An integrated machine with a rotating moving platform for container manufacturing and packaging.

Abstract

This invention relates to the field of parallel machine mechanism technology, specifically to an integrated machine with a rotating moving platform for container manufacturing and packaging. Commercially available automated inkjet printing and packing production lines typically employ both inkjet printing robots and packing robots. The control systems of these robots are independent, requiring two different host machines to control the output motion of each robot mode. To address these issues, this invention provides an integrated machine with a rotating moving platform for container manufacturing and packaging. It uses a single host machine and a single robot topology, allowing for free switching between two output motion modes: 2T1R (two translations and one rotation) and 3T (three translations). In the 2T1R output mode, inkjet printing or engraving is performed to create personalized patterns on the container surface. In the 3T output mode, container gripping and packing operations are performed, enabling continuous operation and significantly improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of parallel machine mechanism technology, and more specifically to an integrated machine with a rotating moving platform for container manufacturing and packaging. Background Technology

[0002] Containers are widely used in daily life, and personalized designs on their surfaces are increasingly popular with customers. Currently, automated inkjet printing and packing production lines on the market typically include both inkjet printing and packing robots. The control systems for these two robots are independent, requiring two separate host units to control their respective movement patterns. For example, Chinese utility model patent CN212149565U discloses an automated packaging line that simultaneously performs inkjet printing and packing functions; however, implementing these functions requires both an automatic inkjet printer and a packing robot. This design undoubtedly increases design costs and makes the entire container production line occupy a larger area, hindering its widespread adoption.

[0003] To address the aforementioned issues, the current market urgently needs to develop a "multi-functional" robot topology. Summary of the Invention

[0004] The existing technology has the following problems: Commercially available automated inkjet printing and packaging production lines typically employ both inkjet printing robots and packaging robots. The control systems for these two robots are independent, requiring two different host units to control their respective motion outputs, resulting in high costs and large footprints. To address these issues, this invention provides an integrated machine with a rotating platform for container manufacturing and packaging, comprising a processing platform, a packaging platform, a comprehensive branch chain, and individual branch chains. The comprehensive branch chain includes a first branch chain and a second branch chain. The first branch chain includes a first sliding joint and three rotating joints connected in series with parallel axes. The second branch chain includes a second sliding joint and three rotating joints connected in series with parallel axes.

[0005] The revolute joint at the end of the first branch furthest from the first prismatic joint is the third revolute joint; the revolute joint at the end of the second branch furthest from the second prismatic joint is the sixth revolute joint; the axes of the third revolute joint and the sixth revolute joint are perpendicular to each other.

[0006] Both the first and second movable joints are located on the console;

[0007] The single branch includes a third prismatic joint and three revolute joints connected in series. The revolute joint at the end of the single branch away from the third prismatic joint is the ninth revolute joint. The axes of the third prismatic joint and the ninth revolute joint are parallel to each other. The third prismatic joint is located on the control console.

[0008] The ninth rotating joint is connected to one end of the processing platform; the other end of the processing platform is connected to the tenth rotating joint; the tenth rotating joint 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 joint is parallel to the axis of the tenth rotating joint, and the axes of the tenth rotating joint are perpendicular to each other with the axes of the third and sixth rotating joints.

[0009] The first, second, and third moving pairs are all drive pairs. The processing platform is fixedly equipped with a pattern making device for inkjet printing or engraving on the surface of the container. Under the combined action of the three drive pairs, the processing platform can generate output motions of translation along the axis, translation along the axis, and rotation around the axis to inkjet print or engrave on the surface of the container.

[0010] The packaging platform is fixedly equipped with a picking gripper. Under the combined action of three drive pairs, the packaging platform can generate output motions of translation along the axis, translation along the axis, and translation along the axis to pick up the container and put it into the packaging box.

[0011] Preferably, the first branch includes a first prismatic joint, a first revolute joint, a second revolute joint, and a third revolute joint connected in series.

[0012] Preferably, the second branch includes a second prismatic joint, a fourth revolute joint, a fifth revolute joint, and a sixth revolute joint connected in series.

[0013] Preferably, the single branch includes a third prismatic joint, a seventh revolute joint, an eighth revolute joint, and a ninth revolute joint connected in series.

[0014] The axes of the third sliding joint and the seventh revolute joint are perpendicular to each other, the axes of the seventh revolute joint and the eighth revolute joint are parallel to each other, and the axes of the eighth revolute joint and the ninth revolute joint are perpendicular to each other.

