppers 211.

[0055] Figure 4 This is a schematic diagram of the material handling robot 500 of the blister box filling equipment provided in this embodiment; Figure 5 for Figure 4 A magnified view of the local structure at point A in the middle. (See image below.) Figure 4 and Figure 5 As shown, in this embodiment, the material handling robot 500 also includes a four-axis robot 540, a suction cup mounting plate 511, a mounting base plate 512, a guide shaft 513, a limiting plate 514, a helical spring, and a pressure sensor 515. The suction cup mounting plate 511 is fixedly connected to the end shaft 541 of the four-axis robot 540; the mounting base plate 512 is located below the suction cup mounting plate 511; the guide shaft 513 is fixedly connected to the mounting base plate 512, and the guide shaft 513 passes through the guide hole of the suction cup mounting plate 511, limiting... Position plate 514 is located above suction cup mounting plate 511, and limiting plate 514 is fixedly connected to guide shaft 513; helical spring is sleeved on guide shaft 513, the lower end of helical spring abuts against the upper surface of mounting base plate 512, and the upper end of helical spring abuts against the lower surface of suction cup mounting plate 511; pressure sensor 515 is disposed between mounting base plate 512 and suction cup mounting plate 511, and sensing end of pressure sensor 515 is fixedly connected to mounting base plate 512; battery suction cup 510 is disposed on mounting base plate 512.

[0056] When the robotic arm 500 picks up a battery from the battery supply line 300, during its downward movement, when the battery suction cup 510 comes into contact with the battery, the battery is subjected to pressure from the suction cup 510. According to the relationship between action and reaction forces, the battery suction cup 510 will then experience an upward force from the battery. This force causes the helical spring to compress and deform, thus buffering the rigid impact between the battery suction cup 510 and the battery. Simultaneously, the pressure sensor 515 detects the pressure on the battery suction cup 510 to reflect the pressure exerted on the battery by the suction cup 510. Based on the display result of the pressure sensor 515, the downward movement stroke of the robotic arm 500 is controlled.

[0057] The configuration of the picking robot 500 serves two purposes: firstly, it buffers the impact between the battery suction cup 510 and the battery, reducing the pressure on the battery and thus protecting it; secondly, it senses the pressure on the battery and adjusts the downward movement of the picking robot 500 accordingly, preventing damage to the battery due to excessive pressure.

[0058] Please continue to refer to Figure 4 and Figure 5 In this embodiment, the material handling robot 500 may also include a vertical moving slide 521. Specifically, the fixed end of the vertical moving slide 521 is fixedly connected to the suction cup mounting plate 511, and the screw box suction cup 520 is fixedly connected to the sliding end of the vertical moving slide 521.

[0059] The aforementioned vertical moving slide 521 can compensate for the height difference between the battery feeding line 300 and the screw box feeding line 400, enabling the four-axis robot 540 to simultaneously pick up the battery and screw box in one positioning.

[0060] It should be noted that in this embodiment, the four-axis robot 540 is an outsourced component, and its structure and working principle can be obtained by those skilled in the art based on existing technology. This embodiment does not make any improvements to it, so it will not be described in detail here.

[0061] Figure 6 This is a structural diagram of the feeding mechanism 600 and the opening / closing mechanism 700 of the blister box filling equipment provided in this embodiment. Figure 6As shown, in this embodiment, the opening and closing mechanism 700 may include a loading platform 710, a translation cylinder 720, a rotating connecting plate 730, an opening and closing suction cup, and a discharge platform 740. Specifically, the loading platform 710 is fixedly disposed at the assembly station, and a fixed suction cup is provided on the bearing surface of the loading platform 710; the translation cylinder 720 is disposed on one side of the loading platform 710 along the first horizontal direction, and the discharge platform 740 is disposed on the other side of the loading platform 710 along the first horizontal direction. The translation cylinder 720 is used to push the blister pack of the loading platform 710 to the discharge platform 740; the rotating connecting plate 730 has an open position that is at an angle to the bearing surface of the loading platform 710, and a closed position that is parallel to the bearing surface of the loading platform 710; the opening and closing suction cup is fixedly disposed on the surface of the rotating connecting plate 730 facing the loading platform 710.

