Robot box filling machine

Abstract

The invention discloses a robot box filling machine which comprises a machine frame, a material receiving and conveying device arranged below the machine frame, two box conveying devices penetrating through the machine frame and an incoming material conveying device arranged on the side edge of the machine frame. A spider hand grabbing mechanism hoisted at the top of the rack is correspondingly arranged above each box conveying device, the two spider hand grabbing mechanisms are arranged in a staggered mode in the direction perpendicular to the conveying direction, the number of the receiving conveying devices is the same as that of the incoming conveying devices, and the receiving conveying devices and the incoming conveying devices are in butt joint one by one. And the box conveying device and the material receiving conveying device are arranged in parallel and alternately. The boxing efficiency is improved, meanwhile, the equipment cost is reduced, and the better market application prospect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of food packaging equipment, and in particular to a robot case packing machine. Background Art

[0002] At present, the common ways of packing ice cream in China include the following: manual packing, translation packing, side-push packing and robot packing. Among them, manual packing has low efficiency, high cost, low packing environment temperature, and is harmful to human health. Translation and side-push packing machines have complex mechanical structures and slow movement speeds, and cannot complete production lines with faster output. Robot packing has a simple structure and fast movement, and is gradually replacing other packing methods. Common robot case packers on the market include spider arm robots and palletizing robots. Spider arm robots are widely used in the food packaging industry, such as an ice cream sorting and case packing system with authorization announcement number CN 104943904B, a new spider arm case packer with authorization announcement number CN 214190301 U, and a new spider arm case packer with application publication number CN 111891458 A. Case packers of this type generally use multi-axis spider arm robots to transfer the conveyed materials to another conveyor line. Each conveyor line corresponds to a multi-axis spider arm robot, which is not only costly, but also because the robot's case packing action is fast, it is still necessary to wait for material transportation after each case packing is completed, which restricts the overall case packing efficiency. Summary of the invention

[0003] The purpose of the present invention is to propose a robot case packing machine in view of the deficiencies in the prior art, which can improve the case packing efficiency while reducing the equipment cost and has a better market application prospect.

[0004] The technical solution to achieve the purpose of the present invention is: A robot case packing machine comprises a frame, a material receiving conveying device arranged below the frame, a box conveying device arranged through the frame and an incoming material conveying device arranged on the side of the frame, the box conveying device is provided with two groups, each group of box conveying devices is provided with a spider hand material grasping mechanism hoisted on the top of the frame, the two groups of spider hand material grasping mechanisms are staggered along a direction perpendicular to the conveying direction, the material receiving conveying device is provided with three groups and the number is the same as that of the incoming material conveying devices and they are connected one by one, and the box conveying device is parallel to the material receiving conveying device and is alternately arranged.

[0005] Furthermore, the spider hand material grasping mechanism includes a double-axis spider hand robot fixedly mounted on a frame and a grasping hand assembly fixedly mounted on the bottom movable end of the double-axis spider hand robot.

[0006] Furthermore, the gripper assembly includes a support member fixedly connected to the dual-axis spider hand robot, a driving unit installed on the support member, and a plurality of gripper units movably arranged along the length direction of the support member. Adjacent gripper units are transmission-connected to form a gripper portion that is retractable along the length direction of the support member. The gripper unit at one end of the gripper portion is fixedly connected to the support member, and the gripper unit at the other end is connected to the driving unit and is suitable for reciprocating along the support member under the drive of the driving unit.

[0007] Furthermore, two groups of gripping parts and two groups of driving units are symmetrically arranged on the support member, and the two groups of driving units respectively drive the two gripping parts to extend and retract in opposite directions.

[0008] Furthermore, the supporting member is a profile frame, the bottom of the profile frame is fixedly connected to a guide rail, and a plurality of sliders are slidably fitted on the guide rail, the gripper unit is fixedly connected to the corresponding sliders, and fixed blocks are fixedly connected between the sliders at both ends of the profile frame and the profile frame, and the two sliders located in the middle of the profile frame are respectively connected to the output ends of the corresponding drive units.

[0009] Furthermore, the gripper unit includes a connecting rod fixedly connected to the slider, the lower end of the connecting rod is fixedly connected to a mounting plate which is horizontally arranged and perpendicular to the conveying direction, and a plurality of vacuum suction cups are adjustably mounted on the mounting plate.