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

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

[0017] An integrated production line for container manufacturing and packaging with a rotating platform, which adopts the aforementioned integrated machine for container manufacturing and packaging with a rotating platform.

[0018] Preferably, the integrated production line for container manufacturing and packaging with a rotating platform further includes a container conveyor belt for conveying containers and a packaging box conveyor belt for conveying packaging boxes.

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

[0020] The pattern-making device is located above the container conveyor belt to print or engrave each container on the conveyor belt.

[0021] The pick-up gripper is located above the packaging box conveyor belt to transfer the coded or engraved container into the packaging box on the packaging conveyor belt.

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

[0023] (1) The all-in-one machine with a rotating platform for container manufacturing and packaging obtained by the present invention, under the joint action of three drive pairs, adopts the same host and the same robot topology, and can freely switch between two modes of output motion: 2T1R (two translations and one rotation) and 3T (three translations). In the 2T1R output mode, the pattern making device on the processing platform completes the inkjet printing or engraving to form a personalized pattern on the surface of the container; in the 3T output mode, the picking gripper on the packaging platform realizes the picking of cups and boxing operations, realizing continuous operation and greatly improving production efficiency.

[0024] (2) The integrated machine with a rotating platform for container manufacturing and packaging obtained by the present invention has a simpler structure, lower design cost, smaller footprint, and better application prospects. Attached Figure Description

[0025] Figure 1 This is a topological structural diagram of an integrated machine with a rotating platform for container manufacturing and packaging provided by the present invention.

[0026] Figure 2 This is an application scenario diagram of an integrated machine with a rotating platform for container manufacturing and packaging provided by the present invention.

[0027] Figure 3 This is a structural schematic diagram of an integrated machine with a rotating platform for container manufacturing and packaging provided by the present invention.

[0028] In the diagram: 1. Processing platform, 2. Packaging platform, 3. Control console, P 11 First moving pair, R 12 First revolute joint, R 13 The second revolute joint, R 14 The third revolute joint, P 21 Second moving pair, R 22 The fourth revolute joint, R 23 The fifth revolute joint, R 24 The sixth revolute joint, P 31 Third moving pair, R 32 The seventh revolute joint, R33 The eighth revolute joint, R 34 The ninth revolute joint, R 35 10. Rotary joint, 1. First branch chain, 2. Second branch chain, 3. Single branch chain, 4. Container conveyor belt, 5. Packaging box conveyor belt, 6. Container, 7. Packaging box, 8. Pattern making device, 9. Pick-up gripper, 10. Linkage. Detailed Implementation

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

[0030] As per the instruction manual Figure 1-3 The diagram shows an integrated machine for container manufacturing and packaging provided by the present invention, comprising 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 sliding pair P connected in series with its axes parallel to each other. 11 and three revolute joints; the second branch II includes a second prismatic joint P connected in series with their axes parallel to each other. 21 and three revolute joints;

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

[0032] The first moving sub-P 11 Second moving pair P 21 All are located on console 3;

[0033] The single branch III includes a third locating joint P connected in series. 31 And three revolute joints, on a single branch III away from the third prismatic joint P 31 The revolute joint at one end is the ninth revolute joint R. 34 The third moving pair P 31 The axis of any one of the two series-connected revolute joints in the middle of single branch III is perpendicular to each other; the third prismatic joint P 31 With the ninth revolute joint R 34 The axes are parallel to each other, and the third sliding joint P 31 Located on console 3;

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

[0035] The first moving sub-P 11 Second moving sub-P 21 Third moving sub-P 31 All are drive units, and a pattern making device 8 is fixedly installed on the processing platform 1.

[0036] The processing platform 1 is fixedly equipped with a device 8 for printing or engraving patterns on the surface of the container 6. Under the combined action of three drive pairs, the processing platform 1 can generate output motions of translation along the x-axis, translation along the y-axis, and rotation around the x-axis. That is, under the combined action of the three drive pairs, the processing platform 1 achieves 2T1R mode output motion, translating along the xoy plane and rotating along the x-axis to print or engrave patterns on the surface of the container 6; the first moving pair P... 11 Second moving sub-P 21 Third moving sub-P 31 The direction of movement of console 3 is consistent with the direction of its axis.

[0037] The conveying direction of 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 installed with a picking gripper 9. Under the combined action of three drive pairs, it realizes 3T mode output motion, translates along the x-axis, y-axis and z-axis, picks up the container 6 and puts it into the packaging box.

