Full-automatic multi-station switching strip packaging and loading equipment

Abstract

This invention discloses a fully automatic multi-station switching strip packaging feeding device, comprising: a robotic arm, a tray unpacking station, a packing waiting buffer station, a packing station, a feeding waiting buffer station, a pushing station, a feeding station, and a first belt conveyor; the tray unpacking station, packing waiting buffer station, packing station, feeding waiting buffer station, pushing station, feeding station, and the first belt conveyor are distributed around the robotic arm; the packing station and the feeding waiting buffer station are located to the right of the first belt conveyor, and the feeding waiting buffer station is located in front of the packing station; the packing waiting buffer station and the pushing station are located to the left of the first belt conveyor, the output end of the packing waiting buffer station is aligned with the output end of the packing station, and the output end of the pushing station is aligned with the input end of the feeding waiting buffer station. The above equipment can achieve automatic tray unpacking, automatic packing, and automatic palletizing continuous operation, with high production efficiency and low strip packaging sterilization cost.

Description

Technical Field

[0001] This invention relates to the field of intelligent strip-package sterilization logistics system technology, and in particular to a fully automatic multi-station switching strip-package feeding device. Background Technology

[0002] Strip packages refer to long, narrow strips of packaging containing goods. They are widely used in the pharmaceutical and food industries, such as strip packages containing coffee powder or pharmaceutical granules. These types of long, narrow packaging strips are collectively called strip packages. The usage of strip packages is very large, especially in the pharmaceutical and food sectors, where the demand for sterilized strip packages is enormous. Traditional strip package sterilization logistics systems rely on manual or semi-automated operations, resulting in low efficiency, high labor intensity, and high production costs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a fully automatic multi-station switching strip packaging feeding device that realizes automatic unpacking, automatic packaging, and automatic palletizing.

[0004] Against the backdrop of intelligent manufacturing and in response to market demands, our company has developed an intelligent strip-pack sterilization logistics system. This system enables continuous logistics for strip pack loading, sterilization, unloading, and packaging, sterilizing large quantities of strip packs in a single operation, reducing the unit price of pharmaceuticals, and meeting customers' needs for sterilizing large quantities of strip packs. The fully automatic multi-station switching strip pack loading equipment described in this invention is part of the intelligent strip-pack sterilization logistics system. It is mainly used to automatically untie multi-layer sterilization trays that have not yet been loaded with strip packs after palletizing, then repack each unpacked sterilization tray, and finally re-palletize the repacked sterilization trays. The resulting multi-layer sterilization trays can then be placed into the sterilization cabinet for sterilization.

[0005] This solution describes a fully automatic multi-station switching strip packaging feeding device, comprising: a robotic arm, a tray unpacking station, a packing waiting buffer station, a packing station, a feeding waiting buffer station, a pushing station, a feeding station, and a first belt conveyor; a gripping part for grasping sterilization trays is provided at the front end of the robotic arm; the tray unpacking station, packing waiting buffer station, packing station, feeding waiting buffer station, pushing station, feeding station, and the first belt conveyor are distributed around the robotic arm; the packing station and the feeding waiting buffer station are both located to the right of the first belt conveyor that transports from back to front, and the feeding waiting buffer station is located at... In front of the packaging station; the packaging waiting buffer station and the pushing station are both located to the left of the first belt conveyor, and the output end of the packaging waiting buffer station is aligned with the output end of the packaging station. The first belt conveyor can receive the sterilization trays output from the output end of the packaging waiting buffer station, and the packaging station can load strip packages into the sterilization trays output from the output end of the packaging waiting buffer station to the first belt conveyor; the output end of the pushing station is aligned with the input end of the feeding waiting buffer station, and the pushing station can push the sterilization trays transported to the first belt conveyor between the pushing station and the feeding waiting buffer station to the right into the feeding waiting buffer station;

[0006] The sterilization tray is a rectangular frame structure with a longer side frame than a shorter side frame. Several grid plates are evenly distributed along the longer side frame inside the sterilization tray, thereby dividing the sterilization tray into several strip packaging slots. Each strip packaging slot can hold one strip package, and each strip packaging slot is perpendicular to the longer side frame of the sterilization tray.

[0007] The structure of the unpacking station includes: a first base, on which a first conveyor is installed to transport the stacked multi-layer sterilization trays from front to back; the rear section of the first conveyor is the gripping area of ​​the robotic arm. The structure of the packaging waiting buffer station includes: a second base, on which a second conveyor is installed to transport the sterilization trays from left to right; the left section of the second conveyor is the gripping area of ​​the robotic arm. The unpacking station contains stacked empty multi-layer sterilization trays. The robotic arm picks up the empty sterilization trays from the unpacking station and arranges them sequentially from right to left on the packaging waiting buffer station. The packaging waiting buffer station uses an intermittent feeding method, feeding one empty sterilization tray to the first belt conveyor each time. After the sterilization trays on the first belt conveyor are loaded with packages and transported forward, the packaging waiting buffer station feeds the next empty sterilization tray to the first belt conveyor.

[0008] The structure of the packaging station includes: a third base, on which a guide groove group is fixedly installed. The guide groove group has several guide grooves arranged in parallel at even intervals from front to back. Each guide groove corresponds one-to-one with the number and position of each packaging slot in any sterilization tray located at the packaging waiting buffer station; and a feeding device is provided on the third base to feed the packages located in each guide groove into the corresponding package loading slot in the sterilization tray output from the packaging waiting buffer station to the first belt conveyor.

[0009] The structure of the loading waiting buffer station includes: a fourth base, on which a non-powered chain conveyor or a fourth conveyor for left-right transport is installed, wherein the left end of the non-powered chain conveyor or the fourth conveyor is lower than the right end; a lever structure is respectively provided on the front and rear sides of the left end of the non-powered chain conveyor or the fourth conveyor, which does not obstruct the sterilization tray from entering the loading waiting buffer station from the left end of the non-powered chain conveyor or the fourth conveyor and obstructs the sterilization tray from sliding out from the left end of the non-powered chain conveyor or the fourth conveyor; the left section of the non-powered chain conveyor or the fourth conveyor is the gripping area of ​​the robot arm;

[0010] The structure of the feeding station includes: a fifth base, on which a pusher plate, driven by a thrust drive device, pushes sterilization trays located between the feeding waiting buffer station and the feeding station into the feeding waiting buffer station; the structure of the feeding station includes: a sixth base, on which a sixth conveyor is installed to transport the stacked multi-layer sterilization trays from left to right, the left section of the sixth conveyor being the gripping area of ​​the robotic arm. The feeding station sequentially pushes sterilization trays loaded with strip packages into the feeding waiting buffer station, the robotic arm grabs the sterilization trays loaded with strip packages from the feeding waiting buffer station, and stacks the sterilization trays loaded with strip packages onto the feeding station.

[0011] This solution designs the location distribution of the aforementioned workstations to achieve a reasonable and compact use of space. Specifically, the unpacking workstation is located to the left front of the robotic arm, the packaging waiting buffer workstation is located behind the robotic arm, the first belt conveyor is located to the right rear of the robotic arm, and the loading workstation is located in front of the loading waiting buffer workstation. Based on the above workstation distribution, this solution also uses automated feeding equipment for the strip packages entering the packaging workstation, specifically including: a strip package filling machine, a rotary supply station, and a second belt conveyor. The output end of the strip package filling machine is connected to the input end of the rotary supply station, which is located behind the packaging workstation. The second belt conveyor receives the packages from the output end of the rotary supply station to the input end of the packaging workstation. The rotary supply station includes a base, a rotary worktable on the base, and several sets of strip grid plate groups on the rotary worktable. Each set of strip grid plate groups... The system consists of several evenly spaced grid plates arranged side by side. The space between each pair of adjacent grid plates is a packing space that can accommodate a pack. The output end of each packing space is an outwardly expanding conical channel. The number of packing spaces in each grid plate group is the same, and each grid plate group is evenly spaced around the rotation center of the rotary table. An output device is fixedly installed on the base at the output end of the rotary supply station. The output device can output each pack in any grid plate group that has rotated to the output end of the rotary supply station to the second belt conveyor.

[0012] The output end of the rotary supply station is located on the right side of the rotary supply station. The structure of the output device is as follows: a support frame is provided on the base, a first chain drive is provided at the front of the support frame, and a second chain drive is provided at the rear of the support frame. The first chain drive and the second chain drive are driven by the same main drive device or by their respective sub-drive devices. At least one scraper is also provided between the first chain drive and the second chain drive. The front end of each scraper is fixed to the chain of the first chain drive, and the rear end of each scraper is fixed to the chain of the second chain drive. When any scraper moves to below the first chain drive and the second chain drive, it can push each strip package in any group of strip grid plates that has rotated to the output device onto the second belt conveyor.

