Automatic feeding equipment and feeding method for thin plate packaging boxes

Abstract

The invention relates to the field of automation, and particularly discloses automatic feeding equipment and a feeding method for thin plate packaging boxes. The automatic feeding equipment comprises a rack, a sorting module, an adjusting module and a feeding module, wherein the rack is provided with a feeding area and an adjusting area; the sorting module comprises a sorting head and a transposition driving assembly, the sorting head comprises a sorting sliding block, a micro-lifting mechanism and a clamping mechanism, and the micro-lifting mechanism comprises a lateral chuck and a micro-lifting driving part; the clamping mechanism comprises an insertion plate and an insertion driving piece, and the insertion plate is horizontally arranged; the adjusting module is arranged at the adjusting station and comprises a horizontal overturning assembly and a longitudinal overturning assembly; and the feeding module is arranged at a feeding station and comprises a clamping manipulator and a feeding driving assembly. According to the automatic feeding equipment, the sorting completeness of the material piles can be improved through micro-lifting operation, and the automatic feeding equipment has the advantage of being high in automation degree.

Description

Technical Field

[0001] The present invention relates to the field of automation, and in particular to an automatic feeding device and a feeding method for a thin plate packaging box. Background Art

[0002] Thin sheet packaging boxes are formed by die-cutting cardboard and folded and glued into boxes when used. When there are a large number of packaging boxes, the packaging boxes are usually stacked into a pile in a specific number after the die-cutting process is completed, and stacked on pallets for storage and transportation.

[0003] When using packaging boxes, they need to be fed one by one in the material pile. The sorting and transportation of the material pile is cumbersome and labor-intensive, and it is difficult to achieve automation. In addition, during the stacking process, the two adjacent layers of the material pile have different orientations, and posture adjustment operations are required during the feeding process, which further increases the difficulty of implementation. In addition, since the packaging boxes need to be folded one by one when in use, considering the need for subsequent one-by-one transportation, the material pile is not tied and constrained during stacking. It is very easy to have the problem of residual packaging boxes on the material pile that cannot be completely clamped during sorting, making it difficult to take into account both sorting efficiency and sorting integrity. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic feeding device and a feeding method for thin plate packaging boxes, which can improve the integrity of material pile sorting through micro-lifting operations and has the advantage of a high degree of automation.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic feeding device for thin plate packaging boxes, comprising at least: A frame, wherein the frame is provided with a feeding area and an adjustment area, the adjustment area is provided with an adjustment station, a feeding station and a conveying assembly, and the conveying assembly is arranged from the adjustment station to the feeding station; A sorting module, wherein the sorting module comprises a sorting head and a transfer drive assembly, wherein the sorting head comprises a sorting slider, a micro-lifting mechanism and a clamping mechanism, wherein the micro-lifting mechanism comprises a lateral clamping head and a micro-lifting drive member, wherein the micro-lifting drive member is used to drive the lateral clamping head to move up and down; wherein the clamping mechanism comprises a plug-in plate and a plug-in drive member, wherein the plug-in plate is arranged horizontally, and wherein the plug-in drive member is used to drive the plug-in plate to move horizontally; wherein the plug-in end of the plug-in plate and the lateral clamping head are arranged facing the same side; wherein the transfer drive assembly is used to drive the sorting slider to move in the horizontal direction and the vertical direction, and transfer between the feeding area and the adjustment area; An adjustment module, wherein the adjustment module is arranged at an adjustment station, and the adjustment module comprises a horizontal flipping component and a vertical flipping component; A feeding module is provided at a feeding station, and comprises a clamping manipulator and a feeding drive assembly, wherein the feeding drive assembly is used for driving the clamping manipulator to move in vertical and horizontal directions.

[0006] When the material stack is being fed, the material stack is fed into the feeding area. The transfer drive assembly drives the sorting head to move into the feeding area and align it with one of the material stacks on the top layer of the material stack. The lateral clamping head clamps the side of the corresponding material stack, and the micro-lifting drive drives the lateral joint to lift a certain height, and drives the corresponding side of the material stack to lift and tilt, completing the micro-lifting operation. The plug-in drive works to drive the plug-in plate to be inserted from the bottom of the raised side of the corresponding material stack under the material stack, and the material stack is placed on the plug-in plate to complete the plug-in operation, thereby achieving reliable clamping of the material stack. The transfer drive assembly drives the sorting head and the material stack to transfer to the adjustment module. After the horizontal posture adjustment and flipping adjustment, they are clamped by the feeding module to complete the feeding operation.

[0007] The micro-lifting operation can clamp the side of the material pile and lift one side of the material pile to a certain height, leaving space for the insertion of the plug-in board on the lower side of the material pile, reducing the resistance of the plug-in insertion, ensuring the smooth insertion operation, and reducing the damage to the bottom packaging box during the insertion process. At the same time, because the material pile is loosely stacked, through the micro-lifting operation, even if some packaging boxes at the bottom are not lifted off, the pressure of lifting the upper packaging boxes is reduced, making it easier for the plug-in board to be inserted, thereby reducing the amount of packaging boxes left on the material pile after sorting.

[0008] The adjustment module can perform horizontal steering and vertical flipping operations on the material pile to ensure that the material pile has a consistent posture when it arrives at the feeding station and meets the use requirements. The feeding module can automatically complete the clamping and feeding operations of the material pile for subsequent packaging of the packaging box.

[0009] The automated feeding equipment of the present application can improve the integrity of material pile sorting through micro-lifting operations, and has the advantage of a high degree of automation.

