All-in-one machine capable of moving platforms in turns and used for manufacturing and packaging containers

Abstract

The invention relates to the technical field of parallel machine mechanisms, in particular to an all-in-one machine with a movable platform capable of being replaced in turn and used for manufacturing and packaging containers. An automatic code spraying and boxing production line on the market is generally provided with a code spraying robot and a boxing robot at the same time, control systems of the code spraying robot and the boxing robot are mutually independent, and two different main machines are needed to control mode output movement of the two robots respectively. In order to solve the problems, the invention provides the all-in-one machine capable of alternately moving the platform for manufacturing and packaging the container, the same host and the same set of robot rubbing structure are adopted, two modes of 2T1R (two-translation and one-rotation) and 3T (three-translation) output movement can be freely and alternately realized, code spraying or engraving is completed in the 2T1R output mode, and the working efficiency is improved. Personalized patterns are formed on the surface of the container; container grabbing and boxing operation is achieved in a 3T output mode, continuous operation is achieved, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of parallel machine mechanisms, and in particular to an integrated machine with a rotatable movable platform for making and packaging containers. Background Art

[0002] Containers are widely used in daily life, and the design of personalized patterns on the surface of containers is more popular with customers. At present, the automated inkjet and packing production lines on the market are usually equipped with both inkjet robots and packing robots. The control systems of the inkjet and packing robots are independent of each other, and two different hosts are required to control the pattern output movements of the two robots respectively. For example, Chinese utility model patent CN212149565U discloses an automated packaging line, which has both inkjet and packing functions, but the realization of its inkjet and packing functions requires the simultaneous configuration of an automatic inkjet printer and a packing robot. This design undoubtedly increases the design cost, and at the same time makes the entire container production line occupy a larger area, which is not conducive to the large-scale promotion of the production line.

[0003] In order to solve the above problems, the current market urgently needs to develop a "one machine, multiple uses" robot topology structure. Summary of the invention

[0004] The problem existing in the prior art is that the automated inkjet coding and packing production lines on the market are usually equipped with both inkjet coding robots and packing robots. The control systems of the inkjet coding robots and packing robots are independent of each other, and two different hosts are required to control the mode output motions of the two robots respectively, which is expensive and occupies a large area. In view of the above problems, the present invention provides an integrated machine with a rotatable moving platform for making and packaging containers, including a processing platform, a packaging platform, an integrated branch chain and a single branch chain; the integrated branch chain includes a first branch chain and a second branch chain; the first branch chain includes a first moving pair and three rotating pairs that are connected in series in sequence and whose axes are parallel to each other; the second branch chain includes a second moving pair and three rotating pairs that are connected in series in sequence and whose axes are parallel to each other;

[0005] The rotating pair of the first branch chain away from one end of the first moving pair is the third rotating pair; the rotating pair of the second branch chain away from one end of the second moving pair is the sixth rotating pair; the axes of the third rotating pair and the sixth rotating pair are perpendicular to each other;

[0006] The first moving pair and the second moving pair are both located on the console;

[0007] The single-branch chain comprises a third moving pair and three rotating pairs connected in series in sequence, and the rotating pair on the single-branch chain far away from one end of the third moving pair is a ninth rotating pair; the axes of the third moving pair and the ninth rotating pair are parallel to each other, and the third moving pair is located on the console;

[0008] The ninth rotating pair is connected to one end of the processing platform; the other end of the processing platform is connected to the tenth rotating pair; the tenth rotating pair is connected in series with one end of the packaging platform, and the other end of the packaging platform is connected to the middle of the connecting rod, the axis of the ninth rotating pair is parallel to the axis of the tenth rotating pair, and the axes of the tenth rotating pair, the third rotating pair, and the sixth rotating pair are perpendicular to each other;

[0009] The first moving pair, the second moving pair and the third moving pair are all driving pairs. A pattern making device for coding or engraving the surface of the container is fixedly installed on the processing platform. Under the joint action of the three driving pairs, the processing platform can generate output motions of translation along the axis, translation along the axis and rotation around the axis, so as to code or engrave the surface of the container;

[0010] A picking gripper is fixedly installed on the packaging platform. Under the joint action of three driving pairs, the packaging platform can generate output motions of translation along the axis, translation along the axis and translation along the axis to grab the container and put it into the packaging box.