[0062] When the feeding sensor 230, located at the discharge end of the blister box feeding line 200, detects that a blister box has arrived at its designated position, the feeding mechanism 600 actuates, pushing the blister box to the assembly loading table 710. The assembly loading table 710's fixed suction cups are evacuated to secure the blister box entering the assembly loading table 710. During this process, the rotating connecting plate 730 is in the open position. Then, the rotating connecting plate 730 switches from the open position to the lid-fastening position, using the opening and closing suction cups on the rotating connecting plate 730 to adhere the lid of the blister box. Finally, the rotating connecting plate 730 switches from the lid-fastening position to the open position, causing the opening and closing suction cups to move the blister box. The top cover of the blister pack is rotated open; after the robotic arm 500 places the battery into the blister pack, the rotating connecting plate 730 rotates to the cover-fastening position, assembling the battery in the blister pack; then, the rotating connecting plate 730 rotates to the open position again, opening the top cover of the blister pack; after the robotic arm 500 places the screw box into the blister pack, the rotating connecting plate 730 rotates to the cover-fastening position, assembling the screw box in the blister pack, thus completing the assembly of the battery, screw box, and blister pack; finally, the translation cylinder 720 moves, pushing the assembled blister pack towards the discharge platform 740, where the discharge platform 740 is used to discharge the battery.

[0063] The design of the opening and closing mechanism 700 ensures the reliability of the assembly of the battery, screw box, and blister box.

[0064] Please continue to refer to Figure 6 In this embodiment, the rotating connecting plate 730 is driven to rotate by the opening and closing rotating cylinder 780.

[0065] Please continue to refer to Figure 6In this embodiment, the opening and closing mechanism 700 may further include a first guide bar 750, a second guide bar 760, and a lifting cylinder 770. The first guide bar 750 and the second guide bar 760 both extend along a second horizontal direction. The first guide bar 750 is fixedly connected to the cylinder rod of the translation cylinder 720. The lifting cylinder 770 is disposed between the loading platform 710 and the unloading platform 740, and the cylinder rod of the lifting cylinder 770 extends upward. The second guide bar 760 is fixedly connected to the cylinder rod of the lifting cylinder 770. The first guide bar 750 and the second guide bar 760 are used to guide the blister box into the loading platform 710.

[0066] Before the box feeding mechanism 600 pushes the blister box towards the assembly loading platform 710, the cylinder rod of the lifting cylinder 770 extends upward. At this time, the first guide bar 750 and the second guide bar 760 are spaced apart along the first horizontal direction. During the process of the box feeding mechanism 600 pushing the blister box towards the assembly loading platform 710, the first guide bar 750 and the second guide bar 760 guide the blister box so that it can accurately enter the assembly loading platform 710 and prevent the blister box from falling off the sides of the assembly loading platform 710. After the assembly of the battery, screw box and blister box is completed, the cylinder rod of the lifting cylinder 770 retracts downward, causing the second guide bar 760 to exit the movement path of the blister box from the assembly loading platform 710 to the discharge platform 740. Thus, the translation cylinder 720 pushes the assembled blister box from the assembly loading platform 710 to the discharge platform 740.

[0067] In the above process, the first guide bar 750 can not only guide the blister box, but also form a force transmission component between the cylinder rod of the translation cylinder 720 and the blister box during the process of the translation cylinder 720 pushing the blister box. This increases the force distribution area between the translation cylinder 720 and the blister box, so that at least most of the edges of the blister box can be pushed by the translation cylinder 720, thereby preventing the blister box from rotating during its movement toward the discharge platform 740 and ensuring the reliability of the blister box's movement toward the discharge platform 740.

[0068] Please continue to refer to Figure 6 In this embodiment, the discharge platform 740 may include a first sheet metal support 741 and a second sheet metal support 742, wherein the first sheet metal support 741 and the second sheet metal support 742 are spaced apart along a second horizontal direction.

[0069] Figure 7 This is a structural schematic diagram of the conveying mechanism 800 of the blister packing equipment provided in this embodiment. Figure 7As shown, the transport mechanism 800 includes a transport linear module 810, a transport rotary cylinder 820, and a clamping cylinder 830. Specifically, the transport linear module 810 extends along a first horizontal direction, the transport rotary cylinder 820 is installed at the linear output end of the transport linear module 810, and the clamping cylinder 830 is installed at the rotary output end of the transport rotary cylinder 820. The two grippers 840 of the clamping cylinder 830 can extend between the first sheet metal support 741 and the second sheet metal support 742.