[0010] Preferably, the clamping mechanism further comprises a clamping and pressing mechanism, which comprises a pressing plate and a pressing drive, wherein the pressing plate and the plug plate are disposed vertically opposite to each other, and the pressing drive is used to drive the pressing plate to move up and down.

[0011] During the sorting and transporting process, the pressure plate and the tray cooperate to press the material pile up and down to achieve reliable clamping, effectively preventing the material pile from scattering during the transport process, and ensuring the smooth progress of the sorting and transporting process.

[0012] Preferably, the sorting module also includes a partition picking assembly, which includes a negative pressure adsorption unit and a picking drive; the frame is also provided with a partition storage unit, and the picking drive is used to drive the negative pressure adsorption unit to move in the horizontal and vertical directions, and to transfer between the feed area and the partition storage unit.

[0013] When stacking packaging boxes, partitions are used to separate the upper and lower layers. After the sorting and feeding operations of each layer of the material pile are completed, the picking drive will work, driving the negative pressure adsorption unit to move to the top of the top partition to adsorb the partition, and transfer the partition to the partition storage unit, thereby realizing the automatic picking of the partition and further improving the degree of automation of feeding.

[0014] Preferably, the horizontal flip assembly comprises a support clamp and a horizontal flip driving mechanism, the support clamp comprises two support arms, the two support arms are arranged in parallel along the vertical direction, the conveying assembly is located between the two support arms, and the inner sides of the two support arms are respectively provided with support plates, and the horizontal flip driving mechanism is used to drive the bracket to move up and down, and rotate around the vertical center line; The horizontal flipping drive mechanism includes a first mounting block, a lifting drive member and a rotating drive member. The lifting drive member is arranged on the frame and is used to drive the first mounting block to move up and down; the support clamp is rotationally connected to the first mounting block, and the rotating drive member is used to drive the support clamp to rotate.

[0015] When performing a horizontal flipping operation, the conveying assembly delivers the material pile between the two supporting arms, the lifting drive drives the supporting clamp and the material pile to rise synchronously, and then the rotating drive drives the first mounting block, the supporting clamp and the material pile to rotate horizontally synchronously, thereby realizing the posture adjustment of the material pile in the horizontal direction.

[0016] Preferably, the longitudinal flip assembly includes a flip frame and a longitudinal flip drive mechanism, the longitudinal flip drive mechanism is used to drive the flip frame to rotate, and the rotation centerline is located in the horizontal plane and is arranged perpendicular to the conveying direction of the conveying assembly; the flip frame has at least two position states, in the first position state, the opening of the flip frame is arranged toward the inlet end of the conveying assembly, and in the second position state, the opening of the flip frame is arranged toward the outlet end of the conveying assembly.

[0017] When performing the longitudinal flipping operation, the flipping frame is first in the first position, the conveying assembly conveys the material pile and enters the flipping frame from the opening. Then the flipping drive mechanism works, the flipping frame and the material pile are synchronously flipped longitudinally to the second position, and the material pile falls back on the conveying assembly, realizing the longitudinal posture adjustment of the material pile.

[0018] Preferably, the flip frame is provided with a flip positioning unit, the flip positioning unit comprises a flip positioning block and a positioning drive, the flip positioning block is located at one side of the flip frame, and the positioning drive is used to drive the flip positioning block to move; The longitudinal flip assembly also includes an end-to-end sorting mechanism, which includes an end-to-end sorting block and an end-to-end sorting driving member, and the end-to-end sorting driving member drives the end-to-end sorting block to translate in a direction parallel to the rotation center line of the flip frame; the flip frame has at least a third position state, in which the opening of the flip frame is set upward, and the end-to-end sorting block is located at one end of the flip frame.

[0019] During the longitudinal flipping process, after the material pile enters the flip frame, the flip positioning block presses the material pile in the thickness direction to prevent the material pile from being scattered during the flipping process. During the flipping process from the first position to the second position, the flip frame pauses at the third position, the flip positioning unit is released, and the end-to-end sorting mechanism works to perform end-to-end sorting and alignment operations on the material pile. Then the flip positioning unit presses the material pile again and continues to flip to the second position. The flip positioning unit and the end-to-end sorting mechanism work together to sort the material pile, creating conditions for subsequent feeding operations.

[0020] Preferably, the conveying assembly includes a first section and a second section, the first section and the second section operate independently, and the longitudinal flipping assembly is located between the first section and the second section; the first section includes a conveyor belt, and the second section includes a feeding slider and a feeding drive, and the feeding drive is used to drive the feeding slider to move translationally; when the clamping frame is in the first position, the opening of the clamping frame is aligned with the first section, and when the clamping frame is in the second position, the opening of the clamping frame is aligned with the feeding slider.

[0021] The first segment and the second segment are independently set, which can not only better cooperate with the clamping frame, but also realize independent operation between the adjustment module and the feeding module, so as to facilitate the adjustment of the overall working rhythm of the equipment.

[0022] Preferably, the feed drive assembly includes a feed bracket and a clamping cantilever, and the clamping robot is arranged on the clamping cantilever; the feed bracket is horizontally slidably connected to the frame, and the frame is also provided with a horizontal feed drive component for driving the feed bracket to move; the clamping cantilever is vertically slidably connected to the feed bracket, and the feed bracket is also provided with a vertical feed drive component for driving the clamping cantilever to move up and down.

[0023] The horizontal feed drive is used to drive the feed bracket, the clamping cantilever and the clamping manipulator to move horizontally synchronously, and the vertical feed drive is used to drive the clamping cantilever and the clamping manipulator to move vertically synchronously. The horizontal feed drive and the vertical feed drive work together to complete the feeding operation of the material pile.