[0013] Furthermore, in the aforementioned fully automatic multi-station switching strip packaging feeding equipment, the feeding device can feed the strips on the second belt conveyor located at the input end of the packaging station into the packaging station, and finally feed them into the corresponding strip loading slots in the sterilization trays on the first belt conveyor output from the packaging waiting buffer station. Alternatively, the feeding device can simply feed the strip groups arranged in a row from front to back in the packaging station into the corresponding sterilization trays in sequence, while an external push plate structure driven by a pushing drive device is set at the second belt conveyor at the input end of the packaging station. This external push plate structure is a common structure, usually consisting of an external push cylinder or external push hydraulic cylinder plus an external push plate fixedly set at the piston rod end of the cylinder or hydraulic cylinder.

[0014] The structure of the feeding device is as follows: a mounting frame is provided on the third base; two first movable plates are mounted on the front and rear sides of the mounting frame via their respective first slide rails; a first rotating rod, a second rotating rod, and a third rotating rod are sequentially supported on the two first movable plates from left to right via their respective first bearing assemblies; at least two first pawls are fixedly and spaced apart on the first rotating rod, with first levers inserted and fixed to each first pawl; at least two second pawls are fixedly and spaced apart on the second rotating rod, with second levers inserted and fixed to each second pawl; and on the third rotating rod... At least two third pawls are spaced apart, and third levers are inserted into and fixed to each third pawl. A translation drive device is provided on the third base to drive two first moving plates to move synchronously to the left or right. The structure of the translation drive device is as follows: a drive motor is fixedly mounted on the third base, a drive sprocket is fixedly mounted on the motor shaft of the drive motor, a lead screw is supported on the third base through a second bearing assembly, a driven sprocket is fixedly mounted at the end of the lead screw, and a chain is wound around the drive sprocket and the driven sprocket to form a chain drive; a moving part is screwed on the lead screw, and the second moving plate is mounted on a second slide rail. On the mounting bracket, the movement trajectory of the second movable plate on the second slide rail is parallel to the movement trajectory of the first movable plate on the first slide rail. The top of the second movable plate is fixedly connected to any of the first movable plates, and the bottom of the second movable plate is fixedly connected to the movable component. A rotation drive device is provided on any of the first movable plates to drive the first, second, and third rotating rods to rotate synchronously in the same direction, thereby causing the first, second, and third levers to be raised or lowered synchronously. The structure of the rotation drive device is as follows: a double-rod hydraulic cylinder is fixedly installed on any of the first movable plates, and on the same side of the double-rod hydraulic cylinder... A first connecting arm is fixedly mounted on the first rotating rod. A second connecting arm is fixedly mounted on the second rotating rod located on the same side as the double-rod cylinder. A third connecting arm is fixedly mounted on the third rotating rod located on the same side as the double-rod cylinder. The left piston rod of the double-rod cylinder is hinged to the first connecting arm, and the right piston rod of the double-rod cylinder is hinged to the second connecting arm. The third moving plate is mounted on the mounting frame via a third slide rail. The movement trajectory of the third moving plate on the third slide rail is parallel to the movement trajectory of the first moving plate on the first slide rail. Both the second and third connecting arms are hinged to the third moving plate.

[0015] In addition to the structure described above, the feeding device can also employ the following structure: A mounting frame is provided on the third base. Two first movable plates are mounted on the front and rear sides of the mounting frame via their respective first slide rails. Two sets of feeding mechanisms are spaced apart from left to right on the first movable plates. The structure of each feeding mechanism is as follows: a first rotating rod and a second rotating rod are sequentially supported on the two first movable plates from left to right via their respective first bearing sets. At least two first pawls are fixedly spaced on the first rotating rod, with the first pawl inserted and fixed to it. At least two second pawls are fixedly spaced on the second rotating rod, with the second pawl inserted and fixed to it. A translation drive device is provided on the third base to drive the two first movable plates to move synchronously forward or backward. The translation drive device is structured as follows: a drive motor is fixedly mounted on the third base, a drive sprocket is fixedly mounted on the motor shaft of the drive motor, and a lead screw is supported on the third base via a second bearing set. A driven sprocket is fixedly installed at the end of the lead screw, and a chain is wound around the driving sprocket and the driven sprocket to form a chain drive; a moving part is screwed on the lead screw, and a second moving plate is set on the mounting frame through a second slide rail. The movement trajectory of the second moving plate on the second slide rail is parallel to the movement trajectory of the first moving plate on the first slide rail. The top of the second moving plate is fixedly connected to any of the first moving plates, and the bottom of the second moving plate is fixedly connected to the moving part; each set of feeding mechanisms is provided with a rotation drive device that drives the first rotating rod and the second rotating rod to rotate synchronously in the same direction, so that the first and second feeding rods are raised or lowered synchronously; the structure of the rotation drive device is as follows: a double-rod cylinder is fixedly installed on the first moving plate, a first connecting arm is fixedly installed on the first rotating rod located on the same side of the double-rod cylinder, and a second connecting arm is fixedly installed on the second rotating rod located on the same side of the double-rod cylinder. The left piston rod of the double-rod cylinder is hinged to the first connecting arm, and the right piston rod of the double-rod cylinder is hinged to the second connecting arm.

[0016] To facilitate better coordination between the gripper of the robotic arm and the sterilization tray, this solution also includes structural design for both the gripper and the sterilization tray. Specifically: two locking strips are provided on the outer walls of the short side frames on both sides of the sterilization tray, parallel to each other and at the same height. A positioning cone is provided at each of the four corners of the top surface of the sterilization tray, and a positioning cone hole is provided at each of the four corners of the bottom surface of the sterilization tray, allowing the positioning cones to be inserted. The four positioning cone holes correspond one-to-one with the four positioning cones in vertical position. The gripper of the robotic arm includes: a fixing frame fixed to the front end of the robotic arm; a left gripper mounted on the left side of the fixing frame via a pair of left-side slide rails, and the left gripper is driven by a left-side... The actuator drives the gripper to slide on a pair of left-side slide rails; the left gripper is a strip-shaped structure with a left-side slot for each of the locking strips on the same side of a row of sterilization trays to be engaged; the right gripper is mounted on the right side of the frame via a pair of right-side slide rails, the tracks of the pair of right-side slide rails being parallel to the tracks of the pair of left-side slide rails, and the right gripper is driven by a right-side drive device to slide on the pair of right-side slide rails; the right gripper is a strip-shaped structure parallel to the left gripper, with a right-side slot for each of the locking strips on the same side of a row of sterilization trays to be engaged.

[0017] The left driving device is a left hydraulic cylinder fixed to the left side of the fixed frame. A left connecting plate is fixedly installed in the middle of the left gripper, and the piston rod of the left hydraulic cylinder is fixedly connected to the left connecting plate. The right driving device is a right hydraulic cylinder fixed to the right side of the fixed frame. A right connecting plate is fixedly installed in the middle of the right gripper, and the piston rod of the right hydraulic cylinder is fixedly connected to the right connecting plate.

[0018] To ensure the overall structure of the multi-layer sterilization tray assembly remains intact after palletizing, this solution also includes several positioning trays. Several connecting cones are provided on the top surface of each positioning tray. The shape and size of each connecting cone are identical to the positioning cones, and the distribution of the connecting cones ensures that when multiple sterilization trays arranged in a straight line are placed on the positioning tray, each positioning cone hole on each sterilization tray can be matched with a corresponding connecting cone for insertion. Several connecting cone holes are provided on the bottom surface of the positioning tray. The shape and size of each connecting cone hole are identical to the positioning cone holes, and each connecting cone hole corresponds one-to-one with each connecting cone in vertical position. Positioning clips are provided on the outer side walls of both sides of the positioning tray. The positions of the two positioning clips correspond to the positions of the two clips on each sterilization tray placed on the positioning tray. When the robotic arm grips the positioning tray, the two positioning clips can respectively engage with the left and right slots.

[0019] When using positioning trays, each set of multi-layer sterilization trays after stacking is provided with a positioning tray at the bottom and top. Each set of multi-layer sterilization trays is constrained between the corresponding two positioning trays by two positioning trays.

