Annular automatic packaging equipment for reels

Abstract

The invention relates to an annular automatic packaging device for a reel disc, which comprises a boxing and covering mechanism for covering, labeling and adhesive tape pasting of a paper box and feeding of a finished product to a finished product transmission module, and the boxing and covering mechanism is matched with a reel disc feeding mechanism through an assembly manipulator and is matched with a paper box positioning mechanism through a transfer manipulator. The paper box positioning mechanism is matched with a box folding mechanism for folding the paper box into a vertical semi-finished paper box with an upper cover, the box folding mechanism is matched with a leatheroid feeding mechanism, and the leatheroid feeding mechanism is used for sucking leatheroid on a leatheroid pile and moving the leatheroid to the box folding mechanism and placing the semi-finished paper box with the folded box on the paper box positioning mechanism. The panel feeding mechanism is matched with an AGV trolley feeding device. According to the annular automatic packaging equipment for the reels, packaging is completed in the whole machine, a fixed mechanical arm is used for replacing a conveying belt to convey the reels and semi-finished paper boxes, and therefore the overall packaging efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of electronic material tray packaging equipment, and in particular to a reel tray annular automatic packaging equipment. Background Art

[0002] In the field of electronic tray packaging equipment, facing the growing market demand and fierce competitive pressure, traditional packaging equipment is often difficult to meet the needs of production efficiency, packaging quality, production line stability and information management. Therefore, it is necessary to develop more intelligent packaging equipment to reduce manual participation and improve packaging efficiency.

[0003] The packaging process of the reel tray is roughly as follows: first, the reel tray is loaded and labeled, then the paper skin needs to be folded into a semi-finished product with the lid open upwards, and then the reel tray is placed in the paper box, and then the paper box is closed and labeled and sealed with tape; most of the existing cartoning equipment is carried out separately without overall integration. The reel tray needs to be transported by a high-stroke robot or conveyor belt, and the paper box is also folded first and then transported by the conveyor belt, so the integrity is poor, which in turn affects the overall packaging efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a reel tray annular automatic packaging equipment, which completes the packaging in the whole machine and uses a fixed robot instead of a conveyor belt to transport the reel tray and semi-finished paper boxes, thereby greatly improving the overall packaging efficiency.

[0005] In order to achieve the above objectives, the technical solution adopted by the present invention is: a reel disk annular automatic packaging equipment, characterized in that it includes a box loading and closing mechanism for closing the lid, labeling and taping the carton and feeding the finished product into the finished product transmission module, the box loading and closing mechanism is coordinated with the reel disk feeding mechanism through an assembly robot, and coordinated with the carton positioning mechanism through a transfer robot, the carton positioning mechanism is coordinated with a folding mechanism for folding the carton cover vertically to form a semi-finished carton, the folding mechanism is coordinated with a cardboard feeding mechanism, the cardboard feeding mechanism is used to suck and move the cardboard on the cardboard pile to the folding mechanism, and place the semi-finished carton that has completed the folding into the carton positioning mechanism, and the reel disk feeding mechanism is coordinated with an AGV trolley feeding device.

[0006] Preferably, the box loading and lid closing mechanism includes a box loading frame equipped with an annular transfer guide rail module, the annular transfer guide rail module is equipped with a jig for carrying paper boxes, the jig includes a small-size paper box jig and a large-size paper box jig, and the box loading frame is provided with a transplanting robot for picking up and placing paper boxes, a reel plate assembly robot, a paper box lid closing and folding side ear module, a paper box label pasting module, a front folding side ear module, and a paper box handling robot in sequence along the conveying direction of the annular transfer guide rail module, the paper box handling robot is equipped with a tape pasting module and a finished product conveying module, the finished product conveying module includes a finished product lifting platform and a defective product processing roller inclined surface, and each station of the annular transfer guide rail module is equipped with a clamping device for clamping the jig; the finished product lifting platform is equipped with a large-size finished product conveyor belt and a small-size finished product conveyor belt.

[0007] Preferably, the clamping device includes an annular cylinder positioning seat, a clamping positioning cylinder is arranged on the annular cylinder positioning seat, the clamping positioning cylinder is connected to a positioning bearing seat, a positioning needle bearing for clamping the jig tray is arranged on the upper part of the positioning bearing seat, a concave block cooperating with the positioning needle bearing is arranged on the side of the jig tray, and a lifting baffle module for blocking the front side of the carton is arranged at the carton closing and side ear folding station and the carton labeling station, the lifting baffle module includes a baffle lifting base plate, the baffle lifting base plate is connected to a baffle lifting cylinder, and the baffle lifting cylinder is connected to the front side baffle of the carton.

[0008] Preferably, the paper box lid closing and folding side ear module includes a lid closing linear module located above the conveyor line, and a folding side ear module is connected to the lid closing linear module below through a folding side ear vertical plate. The folding side ear module is used for inward folding of the side ears of the paper box, and a lid closing bearing is installed at the lower part of the folding side ear module for cooperating with the lid closing linear module to complete the lid closing process.