[0024] Preferably, the clamping manipulator comprises a clamping seat, on which a long clamping jaw and a short clamping jaw are provided; the long clamping jaw comprises a first clamping driving member and two groups of long clamping arms arranged in parallel, and the first clamping driving member is used to drive the two groups of long clamping arms to move relative to each other; the short clamping jaw comprises a second clamping driving member and two groups of short clamping arms arranged in parallel, and the second clamping driving member is used to drive the two groups of short clamping arms arranged in parallel to move relative to each other; The long clamp arm and the short clamp arm are both arranged in the vertical direction and enclose a clamping interval, and the lower end of the short clamp arm is arranged higher than the lower end of the long clamp arm.

[0025] During the feeding operation, the conveying assembly works to transport the material pile to the feeding station, the long clamp in the clamping manipulator clamps the material pile, and lifts the material pile away from the conveying assembly, and the short clamp is in a loose state at this time. During feeding, the short clamp clamps the material pile, and the long clamp releases the material pile. Due to the height difference between the lower ends of the short clamp arm and the long clamp arm, the packaging boxes between the long clamp and the lower end of the short clamp can fall freely to feed, while the upper packaging boxes are still clamped by the short clamp. Then the long clamp closes, the short clamp releases, and the material pile falls onto the long clamp. By closing the long clamp and opening the short clamp again, the packaging boxes are fed in batches and in a quantitative manner. The long clamp and the short clamp cooperate to perform the loosening and clamping operations in turn to achieve quantitative feeding of the material pile.

[0026] An automatic feeding method for thin plate packaging boxes, using the automatic feeding equipment as described above; At least the following steps are included: S1. Sorting: Send the material stack into the feeding area; the transfer drive component station drives the sorting head to move to the height of the top layer of packaging boxes in the material stack and aligns it with one of the material stacks; the lateral clamp works to clamp the material stack from one side, and the micro-lifting drive drives the lateral clamp to lift a certain height and simultaneously lift the corresponding side of the material stack; the plug-in drive drives the plug-in plate to insert it from the bottom of the corresponding side of the material stack under the material stack to achieve the acceptance of the material stack; The transfer drive assembly drives the sorting head and the material pile to transfer to the conveying assembly in the adjustment area; S2. Posture adjustment: The conveying component works to convey the pile to the adjustment station, and the horizontal flip component and the longitudinal flip component work to perform horizontal flip operations and longitudinal flip operations on the pile in turn; S3. Feeding: The conveying component transports the material pile to the feeding station, the clamping robot clamps the paper pile, and the feeding drive component drives the clamping robot to transfer and perform the feeding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the automatic feeding equipment of the thin plate packaging box of this embodiment; Figure 2It is a structural schematic diagram of another perspective of the automatic feeding equipment for the thin plate packaging box of this embodiment; Figure 3 This is a schematic diagram of the structure of the automatic feeding equipment for the thin plate packaging box of this embodiment, and the sorting head is in the state of clamping the material pile at this time; Figure 4 This is a schematic diagram of the structure of the automatic feeding equipment for the thin plate packaging box of this embodiment, in which the sorting head is in a state of cooperation with the conveying component; Figure 5 This is a schematic diagram of the structure of the automatic feeding equipment for the thin plate packaging box of this embodiment, and the sorting head is in the state of taking the partition board at this time; Figure 6 This is a schematic diagram of the structure of a sorting module in the automated feeding equipment for thin plate packaging boxes in this embodiment; Figure 7 It is a structural schematic diagram of a sorting head in the automatic feeding equipment of a thin plate packaging box in this embodiment; Figure 8 This is a schematic diagram of the structure of the sorting head in the automatic feeding equipment for thin plate packaging boxes in this embodiment, which is in a slightly raised state at this time; Fig. 9 This is a front view of the sorting head in the automatic feeding equipment for thin plate packaging boxes in this embodiment, which is in a slightly raised state at this time; Fig.10 This is a schematic diagram of the structure of the sorting head in the automatic feeding equipment for the thin plate packaging box of this embodiment, and the partition picking component is in the partition picking state at this time; Fig.11 It is a schematic diagram of the structure of the adjustment module, the feeding module and the conveying assembly in the automatic feeding equipment of the thin plate packaging box of this embodiment; Fig.12 This is a schematic diagram of the structure of the adjustment module in the automatic feeding equipment of the thin plate packaging box of this embodiment; Fig.13 It is a schematic diagram of the structure of the horizontal flipping state in the automatic feeding equipment of the thin plate packaging box of this embodiment; Fig.14 It is a schematic structural diagram of the longitudinal flipping assembly in the automatic feeding equipment of the thin plate packaging box of this embodiment; Fig.15 Schematic diagram of the structure of the longitudinal flip assembly in the automatic feeding equipment of the thin plate packaging box of this embodiment, at this time, the flip frame is in the first position; Fig.16 Schematic diagram of the structure of the longitudinal flip assembly in the automatic feeding equipment of the thin plate packaging box of this embodiment, at this time, the flip frame is in the third position; Fig.17 Schematic diagram of the structure of the longitudinal flip assembly in the automatic feeding equipment of the thin plate packaging box of this embodiment, at this time, the flip frame is in the second position; Fig.18 This is a schematic diagram of the structure of the feeding module in the automatic feeding equipment for the thin plate packaging box of this embodiment, and the material pile is located at the feeding station at this time; Fig.19 This is a schematic diagram of the structure of the feeding module in the automatic feeding equipment of the thin plate packaging box of this embodiment, and the material pile is in the lifted state at this time; Fig. 20 It is a schematic diagram of the structure of the clamping robot in the automatic feeding equipment of the thin plate packaging box of this embodiment; Fig.21 It is a front view of the clamping robot in the automatic feeding equipment of the thin plate packaging box of this embodiment. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Example