[0020] Furthermore, in the aforementioned fully automatic multi-station switching strip packaging feeding equipment, a support device for supporting multi-layer sterilization trays after stacking or during stacking is also provided at the gripping area of ​​the robotic arm at the feeding station; the structure of the support device is as follows: a support frame is provided around the sixth base, the left rotating rod is vertically supported on the left side of the support frame through a left bearing assembly, a left swing arm is fixedly provided on the left rotating rod, and a left support plate is fixedly provided at the end of the left swing arm; the right rotating rod is vertically supported on the right side of the support frame through a right bearing assembly, a right swing arm is fixedly provided on the right rotating rod, and a left support plate is fixedly provided at the end of the right swing arm. A right-side support plate is fixedly installed at the end of the device; a swing drive device is installed on the support frame to drive the left and right rotating rods to rotate synchronously in opposite directions, thereby causing the left and right swing arms to move inward or outward synchronously; the structure of the swing drive device is as follows: the cylinder body of the left swing hydraulic cylinder is hinged to the support frame, the piston rod of the left swing hydraulic cylinder is hinged to one end of the first connecting rod, and the other end of the first connecting rod is fixedly connected to the left rotating rod; the cylinder body of the right swing hydraulic cylinder is hinged to the support frame, the piston rod of the right swing hydraulic cylinder is hinged to one end of the second connecting rod, and the other end of the second connecting rod is fixedly connected to the right rotating rod.

[0021] The beneficial effects of this invention are: ① It realizes continuous operation of automatic unpacking, automatic packaging, and automatic palletizing, and can sterilize a large number of strip packages in one go, thereby improving production efficiency, reducing labor intensity, reducing the cost of strip package sterilization, and having good stability and broad market demand; ② The layout of each workstation can ensure that the area where the robot arm needs to operate is within the range of the robot arm's gripping activity, while also ensuring the compactness of the layout of each workstation and improving space utilization. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of a fully automatic multi-station switching strip packaging material feeding device according to the present invention.

[0023] Figure 2 yes Figure 1 A partially enlarged structural diagram.

[0024] Figure 3 This is a partially enlarged structural diagram of the first implementation method of the packaging station.

[0025] Figure 4 yes Figure 3 A schematic diagram of the partial structure viewed from the right.

[0026] Figure 5 This is a partially enlarged structural diagram of the second implementation method of the packaging station.

[0027] Figure 6 yes Figure 5 A schematic diagram of the partial structure viewed from the left.

[0028] Figure 7 This is a partial structural diagram of a set of material feeding mechanisms in the material feeding state.

[0029] Figure 8 yes Figure 7 A partial structural diagram of the material feeding mechanism when it is in a non-feeding state.

[0030] Figure 9 This is a schematic diagram of the structure of the support device in the feeding station when it is supporting the multi-layer sterilization tray assembly.

[0031] Figure 10 This is a schematic diagram of the structure of the support device in the feeding station when it is in the non-supported multi-layer sterilization tray state.

[0032] Figure 11 This is a schematic diagram of the gripping part of the robotic arm.

[0033] Figure 12 This is a schematic diagram of the structure of a single sterilization tray when viewed from the short side.

[0034] Figure 13 This is a schematic diagram of the structure when multiple sterilization trays are stacked and their top and bottom are defined by positioning trays, and viewed from the long edge of the sterilization trays.

[0035] Figure 14 This is a structural diagram of the rotary feeder station.

[0036] Figure 15 yes Figure 14 A schematic diagram of the partial structure viewed from the right.

[0037] Figure 16 yes Figure 15 A schematic diagram of the structure viewed from the left.

[0038] Figure 17 yes Figure 16 A magnified schematic diagram of part A in the middle. Detailed Implementation

[0039] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. Example 1

[0040] like Figure 1 and Figure 2As shown in this embodiment, a fully automatic multi-station switching strip packaging feeding device includes: a robotic arm 1, a tray unpacking station 2, a packing waiting buffer station 3, a packing station 4, a feeding waiting buffer station 5, a pushing station 6, a feeding station 7, and a first belt conveyor 20. A gripping part for holding the sterilization tray 8 is provided at the front end of the robotic arm 1. The tray unpacking station 2, the packing waiting buffer station 3, the packing station 4, the feeding waiting buffer station 5, the pushing station 6, the feeding station 7, and the first belt conveyor 20 are distributed around the robotic arm 1.

[0041] For ease of description, this embodiment uses Figure 1 The left-hand direction is defined as "forward". Figure 1 The right-hand direction is defined as "back". Figure 1 The downward direction is defined as "left". Figure 1 The upward direction is defined as "right". All directional terms involving "front", "back", "left" and "right" in this article shall be consistent with this definition.

[0042] like Figure 1 and Figure 2 As shown, the packaging station 4 and the material loading waiting buffer station 5 are both located on the right side of the first belt conveyor 20, which transports materials from back to front, and the material loading waiting buffer station 5 is located in front of the packaging station 4; the packaging waiting buffer station 3 and the material pushing station 6 are both located on the left side of the first belt conveyor 20, and the output end of the packaging waiting buffer station 3 is aligned with the output end of the packaging station 4. The first belt conveyor 20 can receive the sterilization trays 8 output from the output end of the packaging waiting buffer station 3, and the packaging station 4 can load strip packages 40 into the sterilization trays 8 output from the output end of the packaging waiting buffer station 3 onto the first belt conveyor 20; the output end of the material pushing station 6 is aligned with the input end of the material loading waiting buffer station 5, and the material pushing station 6 can push the sterilization trays 8 transported to the first belt conveyor 20 between the material pushing station 6 and the material loading waiting buffer station 5 to the right into the material loading waiting buffer station 8.

[0043] This embodiment arranges the locations of each workstation to make the overall layout more compact and make full use of space. The unpacking workstation 2 is located to the left front of the robot arm 1, the packaging waiting buffer workstation 3 is located behind the robot arm 1, the first belt conveyor 20 is located to the right rear of the robot arm 1, and the loading workstation 7 is located in front of the loading waiting buffer workstation 5. At this time, the rear section of the unpacking workstation 2 falls into the gripping area of ​​the robot arm 1, the left section of the packaging waiting buffer workstation 3 falls into the gripping area of ​​the robot arm 1, the left section of the loading waiting buffer workstation 5 falls into the gripping area of ​​the robot arm 1, and the left section of the loading workstation 7 falls into the gripping area of ​​the robot arm 1.

[0044] like Figure 1 , Figure 12 and Figure 13 As shown, the sterilization tray 8 in this embodiment is a narrow and long rectangular frame structure designed for loading strip packages 40, that is, a rectangular frame structure with a long side length greater than a short side length. Several grid plates 84 are evenly distributed along the long side of the sterilization tray 8, thereby dividing the sterilization tray 8 into several strip package loading slots 85. One strip package loading slot 85 can hold one strip package 40. Each strip package loading slot 85 is perpendicular to the long side of the sterilization tray 8.

[0045] like Figure 1 and Figure 2 As shown, the structure of the unpacking station 2 in this embodiment includes: a first base, on which a first conveyor 21 is installed to transport the stacked multi-layer sterilization trays from front to back. The first conveyor 21 adopts a commonly used chain conveyor structure for transporting sterilization trays 8. Both sides of this type of conveyor are equipped with baffle structures to ensure that the sterilization trays are transported from front to back without falling out of the chain conveyor structure. The rear section of the first conveyor 21 is the gripping area of ​​the robotic arm 1. The stacked multi-layer sterilization trays consist of multiple layers from top to bottom, with each layer containing the same number of sterilization trays 8. Each layer comprises several sterilization trays 8 arranged side-by-side from front to back. The short side frames of each sterilization tray rest on the first conveyor 21, while the long side frames are arranged in a left-right direction.

[0046] like Figure 1 and Figure 2 As shown, the structure of the packaging waiting buffer station 3 in this embodiment includes: a second base, on which a second conveyor 31 is installed to transport sterilization trays from left to right. The second conveyor 31 adopts a commonly used chain conveyor structure for transporting sterilization trays 8. The left section of the second conveyor 31 is the gripping area of ​​the robotic arm. The robotic arm 1 picks up each empty sterilization tray from the stacked empty multi-layer sterilization tray group in the unpacking station 2 and arranges them from right to left on the second conveyor 31. At this time, the long side frames of the empty sterilization trays on the second conveyor 31 are arranged in a front-back direction. The second conveyor 31 can be a single-section chain conveyor structure or a two-section chain conveyor structure: a first chain conveyor structure 311 and a second chain conveyor structure 312. The second chain conveyor structure 312 is located in the gripping area of ​​the robotic arm. The first chain conveyor structure 311 and the second chain conveyor structure 312 have their own corresponding matching drives.