[0010] Furthermore, a shrinkage plate is connected between two adjacent sliders, one end of the shrinkage plate is provided with a connecting hole, and the other end is provided with a waist-shaped hole extending along the length direction of the support member, and the two adjacent sliders are respectively fixed with screws and connecting pins that pass through the connecting hole and the waist-shaped hole, and the connecting pin is clearance-matched with the waist-shaped hole.

[0011] Furthermore, the driving unit is a cylinder.

[0012] Furthermore, the material receiving and conveying device is a double servo material receiving line.

[0013] Furthermore, the input ends and output ends of the two groups of box conveying devices are respectively arranged close to each other.

[0014] By adopting the above technical solution, the present invention has the following beneficial effects: The present invention arranges two groups of box conveying devices to convey empty boxes and finished products after boxing, and is provided with a corresponding number of spider hand material grasping mechanisms and three groups of material receiving conveying devices. By alternately arranging the material receiving conveying devices and the box conveying devices extending into the frame, three groups of incoming materials share two groups of boxing. When the spider hand material grasping mechanisms complete boxing of the materials on the outer material receiving conveying devices, the two staggered spider hand material grasping mechanisms use the waiting time in between to jointly box the materials on the middle material receiving conveying devices, and the cycle is repeated. The two material grasping mechanisms coordinate with the three material receiving lines and the two box conveying lines to achieve the purpose of high output and low cost, and the market application prospect is broad.

[0015] The present invention adopts a dual-axis spider arm robot to replace the multi-axis spider arm robot in the traditional structure, which further reduces the equipment cost. At the same time, the structure is simpler and the action is faster, which further improves the packing efficiency.

[0016] The gripper assembly of the present invention forms a retractable gripper portion by setting up multiple gripper units that are transmission-connected and slidably mounted on a support member, thereby automatically adjusting the spacing between adjacent grasped materials during the process of transferring materials so that they meet the packing size requirements, thereby eliminating the material spacing adjustment device in a traditional case packing machine, saving equipment costs, eliminating a sorting process, and improving the packing efficiency.

[0017] The present invention arranges a pair of gripping parts on the same supporting member, which can transfer more materials at the same time and further improve the packing efficiency.

[0018] The present invention adopts a profile frame as a supporting member, which is light in weight. A structure composed of a guide rail and a slider is adopted to realize the movable connection between the gripper unit and the profile frame. The structure is simple and easy to install, and a lightweight design of the gripper assembly is realized, thereby reducing the load of the dual-axis spider hand robot and greatly improving the speed of the robot.

[0019] The present invention adopts a vacuum suction cup as the execution end of the gripper unit, which is light in weight and has a wide range of applications. The low load is suitable for materials of most materials. At the same time, the vacuum suction cup can be adjustably arranged on the mounting plate to meet the needs of grabbing materials of different sizes, further expanding the scope of application.

[0020] Each group of grippers in the present invention uses a shrinkage plate with a waist-shaped hole to connect adjacent sliders. The waist-shaped hole provides a movable space, so that the two sliders can move closer and farther under the action of external force, thereby achieving the purpose of variable distance. The overall weight is light, which further reduces the load of the dual-axis spider hand robot.

[0021] The present invention adopts a cylinder as a driving unit of the gripper portion, which is light in weight and quick in action response.

[0022] The material receiving and conveying device of the present invention adopts a double servo material receiving line, which speeds up the material incoming progress, saves waiting time, and further improves the overall packing efficiency.

[0023] The input end and output end of the box conveying device of the present invention are arranged close to each other, so that the input ends and output ends of the two box conveying devices share one work station, saving labor or equipment investment, facilitating loading and unloading, and thus reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein: Figure 1 A perspective view of the present invention; Figure 2 is a three-dimensional diagram of the gripper assembly of the present invention; Figure 3 for Figure 2 A partial enlarged view of point A in the figure.