[0029] like Figure 1-Figure 5 As shown, an automatic feeding device for thin plate packaging boxes includes a frame 1, a sorting module 2, an adjustment module 3 and a feeding module 4. The frame 1 is provided with a feeding area 11 and an adjustment area 12. Fig.11 As shown, the adjustment area 12 is provided with an adjustment station, a feeding station and a conveying assembly 6, and the conveying assembly 6 is arranged from the adjustment station to the feeding station. Specifically, the adjustment station includes a transition station, a horizontal flip station and a longitudinal flip station, and the transition station, the horizontal flip station and the longitudinal flip station are arranged in sequence along the conveying direction of the conveying assembly 6.

[0030] Specifically, Fig.11 As shown, the conveying assembly 6 includes a transition mechanism, a first segment 62 and a second segment 63. The transition mechanism corresponds to the inlet end of the first segment 62, and the outlet end of the first segment 62 corresponds to the second segment 63. The transition mechanism includes a lifting platform 612 and a lifting drive unit 611. The lifting platform 612 is movably arranged on the frame 1, and the lifting drive unit 611 is used to drive the lifting platform 612 to move up and down. The lifting platform 612 is provided with a transition drive member, and the transition drive member is used to drive the pile to move horizontally. The first segment 62 and the second segment 63 operate independently. The first segment 62 includes a conveyor belt, and the second segment 63 includes a feeding slider and a feeding drive member. The feeding slider is horizontally movably arranged on the frame 1, and the feeding drive member is used to drive the feeding slider to move in translation.

[0031] The lifting platform 612 can move up and down relative to the first section 62. When the height of the material stack is high and higher than the first section 62, the lifting platform is lifted to a position higher than the first section 62 and cooperates with the sorting module 2 to receive the materials. When the height of the material stack is low and lower than the first section 62, the lifting platform is lowered to a position lower than the first section 62 and cooperates with the sorting module 2 to receive the materials, thereby reducing the movement distance of the sorting module 2 and playing a role in balancing the beat.

[0032] like Figure 3-Figure 6 As shown, the sorting module 2 includes a sorting head 21 and a transfer drive assembly 22, and the sorting head 21 includes a sorting slider 211, a micro-lifting mechanism and a clamping mechanism. Figure 7-Figure 10 As shown, the micro-lift mechanism includes a side plate 212, a lateral clamp 213 and a micro-lift driving member. The side plate 212 is fixedly arranged below the sorting slider 211, and the lateral clamp 213 is located on one side of the side plate 212. The lateral clamp 213 includes an opening and closing driving member and two parallel vertically extending clamps, and the opening and closing driving member is used to drive the clamps to open and close relative to each other. The micro-lift driving member is arranged on the side plate 212 and is used to drive the lateral clamp 213 to move up and down relative to the side plate 212.

[0033] like Figure 7-Figure 10 As shown, the clamping mechanism includes a plug plate 214 and a plug-in drive member, wherein the plug plate 214 is horizontally arranged below the sorting slider 211 and is horizontally slidably connected to the sorting slider 211, and the plug-in drive member is used to drive the plug plate 214 to move horizontally. The plug-in end of the plug plate 214 and the lateral clamp 213 are arranged to face the same side.

[0034] The micro-lifting operation can clamp the side of the material pile and raise one side of the material pile to a certain height, leaving space for the insertion of the plug board 214 on the lower side of the material pile, reducing the resistance of the insertion of the plug board 214, ensuring the smooth progress of the plug-in operation, and reducing the damage to the bottom packaging box during the plug-in process. At the same time, because the material pile is loosely stacked, through the micro-lifting operation, even if there are some packaging boxes at the bottom that have not been lifted off, it is easier to be inserted by the plug board 214 on the basis of the reduced pressure on the upper packaging boxes to be lifted off, thereby reducing the amount of packaging boxes left on the material pile after sorting. In addition, the clamping of the lateral clamp 213 can be used to withstand the horizontal thrust applied to the material pile during the insertion of the plug board 214, avoiding horizontal movement of the material pile during the insertion of the plug board 214.

[0035] Specifically, the plug end of the plug plate 214 is connected with an elastic plug piece, and in a natural state, the elastic plug piece is tilted downward. The elastic plug piece can guide the plug plate 214 to be inserted under the material pile, thereby reducing the amount of material left on the material pile after each material pile is sorted.

[0036] Further, such as Figure 7-Figure 10As shown, the clamping mechanism also includes a clamping and pressing mechanism 215, which includes a pressing plate and a pressing drive. The pressing plate is arranged between the sorting slider 211 and the plug plate 214, and is vertically opposed to the plug plate 214. A pressing interval is formed between the pressing plate and the plug plate 214, and the pressing drive is used to drive the pressing plate to move up and down. During the sorting and transportation process, the material pile is located in the pressing interval, and the pressing plate and the tray cooperate to press the material pile up and down to achieve reliable clamping, effectively prevent the material pile from scattering during transportation, and ensure the smooth progress of the sorting and transportation process.