[0047] The packaging waiting buffer station 3 adopts an intermittent feeding method, conveying an empty sterilization tray 8 to the first belt conveyor 20 each time. After the sterilization tray 8 on the first belt conveyor 20 is loaded with strip packages 40 and conveyed forward, the packaging waiting buffer station 3 then conveys the next empty sterilization tray 8 to the first belt conveyor 20.

[0048] like Figure 2 , Figure 3 and Figure 4 As shown, the structure of the packaging station 4 in this embodiment includes: a third base 41, on which a guide groove group 42 is fixedly installed. The guide groove group 42 has several guide grooves 421 arranged in parallel at even intervals from front to back. The number and position of each guide groove 421 correspond one-to-one with the number of packaging slots 85 in any sterilization tray located on the packaging waiting buffer station 3. Each package 40 located in the packaging station 4 is loaded into each guide groove 421, and is arranged at intervals from left to right, and in a straight horizontal line from front to back. Each row of packages 40 arranged in a straight horizontal line from front to back is grouped into a row of packages to be loaded. A feeding device is provided on the third base 41 to feed each row of packages to be loaded into the corresponding package loading slots 85 in the sterilization tray 8 output from the packaging waiting buffer station 3 to the first belt conveyor 20.

[0049] like Figure 3 and Figure 4 As shown, the structure of the feeding device in this embodiment is as follows: a mounting frame is provided on the third base 41, and two first moving plates 43 are set on the front and rear sides of the mounting frame through their respective first slide rails. The first rotating rod 441, the second rotating rod 442, and the third rotating rod 443 are sequentially supported on the two first moving plates 43 from left to right through their respective first bearing groups. At least two first claws 451 are fixedly arranged at intervals on the first rotating rod 441, and the first lever 461 is inserted and fixed on each of the first claws 451. At least two second claws 452 are fixedly arranged at intervals on the second rotating rod 442, and the second lever 462 is inserted and fixed on each of the second claws 452. At least two third claws 453 are arranged at intervals on the third rotating rod 443, and the third lever 463 is inserted and fixed on each of the third claws 453. Among them, the first rotating rod 441, the second rotating rod 442, the third rotating rod 443, the first lever 461, the second lever 462, and the third lever 463 are all parallel to each other and are placed horizontally in the front-back direction.

[0050] A translation drive device is provided on the third base 41 to drive two first moving plates 43 to move synchronously to the left or right. The structure of the translation drive device is as follows: a drive motor 47 is fixedly installed on the third base 41; a drive sprocket 471 is fixedly installed on the motor shaft of the drive motor 47; a lead screw 474 is supported on the third base 41 through a second bearing assembly; a driven sprocket 472 is fixedly installed at the end of the lead screw 474; and a chain 473 is wound around the drive sprocket 471 and the driven sprocket 472 to form a chain drive. A moving part 475 is screwed on the lead screw 474, wherein the lead screw 474 and the moving part 475 form a helical transmission structure in which the lead screw 474 rotates and the moving part 475 moves. The second movable plate 476 is mounted on the mounting bracket via a second slide rail. The movement trajectory of the second movable plate 476 on the second slide rail is parallel to the movement trajectory of the first movable plate 43 on the first slide rail. The top of the second movable plate 476 is fixedly connected to any of the first movable plates 43, and the bottom of the second movable plate 476 is fixedly connected to the movable component 475. Assuming the drive motor 47 rotates forward, it drives the lead screw to rotate via chain drive, forcing the movable component 475 to move to the left. In this case, the entire first movable plate 43 will be driven to move to the left by the movable component 475. At this time, the first rotating rod 441, the second rotating rod 442, and the third rotating rod 44 mounted on the first movable plate 43 will also move to the left. Conversely, when the drive motor 47 rotates in reverse, it drives the lead screw to rotate via chain drive, forcing the movable component 475 to move to the right. In this case, the entire first movable plate 43 will be driven to move to the right by the movable component 475. At this time, the first rotating rod 441, the second rotating rod 442, and the third rotating rod 44 mounted on the first movable plate 43 will also move to the right.

[0051] A rotation drive device is provided on any of the first movable plates 43 to drive the first rotating rod 441, the second rotating rod 442, and the third rotating rod 44 to rotate synchronously in the same direction, thereby causing the first lever 461, the second lever 462, and the third lever 463 to be raised or lowered synchronously. The structure of the rotation drive device is as follows: a double-rod cylinder 49 is fixedly provided on any of the first movable plates 43; a first connecting arm 4511 is fixedly provided on the first rotating rod 441 located on the same side as the double-rod cylinder 49; and a second connecting arm 4511 is fixedly provided on the second rotating rod 442 located on the same side as the double-rod cylinder 49. Arm 4521, a third connecting arm 4531 is fixedly installed on the third rotating rod 443 located on the same side as the double rod cylinder 49. The left piston rod 491 of the double rod cylinder 49 is hinged to the first connecting arm 4511, and the right piston rod 492 of the double rod cylinder 49 is hinged to the second connecting arm 4521. The third moving plate 48 is set on the mounting frame through the third slide rail. The movement trajectory of the third moving plate 48 on the third slide rail is parallel to the movement trajectory of the first moving plate 43 on the first slide rail. Both the second connecting arm 4521 and the third connecting arm 4531 are hinged to the third moving plate 48.

[0052] When the left piston rod 491 of the double-rod cylinder 49 retracts to the right, it pulls the first connecting arm 4511 to swing, thereby causing the first rotating rod 441 to rotate. The first pawls 451 fixed to the first rotating rod 441 also rotate together, causing the first lever 461 to lower. Simultaneously, as the left piston rod 491 of the double-rod cylinder 49 retracts to the right, the right piston rod 492 of the double-rod cylinder 49 extends to the right, pushing the second connecting arm 4521 to swing, thereby causing the second rotating rod 442 to rotate. The second pawls 452 fixed to the second rotating rod 442 also rotate together, causing the second lever 462 to lower. Simultaneously, as the second connecting arm 4521 swings, the third moving plate 48, hinged to the second connecting arm 4521, is also forced to move, thus causing the third connecting arm 4531 to swing, thereby causing the third rotating rod 44 to rotate. The third pawls 453 fixed to the third rotating rod 44 also rotate together, causing the third lever 463 to lower. This completes the synchronous lowering of the first lever 461, the second lever 462, and the third lever 463. At this time, the first lever 461, the second lever 462, and the third lever 463 are all located behind the corresponding rows of packs to be loaded, and their height is lower than the top surface of each pack 40. When the drive motor 47 drives the first moving plate 43 to move to the left via chain drive and screw drive, the first lever 461, the second lever 462, and the third lever 463 can push the corresponding rows of packs to be loaded to move to the left.

[0053] Conversely, when the left piston rod 491 of the double-rod cylinder 49 extends to the left, it pushes the first connecting arm 4511 to swing, thereby causing the first rotating rod 441 to rotate. The first pawls 451 fixed to the first rotating rod 441 also rotate together, thus raising the first lever 461. Simultaneously, as the left piston rod 491 of the double-rod cylinder 49 extends to the left, the right piston rod 492 of the double-rod cylinder 49 retracts to the left, pulling the second connecting arm 4521 to swing, thereby causing the second rotating rod 442 to rotate. The second pawls 452 fixed to the second rotating rod 442 also rotate together, thus raising the second lever 462. Simultaneously, as the second connecting arm 4521 swings, the third moving plate 48, hinged to the second connecting arm 4521, is also forced to move, thus causing the third connecting arm 4531 to swing, thereby causing the third rotating rod 44 to rotate. The third pawls 453 fixed to the third rotating rod 44 also rotate together, causing the third lever 463 to lift. This completes the synchronous lifting action of the first lever 461, the second lever 462, and the third lever 463. At this time, the heights of the first lever 461, the second lever 462, and the third lever 463 are all above the top surfaces of the packages 40. Therefore, when the drive motor 47 drives the first moving plate 43 to move to the right via chain and screw drives, the first lever 461, the second lever 462, and the third lever 463 will not touch the packages 40. Once the first lever 461, the second lever 462, and the third lever 463 have returned to their original positions and been released again, the above actions can be repeated to continue moving the corresponding row of packs to be loaded to the left.