[0025] The reference numerals in the accompanying drawings are: Frame 1, material receiving conveying device 2, incoming material conveying device 3, box conveying device 4, spider hand material grasping mechanism 5, dual-axis spider hand robot 5-1, support 5-2, drive unit 5-3, gripper unit 5-4, connecting rod 5-4-1, mounting plate 5-4-2, vacuum suction cup 5-4-3, guide rail 5-5, slider 5-6, fixing block 5-7, shrinkage plate 5-8, connecting hole 5-8-1, waist-shaped hole 5-8-2, connecting plate 5-9. DETAILED DESCRIPTION

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] (Example 1) like Figures 1 to 3The robot packing machine shown includes a frame 1, a material receiving conveying device 2, an incoming material conveying device 3, a box conveying device 4 and a spider hand grasping mechanism 5, wherein the material receiving conveying device 2 is arranged at the bottom of the frame 1, the incoming material conveying device 3 is arranged at the side of the frame 1, the box conveying device 4 is provided with two groups and is arranged through the frame 1, and is used to convey empty boxes into the frame 1 and output the loaded boxes. The spider hand grasping mechanism 5 is also provided with two groups, which are hoisted on the top of the frame 1 and are respectively located above the two box conveying devices 4, and are staggered perpendicular to the box conveying direction. The material receiving conveying device 2 is provided with three groups and the number is the same as that of the incoming material conveying device 3 and they are connected one by one, so as to convey the materials to the incoming material conveying device 3. The box conveying device 4 located in the frame 1 is parallel to the material receiving conveying device 2 and is arranged alternately, so that three groups of incoming materials share two groups of boxes. When the spider hand grasping mechanism 5 completes the boxing of the materials on the outer material receiving conveying device 2, the two staggered spider hand grasping mechanisms 5 jointly box the materials on the middle material receiving conveying device 2 using the waiting time in the middle, and the cycle is repeated. The two grasping mechanisms coordinate with the three material receiving lines and two box conveying lines to achieve the purpose of high output and low cost, and the market application prospect is broad.

[0028] Specifically, the input ends and output ends of the two sets of box conveying devices 4 are arranged close to each other, so that the input ends and output ends of the two box conveying devices 4 share a workstation, saving labor or equipment investment, facilitating loading and unloading, thereby reducing equipment costs and improving loading efficiency. Blocks are set at equal intervals on the box conveying device 4 to form multiple workstations suitable for placing boxes, thereby positioning the empty boxes and ensuring the accuracy of the box position. The material receiving and conveying device 2 adopts a double servo material receiving line, including two material receiving and conveying belts 2-1 respectively controlled by independently running servo motors, and the two material receiving and conveying belts 2-1 are connected with material receiving station plates 2-2 arranged along the conveying direction, wherein half of the arranged material receiving station plates are fixedly connected to one material receiving and conveying belt, and the other half are fixed to another material receiving and conveying belt, thereby realizing material receiving at two different conveying speeds, when half of the material receiving station plates near the front end enter a group of materials and reach the grabbing position by a servo movement, the other half of the material receiving station plates are quickly moved to the material receiving station by another servo movement, and another group of materials enters, and the cycle repeats. Compared with single servo control, it saves the dwell time of materials waiting to be grabbed, and the incoming materials can be continuous, further improving the overall packing efficiency.

[0029] The spider arm material grabbing mechanism 5 includes a dual-axis spider arm robot 5-1 fixedly mounted on the frame 1 and a gripper assembly fixedly mounted on the bottom movable end of the dual-axis spider arm robot 5-1. The dual-axis spider arm robot is used to replace the multi-axis spider arm robot in the traditional structure, which further reduces the equipment cost. At the same time, the structure is more concise, the movement is faster, and the packing efficiency is improved.

[0030] The gripper assembly includes a support member 5-2, a drive unit 5-3 and a gripper unit 5-4, wherein the gripper unit 5-4 is provided with a plurality of gripper units 5-4 and movably arranged along the length direction of the support member 5-2, and adjacent gripper units 5-4 are connected by transmission to form a gripper portion that is retractable along the length direction of the support member 5-2, and the drive unit 5-3 is installed on the support member 5-2, wherein the gripper unit 5-4 at one end of the gripper portion is fixedly connected to the support member 5-2, and the gripper unit 5-4 at the other end is connected to the drive unit 5-3, and the gripper unit 5-4 is driven by the drive unit 5-3 to reciprocate along the support member 5-2, thereby realizing automatic extension and retraction of the gripper portion, and then automatically adjusting the spacing between the gripped materials during the material transfer process, eliminating the material spacing adjustment device in the traditional cartoning machine, which not only saves equipment costs, but also eliminates a sorting process and improves the cartoning efficiency.