[0037] The transfer drive assembly 22 is used to drive the sorting slider 211 to move in the horizontal and vertical directions and transfer between the feeding area 11 and the adjustment area 12. The transfer drive assembly 22 includes a transverse transfer drive mechanism, a vertical transfer drive mechanism and a longitudinal transfer drive mechanism. Specifically, the transverse transfer drive mechanism includes a column 222 and a transverse drive member, the column 222 is vertically arranged and slidably connected to the frame 1, and the transverse drive member is used to drive the column 222 to move horizontally. The vertical transfer drive mechanism includes a longitudinal beam 221 and a vertical drive member, the longitudinal beam 221 is horizontally arranged and slidably connected to the column 222, and the vertical drive member is arranged on the column 222 and is used to drive the longitudinal beam 221 to move vertically. The longitudinal transfer drive mechanism includes a longitudinal drive member, the sorting slider 211 is slidably arranged on the longitudinal beam 221, and the longitudinal drive member is used to drive the sorting slider 211 to move along the longitudinal beam 221.

[0038] Further, such as Figure 7-Figure 10 As shown, the sorting module 2 further includes a partition picking assembly 23, and the partition picking assembly 23 includes a negative pressure adsorption unit 232 and a picking drive 231. The frame 1 is also provided with a partition storage unit 13, and the picking drive 231 is used to drive the negative pressure adsorption unit 232 to move in the horizontal direction and the vertical direction, and to transfer between the feeding area 11 and the partition storage unit 13.

[0039] Specifically, Figure 7-Figure 10 As shown, the picking drive 231 includes a main drive unit and an auxiliary drive unit. The negative pressure adsorption unit 232 and the auxiliary drive unit are arranged on the sorting slider 211, and the indexing drive unit is used as the main drive unit. The negative pressure adsorption unit 232 is arranged downward, and the auxiliary drive unit is used to drive the negative pressure adsorption unit 232 to move up and down. In the horizontal direction, the negative pressure adsorption unit 232 is arranged corresponding to the plug-in end of the plug-in board 214.

[0040] When stacking the packaging boxes, the upper and lower layers are separated by partitions. After the sorting and feeding operation of each layer of the material pile is completed, the picking drive 231 works, driving the negative pressure adsorption unit 232 to move to the top of the uppermost partition to adsorb the partition, and transfer the partition to the partition storage unit 13, so as to realize the automatic picking of the partition and further improve the automation of feeding. At the same time, when the plug 214 is inserted under the material pile, the negative pressure adsorption unit 232 can move downward under the action of the auxiliary drive unit and press the current material pile or the adjacent material pile to prevent the material pile from moving and ensure the smooth insertion of the plug 214.

[0041] Furthermore, the sorting module 2 further includes a sorting control component, and the sorting control component includes a first visual detection unit, and the first visual detection unit is located above the feed area 11 and is arranged toward the feed area 11. The first visual detection unit is used to detect the specific position of the tray and the stack in the feed area 11, and provide a basis for the work of the sorting head 21 and the indexing drive component 22.

[0042] like Fig.11 and Fig.12 As shown, the adjustment module 3 is arranged at the adjustment station, and the adjustment module 3 includes a horizontal flip component 31 and a longitudinal flip component 32. The adjustment module 3 can perform horizontal steering and longitudinal flipping operations on the pile of materials to ensure that the posture of the pile of materials is consistent when it arrives at the feeding station and meets the use requirements.

[0043] Specifically, Fig.13 As shown, the horizontal flip assembly 31 includes a support clamp 311 and a horizontal flip driving mechanism. The support clamp 311 includes two support arms. The two support arms are arranged in parallel along the vertical direction. The conveying assembly 6 is located between the two support arms. The inner sides of the two support arms are respectively provided with support plates. The horizontal flip driving mechanism is used to drive the bracket to lift and lower, and rotate around the vertical center line.

[0044] like Fig.13 As shown, the horizontal flipping driving mechanism includes a first mounting block, a lifting driving member 313 and a rotating driving member 312. The lifting driving member 313 is arranged on the frame 1 and is used to drive the first mounting block to move up and down. The support clamp 311 is rotatably connected to the first mounting block, and the rotating driving member 312 is used to drive the support clamp 311 to rotate.

[0045] When performing a horizontal flipping operation, the conveying assembly 6 delivers the material pile between the two supporting arms, the lifting drive 313 drives the support clamp 311 and the material pile to rise synchronously, and then the rotating drive 312 drives the first mounting block, the support clamp 311 and the material pile to rotate horizontally synchronously, thereby realizing the posture adjustment of the material pile in the horizontal direction.

[0046] The horizontal flip driving assembly also includes a sorting control assembly, and the sorting control assembly includes a second visual detection unit, which is arranged above the conveying assembly 6 and toward the conveying assembly 6, and in the conveying direction along the conveying assembly 6, the second visual detection unit is aligned with the support clamp 311 or is located in front of the support clamp 311. The second visual detection unit is used to detect the posture of the pile entering the support clamp 311, provide a basis for determining whether horizontal flipping is required, and control the working state of the horizontal flip assembly 31.

[0047] Specifically, Fig.14 As shown, the longitudinal flip assembly 32 includes a flip frame 321 and a longitudinal flip driving mechanism 323. The longitudinal flip driving mechanism 323 is used to drive the flip frame 321 to rotate, and the rotation center line is located in the horizontal plane and is arranged perpendicular to the conveying direction of the conveying assembly 6. The flip frame 321 has at least two position states, such as Fig.15 As shown, in the first position, the opening of the flip frame 321 is arranged toward the inlet end of the conveying assembly 6, as shown in FIG. Fig.17 As shown, in the second position, the opening of the flip frame 321 is arranged toward the outlet end of the conveying assembly 6 .

[0048] When performing the longitudinal flipping operation, the flip frame 321 is first in the first position, the conveying assembly 6 conveys the material pile and enters the flip frame 321 from the opening. Then the flip driving mechanism works, the flip frame 321 and the material pile are synchronously flipped longitudinally to the second position, and the material pile falls back on the conveying assembly 6, realizing the longitudinal posture adjustment of the material pile.