[0040] The decoupling analysis is as follows:

[0041] In 3T mode: the amount by which the base point of packaging platform 2 (any point on packaging platform 2) translates along the x-axis is determined by the second moving joint P. 21 The value of y is determined by the first moving average P. 11 The z-value is determined by the first moving joint P. 11 Second moving sub-P 21 Third moving sub-P 31Joint decision;

[0042] In 2T1R mode: the base point of processing platform 1 (ninth rotary joint R) 34 The x-value of a point on the axis is determined by the second moving joint P. 21 The value of y is determined by the second moving average P. 21 Third moving sub-P 31 The value of the rotation angle α around the x-axis is jointly determined by the first prismatic joint P. 11 Second moving sub-P 21 Third moving sub-P 31 A joint decision.

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

[0044] In one specific embodiment, the first branch I includes a first movable joint P connected in series. 11 First revolute joint R 12 Second revolute joint R 13 and the third revolute joint R 14 .

[0045] In one specific embodiment, the second branch II includes second movable joints P connected in series. 21 Fourth revolute joint R 22 Fifth revolute joint R 23 and the sixth revolute joint R 24 .

[0046] In one specific embodiment, the single branch III includes a third locating joint P connected in series. 31 7th rotating joint R 32 Eighth rotating joint R 33 and the ninth rotating joint R 34 .

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

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

[0049] In one specific embodiment, an integrated production line for a rotating platform for container manufacturing and packaging includes the aforementioned integrated machine for a rotating platform for container manufacturing and packaging, a container conveyor belt 4, and a packaging box conveyor belt 5.

[0050] The first moving sub-P 11 Second moving sub-P 21 Third moving sub-P 31 They are all installed above the container conveyor belt 4 and also above the packaging box conveyor belt 5;

[0051] The pattern making device 8 is located above the container conveyor belt 4 to print or engrave each container on the container conveyor belt 4.

[0052] Pick-up gripper 9 is located above the packaging conveyor belt 5 to transfer the coded or engraved container 6 into the packaging box 7 on the packaging conveyor belt.

[0053] In this embodiment, the x-axis, y-axis, and z-axis directions are all perpendicular to each other, and the second moving joint P... 21 Fourth revolute joint R 22 Fifth revolute joint R 23 The sixth revolute joint R 24 Ninth rotating joint R 34 10th rotating joint R 35 The axis direction is parallel to the x-axis direction, and the first sliding joint P 11 First revolute joint R 12 Second revolute joint R 13 Third revolute joint R 14 Third moving sub-P 31 The axis of rotation is parallel to the y-axis; the seventh revolute joint R 32 Eighth rotating joint R 33 The axis is parallel to the z-axis.

[0054] The usage process of the all-in-one machine with a rotating platform for container manufacturing and packaging in the above embodiments is as follows:

[0055] S1: The container conveyor belt 4 moves containers 6 one by one at a speed v1;

[0056] Activating 2T1R mode: When container 6 reaches the end of container conveyor belt 4, container conveyor belt 4 pauses. At this time, the mechanism operates 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 moves 2T to the appropriate position on the xoy plane; at the same time, the position of the inkjet printer is adjusted by rotating the processing platform 1 around the x-axis. In this way, personalized patterns are added to the processed cup.

[0057] S2: Activate 3T mode: After the inkjet printing is completed, activate the pick-up gripper 9 on the packaging platform 2. At this time, the processed container 6 is picked up by the three-dimensional motion of xyz and then placed in the packaging box 7.

[0058] S3: Repeat the above operation. After the packaging box 7 is filled with container 6, the packaging box conveyor belt 5 starts working and the full cup is sent away.

[0059] It can be seen that the above two motion modes are applied to the three moving sliders P. 11 P 21P 31 Under coordinated operation, the system can automatically switch between modes. In the 2T1R output mode, it can complete the task of engraving or printing personalized patterns on the drinking cups. In the 3T output mode, it can complete the operation of packing and transporting the cups, thus forming an automated production line that enables continuous operation and greatly improves production efficiency.