[0011] Preferably, the first branch chain comprises a first moving pair, a first rotating pair, a second rotating pair and a third rotating pair which are connected in series in sequence.

[0012] Preferably, the second branch chain comprises a second moving pair, a fourth rotating pair, a fifth rotating pair and a sixth rotating pair which are connected in series in sequence.

[0013] Preferably, the single branch chain comprises a third moving pair, a seventh rotating pair, an eighth rotating pair and a ninth rotating pair connected in series in sequence;

[0014] The axes of the third moving pair and the seventh rotating pair are perpendicular to each other, the axes of the seventh rotating pair and the eighth rotating pair are parallel to each other, and the axes of the eighth rotating pair and the ninth rotating pair are perpendicular to each other.

[0015] Preferably, the picking gripper is a mechanical gripper.

[0016] Preferably, the pattern making device comprises an inkjet printer or an engraving machine.

[0017] An integrated production line with a rotatable movable platform for making and packaging containers adopts the integrated production line with a rotatable movable platform for making and packaging containers.

[0018] Preferably, the integrated production line of the rotatable movable platform for making and packaging containers further comprises a container conveyor belt for conveying containers and a packaging box conveyor belt for conveying packaging boxes.

[0019] The first moving pair, the second moving pair, and the third moving pair are all installed above the container conveyor belt, and are also located above the packaging box conveyor belt;

[0020] The pattern making device is located above the container conveyor belt to spray code or engrave the containers on the container conveyor belt one by one;

[0021] The picking gripper is located above the packaging box conveyor belt, so that the picking gripper transfers the container after coding or engraving to the packaging box on the packaging conveyor belt.

[0022] The present invention has the following beneficial effects:

[0023] (1) The integrated machine with a rotatable moving platform for making and packaging containers obtained by the present invention, under the joint action of three driving pairs, uses the same main machine and the same set of robot topology structure, and can freely rotate to realize 2T1R (two translations and one rotation) and 3T (three translations) two modes of output movement. In the 2T1R output mode, the pattern making device on the processing platform completes the coding or engraving to form a personalized pattern on the container surface; in the 3T output mode, the picking gripper on the packaging platform realizes the cup grabbing and boxing operations, realizing continuous operation and greatly improving production efficiency;

[0024] (2) The integrated machine with a rotatable movable platform for making and packaging containers obtained by the present invention has a simpler structure, lower design cost, smaller footprint, and better application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : is a schematic diagram of the topological structure of an all-in-one machine with a rotatable movable platform for making and packaging containers provided by the present invention.

[0026] Figure 2 : This is an application scenario diagram of an all-in-one machine with a rotatable moving platform for making and packaging containers provided by the present invention.

[0027] Figure 3 : is a structural schematic diagram of an all-in-one machine with a rotatable movable platform for making and packaging containers provided by the present invention.

[0028] In the figure: 1. Processing platform, 2. Packaging platform, 3. Control console, P 11 .The first moving pair, R 12 .The first rotation pair, R 13 . The second rotation pair, R 14 .The third rotation pair, P 21 . The second moving pair, R 22 .The fourth rotation pair, R 23 . The fifth rotation pair, R 24 . The sixth rotation pair, P 31 . The third mobile pair, R 32 .The seventh rotation pair, R33 . The eighth rotation pair, R 34 . The ninth rotation pair, R 35 .Tenth rotating pair, I. First branch chain, II. Second branch chain, III. Single branch chain, 4. Container conveyor belt, 5. Packing box conveyor belt, 6. Container, 7. Packing box, 8. Pattern making device, 9. Pick-up gripper, 10. Connecting rod. DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the examples. However, it should be understood that the following examples are only illustrative of the embodiments of the present invention, and are not intended to limit the scope of the present invention.