[0054] like Figure 1 and 2 As shown, the structure of the loading waiting buffer station 5 in this embodiment includes: a fourth base, on which a non-powered chain conveyor 51 or a fourth conveyor for left-right transport is installed; a lever structure is respectively provided on the front and rear sides of the left end of the non-powered chain conveyor 51 or the fourth conveyor, which does not obstruct the sterilization tray 8 from entering the loading waiting buffer station 5 from the left end of the non-powered chain conveyor 51 or the fourth conveyor, and prevents the sterilization tray 8 from sliding out from the left end of the non-powered chain conveyor 51 or the fourth conveyor; the left section of the non-powered chain conveyor 51 or the fourth conveyor is the gripping area of ​​the robot arm. The height of the left end of the non-powered chain conveyor 51 or the fourth conveyor is lower than the height of the right end; this ensures that the sterilization trays 8 in the loading waiting buffer station 5 can be arranged closely together from left to right, and also facilitates the gripping of the robot arm 1.

[0055] The lever structure can be a common lever plus torsion spring structure. Under the elastic force of the torsion spring, the lever is blocked on the front and rear sides of the left end of the non-powered chain conveyor 51 or the fourth conveyor. At this time, the sterilization tray 8 located in the loading waiting buffer station 5 is blocked by the two levers and cannot fall out of the loading waiting buffer station 5. When the sterilization tray 8 located on the left side of the loading waiting buffer station 5 is pushed to the right to contact the lever and force the lever to rotate against the elastic force of the torsion spring, the lever makes room to allow the sterilization tray 8 to enter the loading waiting buffer station 5.

[0056] like Figure 1 and Figure 2 As shown, the structure of the feeding station 6 in this embodiment includes: a fifth base 61, on which a pusher plate 63 is provided, driven by a thrust drive device to push the sterilization tray 8 located between the feeding waiting buffer station 5 and the feeding station 6 into the feeding waiting buffer station 5. The thrust drive device can be a thrust cylinder 62 or a thrust hydraulic cylinder, the cylinder body of which is fixed to the fifth base 61, and the piston rod of which is fixedly connected to the pusher plate 63.

[0057] like Figure 1 and Figure 2 As shown, the structure of the loading station 7 in this embodiment includes: a sixth base, on which a sixth conveyor 71 is provided to transport the stacked multi-layer sterilization trays from left to right. The left section of the sixth conveyor 71 is the gripping area of ​​the robotic arm. The sterilization trays 8 loaded with strip packages 40 are pushed sequentially into the loading waiting buffer station 5 through the pushing station 6. Then, the robotic arm 1 grabs the sterilization trays 8 loaded with strip packages 40 in the loading waiting buffer station 5 and stacks the sterilization trays 8 loaded with strip packages 40 on the loading station 7.

[0058] The above-mentioned equipment can achieve automatic unpacking, automatic packaging, and automatic palletizing continuous operation. It can sterilize a large number of 40 strip packages at a time, improve production efficiency, reduce labor intensity, reduce the sterilization cost of 40 strip packages, has good stability, and has broad market demand. Example 2

[0059] The difference between this embodiment and Embodiment 1 lies in the structure of the material feeding device in packaging station 4; all other structures are the same as in Embodiment 1. Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the structure of the feeding device in this embodiment is as follows: a mounting frame is provided on the third base 41, and two first moving plates 43 are set on the front and rear sides of the mounting frame through their respective corresponding first slide rails. Two sets of feeding mechanisms 401 are arranged on the first moving plates 43 from left to right at intervals. The structure of each set of feeding mechanisms 401 is as follows: a first rotating rod 441 and a second rotating rod 442 are supported on the two first moving plates 43 from left to right at intervals through their respective corresponding first bearing groups. At least two first claws 451 are fixedly arranged on the first rotating rod 441 at intervals, and a first lever 461 is inserted and fixed on each of the first claws 451. At least two second claws 452 are fixedly arranged on the second rotating rod 442 at intervals, and a second lever 462 is inserted and fixed on each of the second claws 452.

[0060] A translation drive device is provided on the third base 41 to drive two first moving plates 43 to move forward or backward synchronously. The structure of the translation drive device is as follows: a drive motor 47 is fixedly installed on the third base 41, a drive sprocket 471 is fixedly installed on the motor shaft of the drive motor 47, a lead screw 474 is supported on the third base 41 through a second bearing assembly, a driven sprocket 472 is fixedly installed at the end of the lead screw 474, and a chain 473 is wound around the drive sprocket 471 and the driven sprocket 472 to form a chain drive. A moving part 475 is screwed on the lead screw 474, wherein the lead screw 474 and the moving part 475 form a helical transmission structure in which the lead screw 474 rotates and the moving part 475 moves. The second movable plate 476 is mounted on the mounting bracket via a second slide rail. The movement trajectory of the second movable plate 476 on the second slide rail is parallel to the movement trajectory of the first movable plate 43 on the first slide rail. The top of the second movable plate 476 is fixedly connected to any of the first movable plates 43, and the bottom of the second movable plate 476 is fixedly connected to the movable component 475. Assuming the drive motor 47 rotates forward, it drives the lead screw to rotate via chain drive, forcing the movable component 475 to move to the left. In this case, the entire first movable plate 43 will be moved to the left by the movable component 475, and the first rotating rod 441 and the second rotating rod 442 mounted on the first movable plate 43 will also move to the left. Conversely, when the drive motor 47 rotates in reverse, it drives the lead screw to rotate via chain drive, forcing the movable component 475 to move to the right. In this case, the entire first movable plate 43 will be moved to the right by the movable component 475, and the first rotating rod 441 and the second rotating rod 442 mounted on the first movable plate 43 will also move to the right.

[0061] Each set of feeding mechanisms is equipped with a rotation drive device that drives the first rotating rod 441 and the second rotating rod 442 to rotate synchronously in the same direction, thereby raising or lowering the first lever 461 and the second lever 462 synchronously. The structure of the rotation drive device is as follows: a double-rod cylinder 49 is fixedly installed on the first moving plate 43; a first connecting arm 4511 is fixedly installed on the first rotating rod 441 located on the same side as the double-rod cylinder 49; a second connecting arm 4521 is fixedly installed on the second rotating rod 442 located on the same side as the double-rod cylinder 49; the left piston rod 491 of the double-rod cylinder is hinged to the first connecting arm 4511; and the right piston rod 492 of the double-rod cylinder 49 is hinged to the second connecting arm 4521.

[0062] Reference Figure 7 As shown, when the right piston rod 492 of the double-acting cylinder 49 retracts to the left, it pushes the second connecting arm 4521 to swing, thereby causing the second rotating rod 442 to rotate. The second pawls 452 fixed to the second rotating rod 442 also rotate together, causing the second lever 462 to lower. Simultaneously, as the right piston rod 492 of the double-acting cylinder 49 retracts to the left, the left piston rod 491 of the double-acting cylinder 49 extends to the left, pulling the first connecting arm 4511 to swing, thereby causing the first rotating rod 441 to rotate. The first pawls 451 fixed to the first rotating rod 441 also rotate together, causing the first lever 461 to lower. This completes the synchronous lowering of the first lever 461 and the second lever 462. At this time, both the first lever 461 and the second lever 462 are located behind the corresponding rows of packs to be loaded, and their height is lower than the top surface of each pack 40. When the drive motor 47 drives the first moving plate 43 to move to the left through chain drive and screw drive, it can push the corresponding row of packs to be loaded to move to the left through the first lever 461 and the second lever 462.

[0063] Conversely, refer to Figure 8As shown, when the right piston rod 492 of the double-acting cylinder 49 extends to the right, it pushes the second connecting arm 4521 to swing, thereby causing the second rotating rod 442 to rotate. The second pawls 452 fixed to the second rotating rod 442 also rotate together, thus lifting the second lever 462. Simultaneously, as the right piston rod 492 of the double-acting cylinder 49 extends to the right, the left piston rod 491 of the double-acting cylinder 49 retracts to the right, pulling the first connecting arm 4511 to swing, thereby causing the first rotating rod 441 to rotate. The first pawls 451 fixed to the first rotating rod 441 also rotate together, thus lifting the first lever 461. This completes the synchronous lifting action of the first lever 461 and the second lever 462. At this point, the first lever 461 and the second lever 462 are positioned above the top surfaces of each pack 40. Therefore, when the drive motor 47 moves the first moving plate 43 to the right via chain and screw drives, the first lever 461 and the second lever 462 will not touch any of the packs 40. After the first lever 461 and the second lever 462 return to their original positions and are lowered again, the above actions can be repeated to continue moving the corresponding row of packs to be loaded to the left. Example 3

[0064] This embodiment, based on Embodiment 1 or Embodiment 2, further includes a support device for the multi-layer sterilization trays after stacking or during stacking, located in the gripping area of ​​the robotic arm 1 at the loading station 7; such as Figure 9 and Figure 10 As shown, the structure of the support device in this embodiment is as follows: a support frame 72 is provided around the sixth base; a left rotating rod 731 is vertically supported on the left side of the support frame 72 by a left bearing assembly; a left swing arm 741 is fixedly provided on the left rotating rod 731; a left support plate 751 is fixedly provided at the end of the left swing arm 741; a right rotating rod 732 is vertically supported on the right side of the support frame 72 by a right bearing assembly; a right swing arm 742 is fixedly provided on the right rotating rod 732; a right support plate 752 is fixedly provided at the end of the right swing arm 742; a swing drive device is provided on the support frame 72 to drive the left rotating rod 731 and the right rotating rod 732 to rotate synchronously in opposite directions, thereby causing the left swing arm 741 and the right swing arm 742 to move inward or open outward synchronously.