[0031] Two groups of grippers and two groups of drive units 5-3 are symmetrically arranged on the support 5-2. The two groups of drive units 5-3 drive the two grippers to extend and retract in opposite directions respectively, so that more materials can be transferred at the same time, further improving the grabbing efficiency. The drive unit 5-3 is a cylinder, which is light in weight, quick in action response, simple in structure, and easy to control. The cylinder body of the cylinder is hinged on the support 5-2.

[0032] In order to reduce the load of the dual-axis spider hand robot 5-1 and increase the speed of the dual-axis spider hand robot 5-1, the support member 5-2 of this embodiment adopts a profile frame, and a guide rail 5-5 is fixedly connected to the bottom of the profile frame. A plurality of sliders 5-6 with the same number as the gripper unit 5-4 are slidably matched on the guide rail 5-5. The gripper unit 5-4 is fixedly connected to the corresponding slider 5-6, thereby realizing a sliding connection with the support member 5-2. A fixed block 5-7 is fixedly connected between the slider 5-6 at one end of the gripper and the profile frame, and the slider 5-6 at the other end is hinged to the piston rod of the cylinder, so that it can be controlled by the cylinder to make reciprocating motion along the profile frame.

[0033] The gripper unit 5-4 includes a connecting rod 5-4-1 fixedly connected to the slider, and the lower end of the connecting rod 5-4-1 is fixedly connected to a mounting plate 5-4-2 arranged horizontally and perpendicular to the box conveying direction, and a strip groove is provided on the mounting plate 5-4-2, and a plurality of vacuum suction cups 5-4-3 are arranged below, and the vacuum suction cups 5-4-3 are adjustablely mounted on the mounting plate 5-4-2 by bolts penetrating the strip groove, so as to meet the requirements of grabbing materials of different sizes and expand the scope of application. The vacuum suction cup is used as the execution end of the gripper unit 5-4, which is light in weight and has a wide range of application, and is suitable for materials of most materials.

[0034] A contraction sheet 5-8 is connected between two adjacent sliders 5-6. A connection hole 5-8-1 is provided at one end of the contraction sheet 5-8, and a waist-shaped hole 5-8-2 extending along the length direction of the support member 5-2 is provided at the other end. Screws and connecting pins penetrating the connection hole 5-8-1 and the waist-shaped hole 5-8-2 are respectively fixedly connected to the two adjacent sliders 5-6, and the connecting pins are clearance-matched with the waist-shaped hole 5-8-2. The waist-shaped hole provides a movable space, so that the two sliders 5-6 can move closer and farther under the action of external force, and the purpose of changing the distance is achieved. The overall weight is light. Two connection holes 5-8-1 are provided along the length direction of the support member 5-2, so as to ensure that the contraction sheet 5-8 installed thereon can remain horizontal, ensure the stability of the contraction movement of the slider 5-6, and avoid the contraction movement jamming caused by the skewness of the contraction sheet 5-8.

[0035] The slider 5-6 is fixed with a connecting piece 5-9, and the connecting piece 5-9 is provided with a plurality of mounting screw holes 5-9-1 along the length direction of the support 5-2. The screws and connecting pins are screwed on different mounting screw holes to adjust the initial spacing between adjacent sliders, so as to meet the requirements of grabbing materials with different spacings, and have better versatility. Two adjacent shrinking pieces 5-8 are staggered at the front and rear sides of the slider, thereby providing more avoidance space, avoiding interference between the shrinking pieces 5-8, and realizing a smaller spacing between grabbing units, thereby expanding the scope of application.

[0036] The workflow of this embodiment is as follows: The incoming material conveying device 3 conveys the material to the receiving material conveying device 2. At the same time, the input end of the box conveying device 4 conveys the empty box to the bottom of the spider hand grasping mechanism 5. When the material reaches the bottom of the spider hand grasping mechanism 5, the two spider hand grasping mechanisms 5 first grab the materials on the two outer receiving material conveying devices 2 respectively, and automatically adjust the distance between the gripping units 5-4 during the transfer process, so that it can directly meet the packing size requirements and be placed in the empty boxes on the two box conveying devices 4 respectively.