[0030] As the instruction manual Figure 1-3 As shown, it is an integrated machine with a rotatable movable platform for making and packaging containers provided by the present invention, which includes a processing platform 1, a packaging platform 2, a comprehensive branch chain and a single branch chain III; the comprehensive branch chain includes a first branch chain I and a second branch chain II; the first branch chain I includes a first movable pair P connected in series in sequence and with axes parallel to each other 11 The second branch chain II includes a second moving pair P in series with axes parallel to each other. 21 and three revolute pairs;

[0031] The first branch chain I is far away from the first moving pair P 11 The revolute pair at one end is the third revolute pair R 14 ; The second branch II is far away from the second moving pair P 21 The revolute pair at one end is the sixth revolute pair R 24 The third rotation pair R 14 With the sixth rotation pair R 24 The axes are perpendicular to each other;

[0032] The first moving pair P 11 and the second moving pair P 21 Both are located on console 3;

[0033] The single branch chain III comprises a third moving pair P connected in series 31 And three rotating pairs, the single branch chain III is far away from the third moving pair P 31 The revolute pair at one end is the ninth revolute pair R 34 The third moving pair P 31 The axis of any one of the two rotating pairs in series on the single branch chain III is perpendicular to each other; the third moving pair P 31 With the ninth rotation pair R 34 The axes of the third movable pair P are parallel to each other. 31 Located on console 3;

[0034] The ninth rotation pair R34 connected to one end of the processing platform 1; the other end of the processing platform 1 is connected to the tenth rotation pair R 35 Connection; the tenth rotation pair R 35 is connected in series with one end of the packaging platform 2, the other end of the packaging platform 2 is connected to the middle of the connecting rod 10, and the ninth rotation pair R 34 The axis of the tenth revolute pair R 35 The axes of the tenth rotation pair R are parallel to each other. 35 With the third rotation pair R 14 、The sixth rotation pair R 24 The axes are perpendicular to each other;

[0035] The first moving pair P 11 , the second moving pair P 21 , the third mobile pair P 31 Both are driving pairs. A pattern making device 8 is fixedly installed on the processing platform 1.

[0036] The processing platform 1 is fixedly provided with a device 8 for printing or engraving patterns on the surface of the container 6. The processing platform 1 can generate output motions of translation along the x-axis direction, translation along the y-axis direction and rotation around the x-axis direction under the joint action of the three driving pairs. That is, the processing platform 1 realizes 2T1R mode output motion under the joint action of the three driving pairs, translates along the xoy plane, and rotates along the x-axis to print or engrave patterns on the surface of the container 6; the first moving pair P 11 , the second moving pair P 21 , the third mobile pair P 31 The moving direction of the console 3 is consistent with the direction of its axis.

[0037] The conveying direction of the container conveyor belt 4 is parallel to the x-axis;

[0038] The conveying direction of the packaging box 7 is parallel to the y-axis;

[0039] The packaging platform 2 is fixedly provided with a picking gripper 9, which realizes 3T mode output motion under the joint action of three driving pairs, translates along the x-axis, y-axis and z-axis directions, grabs the container 6 and puts it into the packaging box.

[0040] The decoupling analysis is as follows:

[0041] In 3T mode: the amount of translation of the base point of packaging platform 2 (any point on packaging platform 2) along the x-axis direction is determined by the second moving pair P 21 The y value is determined by the first moving pair P 11 The z value is determined by the first moving pair P 11 , the second moving pair P 21 , the third mobile pair P 31Joint decision making;

[0042] In 2T1R mode: Processing platform 1 base point (ninth rotation pair R 34 The x value of a point on the axis is determined by the second moving pair P 21 The y value is determined by the second moving pair P 21 , the third mobile pair P 31 The angle α of rotation around the x-axis is determined by the first moving pair P 11 , the second moving pair P 21 , the third mobile pair P 31 Joint decision.

[0043] In a specific embodiment, the picking gripper 9 is a mechanical gripper.

[0044] In a specific embodiment, the first branch chain I includes a first moving pair P connected in series 11 、The first rotation pair R 12 , the second rotation pair R 13 and the third rotation pair R 14 .

[0045] In a specific embodiment, the second branch chain II includes a second moving pair P connected in series 21 , the fourth rotation pair R 22 、The fifth rotation pair R 23 and the sixth rotation pair R 24 .