[0065] The structure of the swing drive device is as follows: the cylinder body of the left swing hydraulic cylinder 771 is hinged to the support frame 72, the piston rod of the left swing hydraulic cylinder 771 is hinged to one end of the first connecting rod 761, and the other end of the first connecting rod 761 is fixedly connected to the left rotating rod 731; the cylinder body of the right swing hydraulic cylinder 772 is hinged to the support frame 72, the piston rod of the right swing hydraulic cylinder 772 is hinged to one end of the second connecting rod 762, and the other end of the second connecting rod 762 is fixedly connected to the right rotating rod 732.

[0066] When it is necessary to support the stacked multi-layer sterilization trays or the multi-layer sterilization trays in the stack, the piston rods of the left swing hydraulic cylinder 771 and the right swing hydraulic cylinder 772 extend outward simultaneously, causing the corresponding first connecting rod 761 to rotate around the axis of the left rotating rod 731 and the second connecting rod 762 to rotate around the axis of the right rotating rod 732. The first connecting rod 761 is fixedly connected to the left rotating rod 731 and the second connecting rod 762 is fixedly connected to the right rotating rod 732. Therefore, the left rotating rod 731 and the right rotating rod 732 are forced to rotate, thereby causing the left swing arm 741 and the right swing arm 742 to move inward simultaneously until the left support plate 751 and the right support plate 752 support the stacked multi-layer sterilization trays or the multi-layer sterilization trays in the stack. Conversely, when the stacked multi-layer sterilization trays need to be conveyed to the right at the upper station 7, the support device needs to be withdrawn. The piston rods of the left swing hydraulic cylinder 771 and the right swing hydraulic cylinder 772 retract inward simultaneously, causing the corresponding first connecting rod 761 to rotate around the axis of the left rotating rod 731 and the second connecting rod 762 to rotate around the axis of the right rotating rod 732. The first connecting rod 761 is fixedly connected to the left rotating rod 731, and the second connecting rod 762 is fixedly connected to the right rotating rod 732. Therefore, the left rotating rod 731 and the right rotating rod 732 are forced to rotate, thereby causing the left swing arm 741 and the right swing arm 742 to open outward simultaneously until the left support plate 751 and the right support plate 752 no longer interfere with the conveying of the stacked multi-layer sterilization trays to the right. Example 4

[0067] This embodiment, based on Embodiment 1, Embodiment 2, or Embodiment 3, further includes a strip bag filling machine 10, a rotary feeding station 9, and a second belt conveyor 30. Figure 1 As shown, the output end of the strip bag filling machine 10 is connected to the input end of the rotary supply station 9, which is located behind the packaging station 4. The second belt conveyor 30 receives the material from the output end of the rotary supply station 9 to the input end of the packaging station 4. The strip bag filling machine 10 was purchased commercially, therefore its structure will not be described in detail here.

[0068] The output end of the rotary supply station 9 is located on the right side of the rotary supply station 9, such as... Figure 14 , Figure 15 , Figure 16 and Figure 17 As shown, the structure of the rotary supply station 9 in this embodiment includes: a base 91, a rotary worktable 92 on the base 91, and several sets of bar grid plate groups 93 on the rotary worktable 92. Each set of bar grid plate groups 93 consists of several bar grid plates 931 arranged in parallel at equal intervals. The space between each pair of adjacent bar grid plates 931 is a bar package containing space 932 that can accommodate a bar package 40. The output end of each bar package containing space 932 is an outwardly expanding conical channel 933. The number of bar package containing spaces 932 in each set of bar grid plate groups 93 is the same, and each set of bar grid plate groups 93 is evenly distributed around the rotation center of the rotary worktable 92. An output device is fixedly installed on the base 91 at the output end of the rotary supply station 9. The output device can output each bar package 40 in any set of bar grid plate groups 93 that has rotated to the output end of the rotary supply station 9 to the second belt conveyor 30. The rotary table 92 is a common intermittent rotation structure on the market. Every time the rotary table 92 rotates, the next set of bar grids 93 will rotate to the output device.

[0069] like Figure 15 , Figure 16 and Figure 17 As shown, the structure of the output device in this embodiment is as follows: a support frame is provided on the base 91, a first chain drive 94 is provided at the front of the support frame, and a second chain drive 95 is provided at the rear of the support frame. The first chain drive 94 and the second chain drive 95 are driven by the same main drive device or by their respective sub-drive devices. At least one scraper 96 is also provided between the first chain drive 94 and the second chain drive 95. The front end of each scraper 96 is fixed to the chain of the first chain drive 94, and the rear end of each scraper 96 is fixed to the chain of the second chain drive 95. When any scraper 96 moves to below the first chain drive 94 and the second chain drive 95, it can push each strip package 40 in any group of strip grid plates 93 that has rotated to the output device onto the second belt conveyor 30. Example 5

[0070] This embodiment is based on Embodiment 1, Embodiment 2, Embodiment 3, or Embodiment 4, and designs the sterilization tray 8 and the gripping part of the robotic arm 1. When the robotic arm rotates to different angles, the left, right, front, and back positions of the various components of the robotic arm are difficult to determine. Here, for ease of description, the position of the gripping part of the robotic arm when it is gripping the sterilization tray 8 on the tray removal station 2 is used, combined with... Figure 1 The structure of the gripper on the robotic arm is described by defining left, right, front, and back.

[0071] like Figure 12 and Figure 13 As shown, in this embodiment, two locking strips 81 are respectively provided on the outer side walls of the short frame on both sides of the sterilization tray 8. The two locking strips 81 are parallel to each other and at the same height. A positioning cone 82 is provided at each of the four corners of the top surface of the sterilization tray 8. A positioning cone hole 83 is provided at each of the four corners of the bottom surface of the sterilization tray 8, which allows the positioning cone 82 to be inserted. The four positioning cone holes 83 correspond one-to-one with the four positioning cones 82 in the vertical position.

[0072] like Figure 11 As shown, the gripping part of the robotic arm 1 in this embodiment includes: a fixed frame 11 fixed to the front end of the robotic arm 1; a left gripper 12 disposed on the left side of the fixed frame 11 via a pair of left slide rails, and the left gripper 12 is driven by a left drive device to slide on the pair of left slide rails; the left gripper 12 is a strip-shaped structure, and a locking strip 81 located on the same side of a plurality of sterilization trays 8 arranged in a row is provided on the left gripper 12 for each of the locking strips 81 located on the same side to be engaged. The left slot 15; the right gripper 16 is set on the right side of the fixing frame 11 via a pair of right slide rails, the tracks of the pair of right slide rails are parallel to the tracks of the pair of left slide rails, and the right gripper 16 is driven by the right drive device to slide on the pair of right slide rails; the right gripper 16 is a strip structure parallel to the left gripper 12, and a right slot 19 is opened on the right gripper 16 for the multiple clamping strips 81 on the same side of the sterilization trays 8 arranged in a row to be inserted.

[0073] The left driving device is a left hydraulic cylinder 13 fixed to the left side of the fixed frame 11. A left connecting plate 14 is fixedly installed in the middle of the left gripper 12, and the piston rod of the left hydraulic cylinder 13 is fixedly connected to the left connecting plate 14. The right driving device is a right hydraulic cylinder 17 fixed to the right side of the fixed frame 11. A right connecting plate 18 is fixedly installed in the middle of the right gripper 16, and the piston rod of the right hydraulic cylinder 17 is fixedly connected to the right connecting plate 18.