[0009] Preferably, the folding side ear module includes a left folding ear module and a right folding ear module, and the left folding side ear module and the right folding ear module are installed on the folding ear lead screw through the folding ear lead screw nut, and move toward or away from each other as the folding ear lead screw rotates, the folding ear lead screw is matched with a folding ear lead screw motor, the left folding ear module and the right folding ear module both include a folding ear connecting plate that moves on the folding ear lead screw, the folding ear connecting plate is connected to a folding ear cylinder fixing plate, the folding ear cylinder fixing plate is connected to a folding ear cylinder, the folding ear cylinder is connected to a folding ear pressure plate, and the folding ear cylinder fixing plate is also connected to a folding ear side plate that is perpendicular to the folding ear connecting plate and has a gap.

[0010] Preferably, the folding front side ear module includes a front cover closing screw motor and a front cover closing screw, the front cover closing screw is matched with a left front cover closing module and a right front cover closing module which can move toward or away from each other, the left front cover closing module and the right front cover closing module both include a front cover closing movable seat, a front cover closing lifting motor and a plug plate lifting structure are installed on the front cover closing movable seat, and the plug plate lifting structure is driven by the front cover closing lifting motor, and the first plug plate and the second plug plate are respectively connected to the lower part of the plug plate lifting structure of the left front cover closing module and the right front cover closing module, and the first plug plate and the second plug plate both include a first vertical plate connected to the lifting structure, an inclined plate connected to the vertical plate, and a second vertical plate located outside the inclined plate.

[0011] Preferably, the left front cover module and the right front cover module also include a front cover suction cup motor installed on the front cover and the movable seat, the front cover suction cup motor is connected to the front cover suction cup and drives the front cover suction cup to rise and fall, the front folding side ear module also includes a front cover linear movable structure, the front cover screw motor and the front cover screw are installed below the front cover linear movable structure.

[0012] Preferably, the reel feeding mechanism includes a feeding rack, on which a reel reflux conveying module is provided, the reel reflux conveying module is used to carry and convey the stacked reels, the feeding rack is also provided with a reel turning mechanism which cooperates with the AGV feeding trolley device 1 and rotates the stacked reels 90 degrees, a reel feeding and transplanting module is provided on the top of the feeding rack, the reel feeding and transplanting module is connected with a reel feeding gripper for taking and placing the stacked reels from the reel turning mechanism to the reel reflux conveying module, and the feeding rack is also provided with a reel feeding A lifting module and an error reel buffer station, an assembly robot is arranged on the reel loading lifting module, the reel loading gripper comprises a gripper mounting seat, at least three gripper assemblies are arranged on the gripper mounting seat, the gripper assembly comprises two parallel gripper swing rods, and the bottoms of the two gripper swing rods are connected with gripper hook plates, one of the gripper swing rods is installed on the gripper mounting seat through a bearing, a gripper drive motor is installed on the gripper mounting seat, and the gripper drive motor drives all the gripper swing rods installed on the gripper mounting seat through bearings through a synchronous wheel set.

[0013] Preferably, the cardboard feeding mechanism includes a stacking rack for cardboard stacking, the stacking rack is provided with a cardboard stacking area, and the cardboard stacking area is matched with a cardboard feeding trolley, and the cardboard stacking area is also matched with a cardboard lifting module, and no less than two cardboard stacking areas are provided on the stacking rack, and different cardboard stacking areas are used to stack cardboard of different sizes and specifications, and the stacking rack is provided with a transport robot transverse movement module, and a cardboard transport robot is installed on the transport robot transverse movement module, the cardboard transport robot is connected to a cardboard suction device, and the cardboard suction device is a suction device structure that can adjust the suction size.

[0014] Preferably, the cardboard suction device 52 comprises a suction device body, on which a suction cup assembly is arranged in an annular distribution, and on which a suction cup adjustment structure is arranged to enable the suction cup assembly to expand or contract in a radial direction, the suction cup assembly comprises a suction cup fixing plate, and a cardboard suction cup is mounted on the suction cup fixing plate, and the suction cup adjustment structure comprises a suction device screw rod installed on the suction device body, a suction device screw rod nut is sleeved at the lower end of the suction device screw rod, and the suction device screw rod nut is hinged in an annular manner with a suction cup arm diagonal bracing connecting rod, and the suction device A suction cup arm parallel link group is arranged on the lower side of the suction cup arm main body, and the other end of the suction cup arm diagonal support link is hinged at the middle part of the suction cup arm parallel link group; the lower end of the suction cup arm parallel link group is connected to the suction cup fixing plate; the suction device screw rod is connected to the suction cup arm swing arm motor arranged on the suction device main body through a transmission wheel group, and the suction cup arm parallel link group includes an upper and lower seat body, and two parallel links are arranged between the two seat bodies, and the seat body and the link are hinged, and the suction cup arm diagonal support link is hinged to one of the parallel links.