[0049] like Figure 14-17 As shown, the flip frame 321 is provided with a flip positioning unit 324, and the flip positioning unit 324 includes a flip positioning block and a positioning driver. The flip positioning block is located at one side of the flip frame 321, and the positioning driver is used to drive the flip positioning block to move.

[0050] Further, such as Figure 14-17 As shown, the longitudinal flip assembly 32 further includes an end-to-end arrangement mechanism 322, which includes an end-to-end arrangement block and an end-to-end arrangement driving member, and the end-to-end arrangement driving member drives the end-to-end arrangement block to translate along a direction parallel to the rotation center line of the flip frame 321. The flip frame 321 has at least a third position state, such as Fig.16 As shown, in the third position, the opening of the flip frame 321 is set upward, and the end-to-end sorting block is located at one end of the flip frame 321.

[0051] During the longitudinal flipping process, after the material pile enters the flip frame 321, the flip positioning block presses the material pile in the thickness direction to prevent the material pile from being scattered during the flipping process. During the flipping process from the first position to the second position, the flip frame 321 pauses at the third position, the flip positioning unit 324 is released, and the end-to-end sorting mechanism 322 works to perform end-to-end sorting and alignment operations on the material pile. Subsequently, the flip positioning unit 324 presses the material pile again and continues to flip to the second position. The flip positioning unit 324 and the end-to-end sorting mechanism 322 work together to sort the material pile, creating conditions for subsequent feeding operations.

[0052] like Fig.11 As shown, the longitudinal flip assembly 32 is located between the first segment 62 and the second segment 63. When the clamp frame is in the first position, the opening of the clamp frame is aligned with the first segment 62, and when the clamp frame is in the second position, the opening of the clamp frame is aligned with the feeding slider. The first segment 62 and the second segment 63 are independently set, which can not only better cooperate with the clamp frame, but also realize the independent work between the adjustment module 3 and the feeding module 4, so as to facilitate the adjustment of the overall working rhythm of the equipment.

[0053] Specifically, Fig.14 As shown, both sides of the flip frame 321 are respectively provided with slots matching the conveying assembly 6. When the flip frame 321 is located in the first position state and the second position state, the material pile can be seamlessly connected with the conveying assembly 6 to ensure the smoothness of transportation.

[0054] like Fig.18 and Fig.19 As shown, the feeding module 4 is arranged at the feeding station, and the feeding module 4 includes a clamping manipulator 43 and a feeding drive assembly, and the feeding drive assembly is used to drive the clamping manipulator 43 to move in the vertical direction and the horizontal direction. The feeding module 4 can automatically complete the clamping and feeding operations of the material pile for subsequent packaging of the packaging box.

[0055] Specifically, Fig.18 and Fig.19 As shown, the feed drive assembly includes a feed bracket 41 and a clamping cantilever 42, and the clamping manipulator 43 is arranged on the clamping cantilever 42. The feed bracket 41 is horizontally slidably connected to the frame 1, and the frame 1 is also provided with a horizontal feed drive member for driving the feed bracket 41 to move. The clamping cantilever 42 is vertically slidably connected to the feed bracket 41, and the feed bracket 41 is also provided with a vertical feed drive member for driving the clamping cantilever 42 to move up and down.

[0056] The horizontal feed drive is used to drive the feed bracket 41, the clamping cantilever 42 and the clamping manipulator 43 to move horizontally synchronously, and the vertical feed drive is used to drive the clamping cantilever 42 and the clamping manipulator 43 to move vertically synchronously. The horizontal feed drive and the vertical feed drive work together to complete the feeding operation of the material pile.

[0057] Specifically, Fig. 20 and Fig.21 As shown, the clamping robot 43 includes a clamping seat, and the clamping seat is provided with a long clamping jaw 432 and a short clamping jaw 431. The long clamping jaw 432 includes a first clamping drive and two groups of long clamping arms arranged in parallel, and the first clamping drive is used to drive the two groups of long clamping arms to move relative to each other. The short clamping jaw 431 includes a second clamping drive and two groups of short clamping arms arranged in parallel, and the second clamping drive is used to drive the two groups of short clamping arms arranged in parallel to move relative to each other. The long clamping arm and the short clamping arm are both arranged in the vertical direction and enclose a clamping interval, and the lower end of the short clamping arm is arranged higher than the lower end of the long clamping arm. Specifically, a receiving block is provided on the inner side of the lower end of the long clamping jaw 432.

[0058] When feeding, the conveying assembly 6 works to convey the material pile to the feeding station, and the long clamping jaw 432 in the clamping manipulator 43 clamps the material pile and lifts the material pile away from the conveying assembly 6. At this time, the short clamping jaw 431 is in a loose state. When feeding, the short clamping jaw 431 clamps the material pile, and the long clamping jaw 432 releases the material pile. Due to the height difference between the lower ends of the short clamping arm and the long clamping arm, the packaging box between the long clamping jaw 432 and the lower end of the short clamping jaw 431 can fall freely for feeding, while the upper packaging box is still clamped by the short clamping jaw 431. Then the long clamping jaw 432 is closed, the short clamping jaw 431 is released, and the material pile falls onto the long clamping jaw 432. By closing the long clamping jaw 432 and opening the short clamping jaw 431 again, the packaging box is fed in batches and quantitatively. The long clamping jaw 432 and the short clamping jaw 431 cooperate to perform the loosening and clamping operations in turn to achieve quantitative feeding of the material pile.