[0046] In a specific embodiment, the single branch chain III includes a third mobile pair P connected in series. 31 、The seventh rotation pair R 32 、The eighth rotation pair R 33 and the ninth rotation pair R 34 .

[0047] In a specific embodiment, the picking gripper 9 is a mechanical gripper.

[0048] In a specific embodiment, the pattern making device 8 includes an inkjet printer or an engraving machine.

[0049] In a specific embodiment, an integrated production line of a rotatable movable platform for making and packaging containers comprises the above-mentioned integrated production line of a rotatable movable platform for making and packaging containers, a container conveyor belt 4 and a packaging box conveyor belt 5;

[0050] The first moving pair P 11 , the second moving pair P 21 , the third mobile pair P 31 They are all installed above the container conveyor belt 4 and are also located above the packaging box conveyor belt 5;

[0051] The pattern making device 8 is located above the container conveyor belt 4 to spray code or engrave the containers on the container conveyor belt 4 one by one;

[0052] The picking gripper 9 is located above the packaging box conveyor belt 5 so that the picking gripper 9 can transfer the container 6 after coding or engraving to the packaging box 7 on the packaging conveyor belt.

[0053] In this embodiment, the x-axis direction, the y-axis direction and the z-axis direction are perpendicular to each other. 21 , the fourth rotation pair R 22 、The fifth rotation pair R 23 、The sixth rotation pair R 24 、The ninth rotation pair R 34 、The tenth rotation pair R 35 The axis direction is parallel to the x-axis direction, and the first moving pair P 11 、The first rotation pair R 12 , the second rotation pair R 13 、The third rotation pair R 14 , the third mobile pair P 31 The axis of the seventh rotation pair R is parallel to the y-axis direction; 32 、The eighth rotation pair R 33 The axis is parallel to the z-axis.

[0054] The use process of the integrated machine with a rotatable movable platform for making and packaging containers in the above embodiment is as follows:

[0055] S1: The container conveyor 4 moves the containers 6 one by one at a speed v 1 move;

[0056] Enable 2T1R mode: When container 6 reaches the end of container conveyor belt 4, container conveyor belt 4 stops working. At this time, the mechanism works in 2T1R mode, that is, the inkjet printer installed on the processing platform 1 is used to process container 6. Specifically, the inkjet printer first makes a 2T movement on the xoy surface to a suitable position; at the same time, the position of the inkjet printer 3 is adjusted by rotating the processing platform 1 around the x-axis. In this way, a personalized pattern is added to the processed cup.

[0057] S2: Enable 3T mode: After the coding is completed, the picking gripper 9 on the packaging platform 2 is enabled. At this time, the processed container 6 is first picked up through the three-dimensional movement of xyz, and then placed in the packaging box 7.

[0058] S3: Repeat the above operation. After the packaging box 7 is filled with the container 6, the packaging box conveyor belt 5 starts to work and the filled cups are sent away.

[0059] It can be seen that the above two motion modes are 11, P 21 , P 31 Under the combined orderly operation, switching can be performed automatically, that is, in the 2T1R output mode, the task of engraving or coding the personalized pattern of the drinking cup is completed; in the 3T output mode, the operation of packing and transporting the cup is completed, thus forming an automatic production line, realizing continuous operation and greatly improving production efficiency.