[0074] like Figure 13As shown, this embodiment also includes several positioning trays 50; several connecting cones 501 are provided on the top surface of the positioning trays 50, and the shape and size of each connecting cone 501 are the same as those of the positioning cones 82. The distribution of each connecting cone 501 ensures that when multiple sterilization trays 8 arranged in a straight line are placed on the positioning trays 50, each positioning cone hole 83 on each sterilization tray 8 can be matched with a corresponding connecting cone 501 for insertion; several connecting cone holes 502 are provided on the bottom surface of the positioning trays 50, and each connecting cone hole 502... The shape and size of the positioning cone hole 83 are consistent with those of the positioning cone hole 83, and each connecting cone hole 502 corresponds one-to-one with each connecting cone 501 in the vertical position; positioning clips 503 are respectively provided on the outer side walls of both sides of the positioning tray 50, and the positions of the two positioning clips 503 are consistent with the positions of the two clips 81 on each sterilization tray 8 placed on the positioning tray 50. When the gripping part of the robot arm 1 grips the positioning tray 50, the two positioning clips 503 can be respectively inserted into the left slot 15 and the right slot 19.

[0075] In actual operation, the palletizing is done in layers of six sterilization trays 8 arranged side by side. Usually, the robotic arm grabs six sterilization trays 8 at a time. Therefore, the positioning tray 50 is also equipped with a corresponding number of connecting cones 501 and connecting cone holes 502 that can place and cover the six sterilization trays 8.

[0076] When multiple sterilization trays 8 are stacked side-by-side in a row, and the number of layers of the trays 8 is large, the uneven distribution of gravity among the trays 8 on the same layer can lead to problems such as tilting and outward dispersion during transport. To address this issue, this embodiment designs multiple positioning trays 50. In use, a positioning tray 50 is placed at the bottom layer, and then the sterilization trays 8 are stacked on the positioning tray 50. After stacking, a positioning tray 50 is placed on top of each of the stacked sterilization trays 8. At this point, the top and bottom of the multi-layered sterilization tray assembly are secured by a positioning tray 50. Figure 13 As shown, this ensures that the sterilization trays 8 in each layer of the multi-layer sterilization tray assembly remain close together and as a whole during the transfer process, without any issues such as tilting or outward dispersion. This also ensures that the subsequent transfer and entry into the sterilization cabinet can operate normally.

[0077] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A fully automatic multi-station switching strip packaging feeding device, comprising: A robotic arm, with a gripping part at the front end of its arm for grasping sterilization trays; characterized in that it further includes: a tray unpacking station, a packaging waiting buffer station, a packaging station, a feeding waiting buffer station, a pushing station, a feeding station, and a first belt conveyor; the tray unpacking station, packaging waiting buffer station, packaging station, feeding waiting buffer station, pushing station, feeding station, and the first belt conveyor are distributed around the robotic arm; The packaging station and the material loading waiting buffer station are both located on the right side of the first belt conveyor that transports goods from back to front, with the material loading waiting buffer station located in front of the packaging station. The packaging waiting buffer station and the material pushing station are both located on the left side of the first belt conveyor, with the output end of the packaging waiting buffer station aligned with the output end of the packaging station. The first belt conveyor can receive sterilization trays output from the output end of the packaging waiting buffer station, and the packaging station can load strip packages into the sterilization trays output from the output end of the packaging waiting buffer station onto the first belt conveyor. The output end of the material pushing station is aligned with the input end of the material loading waiting buffer station, and the material pushing station can push the sterilization trays transported to the first belt conveyor between the material pushing station and the material loading waiting buffer station to the right into the material loading waiting buffer station. The sterilization tray is a rectangular frame structure with a long side length greater than the short side length. Several grid plates are evenly distributed along the long side of the sterilization tray, thereby dividing the sterilization tray into several strip packaging slots. Each strip packaging slot can hold one strip package. Each strip packaging slot is perpendicular to the long side of the sterilization tray. The structure of the unpacking station includes: a first base, on which a first conveyor is installed to transport the stacked multi-layer sterilization trays from front to back; the rear section of the first conveyor is the gripping area of ​​the robotic arm; the unpacking station contains empty stacked multi-layer sterilization trays; the robotic arm grabs the empty sterilization trays from the unpacking station and arranges them from right to left on the packaging waiting buffer station; The structure of the packaging waiting buffer station includes: a second base, on which a second conveyor is provided to transport sterilization trays from left to right; the left section of the second conveyor is the gripping area of ​​the robotic arm; the packaging waiting buffer station transports one empty sterilization tray to the first belt conveyor at a time; after the sterilization tray transported to the first belt conveyor is loaded with a strip package and transported forward, the packaging waiting buffer station transports the next empty sterilization tray to the first belt conveyor. The structure of the packaging station includes: a third base, on which a guide groove group is fixedly installed. The guide groove group has several guide grooves arranged in parallel at even intervals from front to back. Each guide groove corresponds one-to-one with the number and position of each packaging slot in any sterilization tray located at the packaging waiting buffer station; and a feeding device is provided on the third base to feed the packages located in each guide groove into the corresponding package loading slot in the sterilization tray output from the packaging waiting buffer station to the first belt conveyor. The structure of the loading waiting buffer station includes: a fourth base, on which a non-powered chain conveyor or a fourth conveyor for left-right transport is installed, wherein the left end of the non-powered chain conveyor or the fourth conveyor is lower than the right end; a lever structure is respectively provided on the front and rear sides of the left end of the non-powered chain conveyor or the fourth conveyor, which does not obstruct the sterilization tray from entering the loading waiting buffer station from the left end of the non-powered chain conveyor or the fourth conveyor and obstructs the sterilization tray from sliding out from the left end of the non-powered chain conveyor or the fourth conveyor; the left section of the non-powered chain conveyor or the fourth conveyor is the gripping area of ​​the robot arm; The structure of the feeding station includes: a fifth base, on which a pusher plate is provided, driven by a thrust drive device, to push the sterilization tray located between the feeding waiting buffer station and the feeding station into the feeding waiting buffer station; The structure of the loading station includes: a sixth base, on which a sixth conveyor is installed to transport the stacked multi-layer sterilization trays from left to right; the left section of the sixth conveyor is the gripping area of ​​the robotic arm; the sterilization trays loaded with strips are pushed sequentially into the loading waiting buffer station through the pushing station; the robotic arm grabs the sterilization trays loaded with strips in the loading waiting buffer station and stacks the sterilization trays loaded with strips on the loading station.

2. The fully automatic multi-station switching strip packaging feeding equipment according to claim 1, characterized in that: The unpacking station is located to the left front of the robot arm, the packaging waiting buffer station is located behind the robot arm, the first belt conveyor is located to the right rear of the robot arm, and the loading station is located in front of the loading waiting buffer station.

3. A fully automatic multi-station switching strip packaging feeding device according to claim 1 or 2, characterized in that: Also includes: The package includes a strip filling machine, a rotary supply station, and a second belt conveyor. The output end of the strip filling machine is connected to the input end of the rotary supply station, which is located behind the packaging station. The package is conveyed from the output end of the rotary supply station to the input end of the packaging station and received by the second belt conveyor. The rotary supply station structure includes: a base, a rotary worktable on the base, and several sets of bar grids on the rotary worktable. Each set of bar grids consists of several bar grids evenly spaced and arranged side by side. The space between any two adjacent bar grids is a bar package accommodating space capable of accommodating a bar package. The output end of each bar package accommodating space is an outwardly expanding conical channel. The number of bar package accommodating spaces in each set of bar grids is the same, and each set of bar grids is evenly spaced around the rotation center of the rotary worktable. An output device is fixedly installed on the base at the output end of the rotary supply station. The output device can output each bar package from any set of bar grids that has rotated to the output end of the rotary supply station to a second belt conveyor.

4. The fully automatic multi-station switching strip packaging feeding equipment according to claim 3, characterized in that: The output end of the rotary supply station is located on the right side of the rotary supply station; the structure of the output device is as follows: a support frame is provided on the base, a first chain drive is provided at the front of the support frame, and a second chain drive is provided at the rear of the support frame. The first chain drive and the second chain drive are driven by the same main drive device or by their respective corresponding sub-drive devices; at least one scraper is also provided between the first chain drive and the second chain drive. The front end of each scraper is fixed to the chain of the first chain drive, and the rear end of each scraper is fixed to the chain of the second chain drive. When any scraper moves to below the first chain drive and the second chain drive, it can push each strip package in any group of strip grid plates that has rotated to the output device onto the second belt conveyor.