[0059] When the material pile 5 is being fed into the feeding area 11. The transfer drive assembly 22 drives the sorting head 21 to move into the feeding area 11 and align it with one of the material piles 51 on the top layer of the material pile 5. The lateral clamp 213 clamps the side of the corresponding material pile 51, and the micro-lifting drive drives the lateral joint to lift a certain height, and drives the corresponding side of the material pile 51 to lift and tilt, completing the micro-lifting operation. The plug-in drive works to drive the plug plate 214 to insert from the bottom of the raised side of the corresponding material pile under the material pile 51, and the material pile is placed on the plug plate 214 to complete the plug-in operation and achieve reliable clamping of the material pile. The transfer drive assembly 22 drives the sorting head 21 and the material pile to transfer to the adjustment module 3. After the horizontal posture adjustment and flipping adjustment, they are clamped by the feeding module 4 and the feeding operation is completed.

[0060] The automated feeding equipment of the present application can improve the integrity of material pile sorting through micro-lifting operations, and has the advantage of a high degree of automation.

[0061] An automatic feeding method for thin plate packaging boxes, using the automatic feeding equipment as described above, comprises at least the following steps: S1. Sorting: Send the material stack 5 to the feeding area 11, and determine whether there is a material pile 51 on the top layer of the material stack 5. If there is a material pile 51 on the top layer, go to step S11, if there is no material pile 51 on the top layer, go to step S13.

[0062] S11. Clamping: The indexing drive assembly 22 drives the sorting head 21 to move to the height of the top layer of packaging boxes in the material stack 5 and aligns with one of the material stacks 51. The lateral clamp 213 works to clamp the material stack 51 from one side, and the micro-lifting drive drives the lateral clamp 213 to lift a certain height and simultaneously lift the corresponding side of the material stack 51. The plug-in drive drives the plug-in plate 214 to insert from the bottom of the corresponding side of the material stack 51 under the material stack 51 to receive the material stack 51.

[0063] S12. Transfer: The transfer drive assembly 22 drives the sorting head 21 and the material pile 51 to transfer to the conveying assembly 6 in the adjustment area 12, and enters step S2.

[0064] S13. Picking up the partition: The picking driving member 231 drives the negative pressure adsorption unit 232 to move above the material stack 5, adsorbs the partition, and transfers it to the partition storage unit 13.

[0065] S2. Posture adjustment: The conveying assembly 6 works to convey the pile 51 to the horizontal flipping station in the adjustment station and enter between the support clamps 311.

[0066] S21. Horizontal flipping: The sorting control component determines whether the current material pile 51 needs to be horizontally flipped. If a horizontal flipping operation is required, the horizontal flipping drive mechanism works to drive the bracket and the material pile 51 to rise, and flip 180 degrees horizontally, and then descend, and the material pile 51 falls back onto the conveying component 6. If a horizontal flipping operation is not required, the conveying component 6 continues to work to drive the material pile 51 to move forward to the longitudinal flipping station.

[0067] S22. Longitudinal flipping: In the initial state, the flip frame 321 is in the first position, the material pile 51 enters the flip frame 321 from the opening, and the flip positioning unit 324 clamps the material pile 51. The longitudinal flip driving mechanism 323 works, the flip frame 321 is transferred to the third position, the flip positioning unit 324 releases the material pile 51, the end-to-end arrangement mechanism 322 works to push the material pile 51 to align the end, and the flip positioning unit 324 re-compresses the material pile 51. The longitudinal flip driving mechanism 323 works, the flip frame 321 is transferred to the second position, the flip positioning unit 324 is released, and the material pile 51 falls on the conveying assembly 6.

[0068] S3. Feeding: The conveying assembly 6 works to convey the material pile 51 to the feeding station, the long clamp 432 clamps the material pile 51, and lifts the material pile 51 away from the conveying assembly 6, and the feeding drive assembly drives the clamping manipulator 43 to transfer to the material-using equipment. The short clamp 431 clamps the material pile 51, the long clamp 432 releases the material pile 51, and the packaging box between the long clamp 432 and the lower end of the short clamp 431 falls freely to feed the material. Then the long clamp 432 closes, the short clamp 431 releases, and the material pile 51 falls onto the long clamp 432, completing a single quantitative feeding. Then the long clamp 432 and the short clamp 431 open in sequence until a single material pile 51 is fed in a quantitative form in sequence.

[0069] In short, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic feeding device for thin plate packaging boxes, characterized in that: At least: A frame, wherein the frame is provided with a feeding area and an adjustment area, the adjustment area is provided with an adjustment station, a feeding station and a conveying assembly, and the conveying assembly is arranged from the adjustment station to the feeding station; A sorting module, wherein the sorting module comprises a sorting head and a transfer drive assembly, wherein the sorting head comprises a sorting slider, a micro-lifting mechanism and a clamping mechanism, wherein the micro-lifting mechanism comprises a lateral clamping head and a micro-lifting drive member, wherein the micro-lifting drive member is used to drive the lateral clamping head to move up and down; wherein the clamping mechanism comprises a plug-in plate and a plug-in drive member, wherein the plug-in plate is arranged horizontally, and wherein the plug-in drive member is used to drive the plug-in plate to move horizontally; wherein the plug-in end of the plug-in plate and the lateral clamping head are arranged facing the same side; wherein the transfer drive assembly is used to drive the sorting slider to move in the horizontal direction and the vertical direction, and transfer between the feeding area and the adjustment area; An adjustment module, wherein the adjustment module is arranged at an adjustment station, and the adjustment module comprises a horizontal flipping component and a vertical flipping component; A feeding module is provided at a feeding station, and comprises a clamping manipulator and a feeding drive assembly, wherein the feeding drive assembly is used for driving the clamping manipulator to move in vertical and horizontal directions.