[0060] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An integrated machine with a rotating platform for container manufacturing and packaging, characterized in that, It includes a processing platform (1), a packaging platform (2), an integrated branch and a single branch (III); the integrated branch includes a first branch (I) and a second branch (II); the first branch (I) includes a first sliding joint (P) connected in series with its axes parallel to each other. 11 The second branch (II) includes three revolute joints; the second branch (II) includes two prismatic joints (P) connected in series with their axes parallel to each other. 21 ) and three revolute joints; The first branch (I) is away from the first moving pair (P) 11 The revolute joint at one end is the third revolute joint (R). 14 ); the second branch (II) is away from the second moving pair (P) 21 The revolute joint at one end is the sixth revolute joint (R). 24 The third rotating pair (R) 14 ) and the sixth revolute joint (R 24 The axes of the two axes are perpendicular to each other; The first moving pair (P) 11 ) and second moving pair (P 21 All of these are located on the console (3); The single branch (III) includes a third moving pair (P) connected in series. 31 ) and three revolute joints, on a single branch (III) away from the third prismatic joint (P) 31 The revolute joint at one end is the ninth revolute joint (R). 34 The third moving pair (P) 31 ) and the ninth revolute joint (R 34 The axes of the three moving pairs (P) are parallel to each other. 31 Located on console (3); The ninth rotating pair (R) 34 One end of the processing platform (1) is connected to the processing platform (1); the other end of the processing platform (1) is connected to the tenth rotating joint (R). 35 ) connection; the tenth rotating joint (R 35 One end of the packaging platform (2) is connected in series with the other end of the packaging platform (2), and the other end of the packaging platform (2) is connected to the middle of the connecting rod (10). The two ends of the connecting rod (10) are respectively connected to the third rotating joint (R). 14 ) and the sixth revolute joint (R 24 ) connection, the ninth rotating pair (R 34 The axis of ) and the tenth revolute joint (R) 35 The axes of the tenth revolute joint (R) are parallel to each other. 35 ) and the third revolute joint (R 14 ), sixth revolute joint (R) 24 The axes of the two axes are perpendicular to each other. The first moving pair (P) 11 ), second moving pair (P 21 ), third moving pair (P 31 All three drive pairs are drive pairs. The processing platform (1) is fixedly installed with a pattern making device (8) for printing or engraving on the surface of the container (6). Under the combined action of the three drive pairs, the processing platform (1) can generate output motions of translation along the x-axis, translation along the y-axis and rotation around the x-axis to print or engrave on the surface of the container (6). The packaging platform (2) is fixedly equipped with a picking gripper (9). Under the combined action of the three drive pairs, the packaging platform (2) can generate output motions that translate along the x-axis, along the y-axis, and along the z-axis to pick up the container (6) and put it into the packaging box (7).

2. The integrated machine for manufacturing and packaging containers with a rotating platform according to claim 1, characterized in that, The first branch (I) includes a first movable joint (P) connected in series. 11 ), first revolute joint (R) 12 ), second revolute joint (R) 13 ) and the third revolute joint (R 14 ).

3. The integrated machine for manufacturing and packaging containers with a rotating platform according to claim 1, characterized in that, The second branch (II) includes a second movable joint (P) connected in series. 21 ), fourth revolute joint (R) 22 ), fifth revolute joint (R) 23 ) and the sixth revolute joint (R 24 ).

4. The integrated machine for manufacturing and packaging containers with a rotating platform according to claim 1, characterized in that, The single branch (III) includes a third moving pair (P) connected in series. 31 ), the seventh revolute joint (R) 32 ), the eighth revolute joint (R) 33 ) and the ninth revolute joint (R 34 ); Third moving pair (P) 31 ) and the seventh revolute joint (R 32 The axes of the seventh revolute joint (R) are perpendicular to each other. 32 ) and the eighth revolute joint (R 33 The axes of the eighth revolute joint (R) are parallel to each other. 33 ) and the ninth revolute joint (R 34 The axis is perpendicular to the axis.

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

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

7. An integrated production line with a rotating platform for container manufacturing and packaging, characterized in that, The integrated machine employs the rotating platform for container manufacturing and packaging as described in any one of claims 1-6.

8. The integrated production line for container manufacturing and packaging with a rotating platform 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 ), second moving pair (P 21 ), third moving pair (P 31 All of them are installed above the container conveyor belt (4) and also above the packaging box conveyor belt (5); The pattern making device (8) is located above the container conveyor belt (4) to print or engrave the containers on the container conveyor belt (4) one by one; The pick-up gripper (9) is located above the packaging box conveyor belt (5) to transfer the coded or engraved container (6) to the packaging box (7) on the packaging conveyor belt.

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