[0070] After the translation cylinder 720 pushes the assembled blister box to the first sheet metal support 741 and the second sheet metal support 742, the transport linear module 810 drives the transport rotary cylinder 820 to move towards the assembly station, so that the two grippers 840 of the clamping cylinder 830 extend between the first sheet metal support 741 and the second sheet metal support 742 to clamp the assembled blister box; then, the transport linear module 810 drives the transport rotary cylinder 820 to move in the opposite direction, so that the blister box moves away from the first sheet metal support 741 and the second sheet metal support 742. During this process, the transport rotary cylinder 820 drives the grippers 840 to rotate, so that the blister box flips off the production line.

[0071] This configuration of the unloading platform 740 not only ensures reliable support for the blister pack, but also creates space between the first sheet metal support member 741 and the second sheet metal support member 742 to allow the gripper 840 of the rotating cylinder to pass through, enabling the gripper 840 to extend into the unloading platform 740 to hold the blister pack. This configuration of the conveying mechanism 800 allows for the flipping and unloading of the assembled blister pack, and the gripping action of the gripper 840 during unloading prevents the blister pack from accidentally opening.

[0072] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0073] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] In the above embodiments, descriptions of directions such as "up", "down", and "side" are based on the accompanying drawings.

[0075] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A blister packing device, characterized in that, The system includes a frame (100) and, mounted on the frame (100), a blister box feeding line (200), a battery feeding line (300), a screw box feeding line (400), a picking robot (500), a box feeding mechanism (600), an opening and closing mechanism (700), and a transport mechanism (800). The blister box feeding line (200) and the battery feeding line (300) both extend along a first horizontal direction, and the screw box feeding line (400) extends along the same horizontal direction as the first horizontal direction. A second horizontal direction extends perpendicular to a horizontal direction; the frame (100) is provided with an assembly station, the box feeding mechanism (600) and the opening and closing mechanism (700) are both provided at the discharge end of the blister box feeding line (200), and the box feeding mechanism (600) and the opening and closing mechanism (700) are respectively provided on both sides of the blister box feeding line (200), the opening and closing mechanism (700) is provided at the assembly station, and the box feeding mechanism (600) is used to feed the blister box into the assembly station. The blister packs from the blister pack feeding line (200) are pushed along the second horizontal direction to the opening and closing mechanism (700), which is used to open or close the blister packs; the material handling robot (500) is mounted on the frame (100), and the material handling robot (500) is equipped with a battery suction cup (510) and a screw box suction cup (520), which are spaced apart horizontally. The distance between the battery suction cup (510) and the screw box suction cup (520) is equal to the distance between the discharge end of the battery supply line (300) and the discharge end of the screw box supply line (400). The picking robot (500) is configured to simultaneously pick up the battery from the battery supply line (300) and the screw box from the screw box supply line (400) to the assembly station. The transport mechanism (800) is used to transport the assembled blister box out. The opening and closing mechanism (700) includes a loading platform (710), a translation cylinder (720), a rotating connecting plate (730), an opening and closing suction cup, and a discharge platform (740). The loading platform (710) is fixedly installed at the assembly station, and a fixed suction cup is provided on the bearing surface of the loading platform (710). The translation cylinder (720) is located on one side of the loading platform (710) along the first horizontal direction, and the discharge platform (740) is located on the loading platform (710). 710) On the other side of the first horizontal direction, the translation cylinder (720) is used to push the blister pack of the loading platform (710) to the discharge platform (740); the rotating connecting plate (730) has an open position at an angle to the bearing surface of the loading platform (710) and a closed position parallel to the bearing surface of the loading platform (710); the opening and closing suction cup is fixedly disposed on the surface of the rotating connecting plate (730) facing the loading platform (710); The opening and closing mechanism (700) further includes a first guide bar (750), a second guide bar (760), and a lifting cylinder (770). The first guide bar (750) and the second guide bar (760) both extend along the second horizontal direction. The first guide bar (750) is fixedly connected to the cylinder rod of the translation cylinder (720). The lifting cylinder (770) is disposed between the loading platform (710) and the discharge platform (740), and the cylinder rod of the lifting cylinder (770) extends upward. The second guide bar (760) is fixedly connected to the cylinder rod of the lifting cylinder (770). The first guide bar (750) and the second guide bar (760) are used to guide the blister box into the loading platform (710).

2. The blister packing equipment according to claim 1, characterized in that, The blister packing equipment also includes a defective product discharge line (900), which is arranged in a cross shape with the blister pack feeding line (200) and is located above the blister pack feeding line (200). The picking robot (500) is equipped with a vision detection component (530), which can detect defective products in both the battery and the screw box. The picking robot (500) can transfer the defective products in both the battery and the screw box to the defective product discharge line (900).