5. The fully automatic multi-station switching strip packaging feeding equipment according to claim 3, characterized in that: The structure of the feeding device is as follows: a mounting frame is provided on the third base, and two first movable plates are set on the front and rear sides of the mounting frame through their respective first slide rails. The first rotating rod, the second rotating rod, and the third rotating rod are supported on the two first movable plates from left to right through their respective first bearing groups. At least two first claws are fixedly arranged at intervals on the first rotating rod, and the first lever is inserted and fixed on each of the first claws. At least two second claws are fixedly arranged at intervals on the second rotating rod, and the second lever is inserted and fixed on each of the second claws. At least two third claws are arranged at intervals on the third rotating rod, and the third lever is inserted and fixed on each of the third claws. A translation drive device is provided on the third base to drive two first moving plates to move synchronously to the left or right. The structure of the translation drive device is as follows: a drive motor is fixedly installed on the third base, a drive sprocket is fixedly installed on the motor shaft of the drive motor, a lead screw is supported on the third base through a second bearing assembly, a driven sprocket is fixedly installed at the end of the lead screw, and a chain is wound around the drive sprocket and the driven sprocket to form a chain drive; a moving part is screwed on the lead screw, the second moving plate is set on the mounting frame through a second slide rail, the movement trajectory of the second moving plate on the second slide rail is parallel to the movement trajectory of the first moving plate on the first slide rail, the top of the second moving plate is fixedly connected to any one of the first moving plates, and the bottom of the second moving plate is fixedly connected to the moving part. A rotation drive device is provided on any of the first movable plates to drive the first, second, and third rotating rods to rotate synchronously in the same direction, thereby raising or lowering the first, second, and third levers synchronously. The structure of the rotation drive device is as follows: a double-rod cylinder is fixedly installed on any of the first movable plates; a first connecting arm is fixedly installed on the first rotating rod located on the same side as the double-rod cylinder; a second connecting arm is fixedly installed on the second rotating rod located on the same side as the double-rod cylinder; and a third connecting arm is fixedly installed on the third rotating rod located on the same side as the double-rod cylinder. The left piston rod of the double-rod cylinder is hinged to the first connecting arm, and the right piston rod of the double-rod cylinder is hinged to the second connecting arm. The third movable plate is mounted on the mounting frame via a third slide rail. The movement trajectory of the third movable plate on the third slide rail is parallel to the movement trajectory of the first movable plate on the first slide rail, and both the second and third connecting arms are hinged to the third movable plate.

6. The fully automatic multi-station switching strip packaging feeding equipment according to claim 3, characterized in that: The structure of the feeding device is as follows: a mounting frame is provided on the third base, and two first movable plates are mounted on the front and rear sides of the mounting frame via their respective first slide rails. Two sets of feeding mechanisms are spaced apart from left to right on the first movable plates. The structure of each feeding mechanism is as follows: a first rotating rod and a second rotating rod are sequentially supported on the two first movable plates from left to right via their respective first bearing sets. At least two first pawls are fixedly spaced on the first rotating rod, with the first pawl inserted and fixed to it. At least two second pawls are fixedly spaced on the second rotating rod, with the second pawl inserted and fixed to it. A translation drive device is provided on the third base to drive the two first movable plates to move synchronously forward or backward. The structure of the translation drive device is as follows: a drive motor is fixedly mounted on the third base, a drive sprocket is fixedly mounted on the motor shaft of the drive motor, and a lead screw is supported on the third base via a second bearing set. A driven sprocket is fixedly installed, and a chain is wound around the driving sprocket and the driven sprocket to form a chain drive; a movable component is screwed on the lead screw, and a second movable plate is set on the mounting frame through a second slide rail. The movement trajectory of the second movable plate on the second slide rail is parallel to the movement trajectory of the first movable plate on the first slide rail. The top of the second movable plate is fixedly connected to any of the first movable plates, and the bottom of the second movable plate is fixedly connected to the movable component; each set of feeding mechanisms is provided with a rotation drive device that drives the first rotating rod and the second rotating rod to rotate synchronously in the same direction, thereby causing the first lever and the second lever to be raised or lowered synchronously; the structure of the rotation drive device is as follows: a double-rod cylinder is fixedly installed on the first movable plate, a first connecting arm is fixedly installed on the first rotating rod located on the same side of the double-rod cylinder, and a second connecting arm is fixedly installed on the second rotating rod located on the same side of the double-rod cylinder. The left piston rod of the double-rod cylinder is hinged to the first connecting arm, and the right piston rod of the double-rod cylinder is hinged to the second connecting arm.

7. The fully automatic multi-station switching strip packaging feeding equipment according to claim 1, characterized in that: Two locking strips are respectively provided on the outer walls of the short frames on both sides of the sterilization tray. The two locking strips are parallel to each other and at the same height. A positioning cone is provided at each of the four corners of the top surface of the sterilization tray. A positioning cone hole is provided at each of the four corners of the bottom surface of the sterilization tray, and the four positioning cone holes correspond one-to-one with the four positioning cones in vertical position. The gripping part of the robot arm includes: a fixing frame fixed to the front end of the robot arm; a left gripper is set on the left side of the fixing frame via a pair of left slide rails, and the left gripper is driven by a left drive unit. The drive mechanism slides on a pair of left-side slide rails; the left-side gripper is a strip-shaped structure with a left-side slot for each of the locking strips on the same side of a row of sterilization trays to be engaged; the right-side gripper is mounted on the right side of the frame via a pair of right-side slide rails, the tracks of the pair of right-side slide rails being parallel to the tracks of the pair of left-side slide rails, and the right-side gripper is driven by a right-side drive device to slide on the pair of right-side slide rails; the right-side gripper is a strip-shaped structure parallel to the left-side gripper, with a right-side slot for each of the locking strips on the same side of a row of sterilization trays to be engaged.

8. The fully automatic multi-station switching strip packaging feeding equipment according to claim 7, characterized in that: The left driving device is a left hydraulic cylinder fixed to the left side of the fixed frame. A left connecting plate is fixedly installed in the middle of the left gripper, and the piston rod of the left hydraulic cylinder is fixedly connected to the left connecting plate. The right driving device is a right hydraulic cylinder fixed to the right side of the fixed frame. A right connecting plate is fixedly installed in the middle of the right gripper, and the piston rod of the right hydraulic cylinder is fixedly connected to the right connecting plate.

9. A fully automatic multi-station switching strip packaging feeding device according to claim 7 or 8, characterized in that: It also includes several positioning trays; several connecting cones are provided on the top surface of the positioning trays, each connecting cone having the same shape and size as the positioning cone, and the distribution of the connecting cones ensures that when multiple sterilization trays arranged in a straight line are placed on the positioning tray, each positioning cone hole on each sterilization tray can be matched with a corresponding connecting cone for insertion; several connecting cone holes are provided on the bottom surface of the positioning trays, each connecting cone hole having the same shape and size as the positioning cone hole, and each connecting cone hole corresponds one-to-one with each connecting cone in vertical position; Positioning clips are provided on the outer side walls of both sides of the positioning tray. The positions of the two positioning clips are consistent with the positions of the two clips on each sterilization tray placed on the positioning tray. When the gripper of the robotic arm grips the positioning tray, the two positioning clips can be inserted into the left and right slots respectively. Each set of stacked multi-layer sterilization trays is provided with a positioning tray at the bottom and top. Each set of multi-layer sterilization trays is restricted between the corresponding two positioning trays by two positioning trays.

10. A fully automatic multi-station switching strip packaging feeding device according to claim 1 or 7, characterized in that: At the gripping area of ​​the robotic arm in the loading station, a support device is also provided to support the multi-layer sterilization trays after stacking or during stacking. The structure of the support device is as follows: a support frame is provided around the sixth base; the left rotating rod is vertically supported on the left side of the support frame via a left bearing assembly; a left swing arm is fixedly installed on the left rotating rod; and a left support plate is fixedly installed at the end of the left swing arm. The right rotating rod is vertically supported on the right side of the support frame via a right bearing assembly; a right swing arm is fixedly installed on the right rotating rod; and a right support plate is fixedly installed at the end of the right swing arm. The support frame is equipped with a swing drive device that drives the left and right rotating rods to rotate synchronously in opposite directions, thereby causing the left and right swing arms to move inward or outward synchronously. The structure of the swing drive device is as follows: the cylinder body of the left swing hydraulic cylinder is hinged to the support frame, the piston rod of the left swing hydraulic cylinder is hinged to one end of the first connecting rod, and the other end of the first connecting rod is fixedly connected to the left rotating rod; the cylinder body of the right swing hydraulic cylinder is hinged to the support frame, the piston rod of the right swing hydraulic cylinder is hinged to one end of the second connecting rod, and the other end of the second connecting rod is fixedly connected to the right rotating rod.

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