[0060] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An integrated machine with a rotatable movable platform for making and packaging containers, characterized in that: The invention comprises a processing platform (1), a packaging platform (2), a comprehensive branch chain and a single branch chain (III); the comprehensive branch chain comprises a first branch chain (I) and a second branch chain (II); the first branch chain (I) comprises a first moving pair (P) which is connected in series and has axes parallel to each other. 11 ) and three rotating pairs; the second branch chain (II) comprises a second moving pair (P) connected in series and with axes parallel to each other 21 ) and three revolute pairs; The first branch (I) is away from the first moving pair (P 11 ) The revolving pair at one end is the third revolving pair (R 14 ); the second branch (II) is away from the second moving pair (P 21 ) The revolving pair at one end is the sixth revolving pair (R 24 ); the third rotation pair (R 14 ) and the sixth rotation pair (R 24 ) have axes that are perpendicular to each other; The first moving pair (P 11 ) and the second moving pair (P 21 ) are located on the console (3); The single branch chain (III) comprises a third mobile pair (P 31 ) and three rotating pairs, the single branch chain (III) is far away from the third moving pair (P 31 ) The revolving pair at one end is the ninth revolving pair (R 34 ); the third moving pair (P 31 ) and the ninth rotation pair (R 34 ) are parallel to each other, and the axes of the third moving pair (P 31 ) is located on the console (3); The ninth rotation pair (R 34 ) is connected to one end of the processing platform (1); the other end of the processing platform (1) is connected to the tenth rotation pair (R 35 ) connection; the tenth rotation pair (R 35 ) is connected in series with one end of the packaging platform (2), the other end of the packaging platform (2) is connected to the middle of the connecting rod (10), and the ninth rotation pair (R 34 ) and the axis of the tenth revolute pair (R 35 ) are parallel to each other, the tenth rotation pair (R 35 ) and the third rotation pair (R 14 )、The sixth rotation pair (R 24 ) are perpendicular to each other; The first moving pair (P 11 ), the second moving pair (P 21 )、The third moving pair (P 31 ) are all drive pairs, a pattern making device (8) for spraying code or engraving the surface of the container (6) is fixedly installed on the processing platform (1), and the processing platform (1) can generate output motions of translation along the x-axis direction, translation along the y-axis direction and rotation around the x-axis direction under the joint action of the three drive pairs, so as to spray code or engrave the surface of the container (6); A picking gripper (9) is fixedly mounted on the packaging platform (2). Under the joint action of three driving pairs, the packaging platform (2) can generate output motions of translation along the x-axis direction, translation along the y-axis direction, and translation along the z-axis direction, so as to grab the container (6) and place it into the packaging box (7).

2. The integrated machine with a rotatable movable platform for making and packaging containers according to claim 1, characterized in that: The first branch chain (I) comprises a first moving pair (P 11 )、The first rotation pair (R 12 )、The second rotation pair (R 13 ) and the third rotation pair (R 14 ).

3. The integrated machine with a rotatable movable platform for making and packaging containers according to claim 1, characterized in that: The second branch chain (II) comprises a second moving pair (P 21 )、The fourth rotation pair (R 22 )、The fifth rotation pair (R 23 ) and the sixth rotation pair (R 24 ).

4. The integrated machine with a rotatable movable platform for making and packaging containers according to claim 1, characterized in that: The single branch chain (III) comprises a third mobile pair (P 31 )、The seventh rotation pair (R 32 )、The eighth rotation pair (R 33 ) and the ninth rotation pair (R 34 ); The third moving pair (P 31 ) and the seventh rotation pair (R 32 ) are perpendicular to each other, and the seventh revolute pair (R 32 ) and the eighth rotation pair (R 33 ) are parallel to each other, and the eighth rotation pair (R 33 ) and the ninth rotation pair (R 34 )’s axis is perpendicular.

5. The integrated machine with a rotatable movable platform for making and packaging containers according to claim 1, characterized in that: The picking gripper (9) is a mechanical gripper.

6. The integrated machine with a rotatable movable platform for making and packaging containers according to claim 1, characterized in that: The pattern making device (8) comprises an inkjet printer or an engraving machine.

7. An integrated production line with a rotatable movable platform for making and packaging containers, characterized in that: An integrated machine with a rotatable movable platform for making and packaging containers as described in any one of claims 1 to 6 is adopted.

8. The integrated production line with a rotatable movable platform for making and packaging containers according to claim 7, characterized in that: It also includes a container conveyor belt (4) for conveying containers (6) and a packaging box conveyor belt (5) for conveying packaging boxes (7). The first moving pair (P 11 ), the second moving pair (P 21 )、The third moving pair (P 31 ) are both installed above the container conveyor belt (4) and are also both located above the packaging box conveyor belt (5); The pattern making device (8) is located above the container conveyor belt (4) to spray codes or engrave the containers on the container conveyor belt (4) one by one; The picking gripper (9) is located above the packaging box conveyor belt (5) so that the picking gripper (9) can transfer the container (6) after coding or engraving to the packaging box (7) on the packaging conveyor belt.

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