2. The automatic feeding equipment according to claim 1, characterized in that: The clamping mechanism also includes a clamping and pressing mechanism, which includes a pressing plate and a pressing driving member. The pressing plate and the plug plate are arranged vertically opposite to each other, and the pressing driving member is used to drive the pressing plate to move up and down.

3. The automatic feeding equipment according to claim 1, characterized in that: The sorting module also includes a partition picking assembly, which includes a negative pressure adsorption unit and a picking drive; the frame is also provided with a partition storage unit, and the picking drive is used to drive the negative pressure adsorption unit to move in the horizontal and vertical directions, and to transfer between the feed area and the partition storage unit.

4. The automatic feeding equipment according to claim 1, characterized in that: The horizontal flip assembly includes a support clamp and a horizontal flip driving mechanism, the support clamp includes two support arms, the two support arms are arranged in parallel along the vertical direction, the conveying assembly is located between the two support arms, and the inner sides of the two support arms are respectively provided with support plates, and the horizontal flip driving mechanism is used to drive the bracket to move up and down, and rotate around the vertical center line; The horizontal flipping drive mechanism includes a first mounting block, a lifting drive member and a rotating drive member. The lifting drive member is arranged on the frame and is used to drive the first mounting block to move up and down; the support clamp is rotationally connected to the first mounting block, and the rotating drive member is used to drive the support clamp to rotate.

5. The automatic feeding equipment according to claim 1, characterized in that: The longitudinal flip assembly includes a flip frame and a longitudinal flip drive mechanism. The longitudinal flip drive mechanism is used to drive the flip frame to rotate, and the rotation center line is located in the horizontal plane and is arranged perpendicular to the conveying direction of the conveying assembly; the flip frame has at least two position states. In the first position state, the opening of the flip frame is arranged toward the inlet end of the conveying assembly, and in the second position state, the opening of the flip frame is arranged toward the outlet end of the conveying assembly.

6. The automatic feeding equipment according to claim 5, characterized in that: The flip frame is provided with a flip positioning unit, and the flip positioning unit includes a flip positioning block and a positioning driving member, the flip positioning block is located at one side of the flip frame, and the positioning driving member is used to drive the flip positioning block to move; The longitudinal flip assembly also includes an end-to-end sorting mechanism, which includes an end-to-end sorting block and an end-to-end sorting driving member, and the end-to-end sorting driving member drives the end-to-end sorting block to translate in a direction parallel to the rotation center line of the flip frame; the flip frame has at least a third position state, in which the opening of the flip frame is set upward, and the end-to-end sorting block is located at one end of the flip frame.

7. The automatic feeding equipment according to claim 5, characterized in that: The conveying assembly includes a first section and a second section, the first section and the second section operate independently, and the longitudinal flip assembly is located between the first section and the second section; the first section includes a conveyor belt, and the second section includes a feeding slider and a feeding drive, and the feeding drive is used to drive the feeding slider to move in translation; when the clamping frame is in the first position, the opening of the clamping frame is aligned with the first section, and when the clamping frame is in the second position, the opening of the clamping frame is aligned with the feeding slider.

8. The automatic feeding equipment according to claim 1, characterized in that: The feed drive assembly includes a feed bracket and a clamping cantilever, and the clamping manipulator is arranged on the clamping cantilever; the feed bracket is horizontally slidably connected to the frame, and the frame is also provided with a horizontal feed drive component for driving the feed bracket to move; the clamping cantilever is connected to the feed bracket in an up-and-down sliding manner, and the feed bracket is also provided with a vertical feed drive component for driving the clamping cantilever to move up and down.

9. The automatic feeding equipment according to any one of claims 1 to 8, characterized in that: The clamping manipulator comprises a clamping seat, on which a long clamping jaw and a short clamping jaw are arranged; the long clamping jaw comprises a first clamping driving member and two groups of long clamping arms arranged in parallel, and the first clamping driving member is used to drive the two groups of long clamping arms to move relative to each other; the short clamping jaw comprises a second clamping driving member and two groups of short clamping arms arranged in parallel, and the second clamping driving member is used to drive the two groups of short clamping arms arranged in parallel to move relative to each other; The long clamp arm and the short clamp arm are both arranged in the vertical direction and enclose a clamping interval, and the lower end of the short clamp arm is arranged higher than the lower end of the long clamp arm.

10. An automatic feeding method for a thin plate packaging box, characterized in that: Using the automated feeding equipment as described in any one of claims 1 to 9; At least the following steps are included: S1. Sorting: Send the material stack into the feeding area; the transfer drive component station drives the sorting head to move to the height of the top layer of packaging boxes in the material stack and aligns it with one of the material stacks; the lateral clamp works to clamp the material stack from one side, and the micro-lifting drive drives the lateral clamp to lift a certain height and simultaneously lift the corresponding side of the material stack; the plug-in drive drives the plug-in plate to insert it from the bottom of the corresponding side of the material stack under the material stack to achieve the acceptance of the material stack; The transfer drive assembly drives the sorting head and the material pile to transfer to the conveying assembly in the adjustment area; S2. Posture adjustment: The conveying component works to convey the pile to the adjustment station, and the horizontal flip component and the longitudinal flip component work to perform horizontal flip operations and longitudinal flip operations on the pile in turn; S3. Feeding: The conveying component transports the material pile to the feeding station, the clamping robot clamps the paper pile, and the feeding drive component drives the clamping robot to transfer and perform the feeding operation.

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