3. The blister packing equipment according to claim 1, characterized in that, The blister pack filling equipment also includes a fire extinguishing sandbox (110), which is installed on the frame (100). The fire extinguishing sandbox (110) includes a box body (111) and a sand hopper (112) rotatably disposed on the box body (111). The sand hopper (112) is filled with sand. The sand hopper (112) has a fire extinguishing position that can pour the sand into the box body (111) and a standby position where the sand is held in the sand hopper (112). The material handling robot (500) can put the abnormal battery into the box body (111).

4. The blister box filling equipment according to claim 1, characterized in that, The blister pack filling equipment also includes a hopper assembly (210), which is located at the inlet end of the blister pack feeding line (200) and above it. The hopper assembly (210) includes a blister pack hopper (211) and two sets of cylinder assemblies (212). The blister pack hopper (211) includes a support plate (2111) and multiple columns (2112) fixedly mounted on the support plate (2111). The multiple columns (2112) surround a plurality of stacked blister packs. The support plate (2111) is provided with a bottom opening (2113). 3) It can make the blister boxes in the blister box hopper (211) fall to the blister box feeding line (200); two sets of cylinder assemblies (212) are respectively arranged on both sides of the blister box hopper (211) along the second horizontal direction. Each set of cylinder assemblies (212) includes an upper material support cylinder (2121) and a lower material distribution cylinder (2123). The cylinder rod of the upper material support cylinder (2121) is fixedly connected to a material support plate (2122), and the cylinder rod of the lower material distribution cylinder (2123) is fixedly connected to a material distribution plate (2124). The material support plate (2122) and the material distribution plate (2124) are both facing the blister box hopper (211).

5. The blister box filling equipment according to claim 4, characterized in that, The number of blister box material bins (211) is multiple, and the multiple blister box material bins (211) are closely arranged along the first horizontal direction. Each blister box material bin (211) is provided with cylinder assemblies (212) on both sides along the second horizontal direction. The number of bottom openings (2113) is the same as the number of blister box material bins (211), and the multiple bottom openings (2113) are respectively provided in a one-to-one correspondence with the multiple blister box material bins (211).

6. The blister box filling equipment according to claim 1, characterized in that, The material handling robot (500) also includes a four-axis robot (540), a suction cup mounting plate (511), a mounting base plate (512), a guide shaft (513), a limiting plate (514), a helical spring, and a pressure sensor (515), wherein... The suction cup mounting plate (511) is fixedly connected to the end pivot (541) of the four-axis robot (540); the mounting base plate (512) is located below the suction cup mounting plate (511); the guide shaft (513) is fixedly connected to the mounting base plate (512); the guide shaft (513) passes through the guide hole of the suction cup mounting plate (511); the limiting plate (514) is located above the suction cup mounting plate (511); and the limiting plate (514) is fixedly connected to the guide shaft (513). The helical spring is sleeved on the guide shaft (513), the lower end of the helical spring abuts against the upper surface of the mounting base plate (512), and the upper end of the helical spring abuts against the lower surface of the suction cup mounting plate (511); the pressure sensor (515) is disposed between the mounting base plate (512) and the suction cup mounting plate (511), and the sensing end of the pressure sensor (515) is fixedly connected to the mounting base plate (512); the battery suction cup (510) is disposed on the mounting base plate (512).

7. The blister box filling equipment according to claim 6, characterized in that, The material handling robot (500) also includes a vertical moving slide (521), the fixed end of which is fixedly connected to the suction cup mounting plate (511), and the screw box suction cup (520) is fixedly connected to the sliding end of the vertical moving slide (521).

8. The blister box filling equipment according to claim 1, characterized in that, The discharge platform (740) includes a first sheet metal support (741) and a second sheet metal support (742), which are spaced apart along the second horizontal direction. The transport mechanism (800) includes a transport linear module (810), a transport rotary cylinder (820), and a clamping cylinder (830). The transport linear module (810) extends along the first horizontal direction. The transport rotary cylinder (820) is installed at the linear output end of the transport linear module (810). The clamping cylinder (830) is installed at the rotary output end of the transport rotary cylinder (820). The two grippers (840) of the clamping cylinder (830) can extend between the first sheet metal support (741) and the second sheet metal support (742).

Images