[0037] Then, while waiting for the materials on the two outer receiving and conveying devices 2 to arrive, the two spider-hand material grabbing mechanisms 5 grab the materials on the middle receiving and conveying device 2 and transfer them to the empty boxes on the two box conveying devices 4. The cycle is repeated to achieve a uniform beat of the dual-axis robot and make full use of its efficiency.

[0038] The present invention comprehensively considers the packing speed and the incoming material conveying speed, changes the traditional one-to-one method, and takes into account that the equipment cost of the one-to-two method is relatively high, the incoming material speed is slowed down, and the comprehensive packing efficiency is not high. Two groups of box conveying devices are creatively arranged to convey empty boxes and packed finished products, and a corresponding number of spider hand material grasping mechanisms and three groups of material receiving and conveying devices are provided. The material receiving and conveying devices are alternately arranged with the box conveying devices extending into the frame, so that three groups of incoming materials share two groups of packing. After the spider hand material grasping mechanism completes the packing of the materials on the outer material receiving and conveying devices, the two staggered spider hand material grasping mechanisms use the waiting time in the middle to jointly pack the materials on the middle material receiving and conveying device, and the cycle is repeated. The two material grasping mechanisms coordinate with the three material receiving lines and the two box conveying lines to achieve the purpose of high output and low cost, and the market application prospect is broad.

[0039] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot packing machine, characterized in that: It includes a frame, a material receiving conveying device arranged under the frame, a box conveying device arranged through the frame and an incoming material conveying device arranged on the side of the frame. The box conveying device is provided with two groups, and a spider hand material grabbing mechanism hoisted on the top of the frame is provided above each group of box conveying devices. The two groups of spider hand material grabbing mechanisms are staggered along a direction perpendicular to the conveying direction. The material receiving conveying device is provided with three groups, and the number is the same as that of the incoming material conveying devices and they are connected one by one. The box conveying device is parallel to the material receiving conveying device and is alternately arranged.

2. A robot packer according to claim 1, characterized in that: The spider hand material grasping mechanism comprises a double-axis spider hand robot fixedly mounted on a frame and a grasping hand assembly fixedly mounted on the movable end at the bottom of the double-axis spider hand robot.

3. A robot packer according to claim 2, characterized in that: The gripper assembly includes a support member fixedly connected to the dual-axis spider hand robot, a drive unit installed on the support member, and a plurality of gripper units movably arranged along the length direction of the support member. Adjacent gripper units are transmission-connected to form a retractable gripper portion along the length direction of the support member. The gripper unit at one end of the gripper portion is fixedly connected to the support member, and the gripper unit at the other end is connected to the drive unit and is suitable for reciprocating along the support member under the drive of the drive unit.

4. A robot packer according to claim 3, characterized in that: The support member is symmetrically provided with two groups of gripping parts and two groups of driving units, and the two groups of driving units respectively drive the two gripping parts to extend and retract in opposite directions.

5. A robot packer according to claim 4, characterized in that: The support member is a profile frame, the bottom of the profile frame is fixedly connected to a guide rail, and a plurality of sliders with the same number as the gripper units are slidably matched on the guide rail. The gripper units are fixedly connected to the corresponding sliders, and fixed blocks are fixedly connected between the sliders at both ends of the profile frame and the profile frame. The two sliders located in the middle of the profile frame are respectively connected to the output ends of the corresponding drive units.

6. A robot packer according to claim 4, characterized in that: The gripper unit comprises a connecting rod fixedly connected to the slider, the lower end of the connecting rod is fixedly connected to a mounting plate which is horizontally arranged and perpendicular to the conveying direction, and a plurality of vacuum suction cups are adjustably mounted on the mounting plate.

7. A robot packer according to claim 3, characterized in that: A shrinkage plate is connected between two adjacent sliders, one end of the shrinkage plate is provided with a connecting hole, and the other end is provided with a waist-shaped hole extending along the length direction of the support member. The two adjacent sliders are respectively fixed with screws and connecting pins that pass through the connecting hole and the waist-shaped hole, and the connecting pin is clearance-matched with the waist-shaped hole.

8. A robot packing machine according to claim 3, characterized in that: The driving unit is a cylinder.

9. The robot packer according to claim 1, characterized in that: The material receiving and conveying device is a double servo material receiving line.

10. The robot packer according to claim 1, characterized in that: The input ends and output ends of the two groups of box conveying devices are respectively arranged close to each other.

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