[0015] The technical effects of the present invention are: The packaging is completed in the whole machine, and a fixed robot is used instead of a conveyor belt to transport reels and semi-finished cartons, which greatly improves the overall packaging efficiency.

[0016] The circular transfer guide module is used to circulate the paper box jigs of different sizes, so that the paper box jigs can pass through the corresponding stations in turn to complete the corresponding reel tray boxing operations, which improves the overall boxing and packaging efficiency, and can complete the reel boxing and packaging of various specifications at the same time.

[0017] The clamping device can prevent the jig from moving during the box folding process, and the design of the lifting baffle module prevents the carton from moving backwards at the carton cover closing and side ear folding module station and the labeling station, while being compatible with cartons of different sizes.

[0018] The paper box lid closing and side ear folding module can close the cover plate and the box body after the side ears are folded inwardly, and press the side ears into the box body. The interaction between the two has a simple structure and clever coordination. It is only necessary to move the lid closing linear module after the side folding is completed to press the box lid and the side ears into the box body through the lid closing bearing. The structural setting of the side ear folding module and the design of the folding ear side plate can limit the folded side ears to ensure that the side ears can enter the box body, while preventing the side ears from being folded inwardly too much and interfering with the reel plate in the box when the lid is closed.

[0019] The design of the folding front side ear module, through the design of the first plug plate and the second plug plate, can fold the two side ears of the front cover of the box and press the folded side ears of the front cover into the corresponding box grooves on the sides of the box body to complete the closing of the front cover of the box. At the same time, in the process of folding the side ears of the front cover, the front cover suction cup can be used to ensure that the box body does not move, thereby ensuring a good front cover closing effect. At the same time, the linear structure of the front cover of the box can be used to slightly move after the front cover is closed, so as to further press the front cover into the box body and achieve a better front cover closing effect.

[0020] Through the design of the reel reflux conveying module and the reel loading gripper, it can correspond to the automatic feeding of reels of various specifications. At the same time, after the reel stack is used up, the next reel stack can be sent to the working station of the assembly robot through reflux conveying, which can meet the automatic feeding of packaging equipment of multiple specifications and ensure the continuous feeding.

[0021] The reel loading gripper can open or tighten the gripper hook plates of all gripper components through the motor and synchronous wheel set, thereby completing the loosening or clamping of the reel stack, and can match the reel stack clamping of the centering specifications.

[0022] The suction size of the cardboard suction device can be adjusted to suit different cardboards, ensuring that cardboards of all sizes can be sucked stably.

[0023] The specific structural design of the paper tray suction device only requires one driving motor to cooperate with the suction cup arm diagonal support link and the suction cup arm parallel link group to realize the expansion or contraction of all suction cup components in a ring shape, and then match them according to the size specifications of the cardboard; and the triangular suction cup distribution of each suction cup component can ensure the stable suction of the cardboard by each suction cup component. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a schematic diagram of a reel disk ring automatic packaging equipment.

[0025] Figure 2 It is a three-dimensional schematic diagram of the reel tray feeding mechanism.

[0026] Figure 3 A three-dimensional schematic diagram of the reel loading clamp.

[0027] Figure 4 This is a three-dimensional schematic diagram of the reel reflow conveying module after removing the tray.

[0028] Figure 5 3D schematic diagram of labeling a reel plate.

[0029] Figure 6 It is a three-dimensional schematic diagram of the paperboard feeding mechanism.

[0030] Figure 7 It is a three-dimensional schematic diagram of the cardboard suction device.

[0031] Figure 8 It is a three-dimensional schematic diagram of the box folding mechanism and the carton positioning mechanism.

[0032] Fig. 9 It is a three-dimensional schematic diagram of the box loading mechanism.

[0033] Fig.10 This is a schematic diagram of the cartoning station.

[0034] Fig.11 It is a three-dimensional schematic diagram of the clamping device.

[0035] Fig.12 It is a three-dimensional schematic diagram of the lifting baffle module.

[0036] Fig.13 It is a three-dimensional schematic diagram of the clamping device and the lifting baffle module in the annular transplanting guide rail module.

[0037] Fig.14 It is a three-dimensional schematic diagram of the paper box cover and folding side ear module.

[0038] Fig.15 It is a three-dimensional schematic diagram of the left-folding ear module.

[0039] Fig.16 This is a workflow status diagram of the paper box lid closing and side ear folding module.

[0040] Fig.17 It is a three-dimensional schematic diagram of the folded front side ear module.

[0041] Fig.18 This is the workflow status diagram of the folding front side ear module.

[0042] Fig.19 This is a three-dimensional schematic diagram of sorting defective cartons.

[0043] Fig. 20 It is a three-dimensional schematic diagram of the tape sticking device.

[0044] The text labels shown in the figure are as follows: 1. AGV trolley feeding device; 2. reel conveying mechanism; 3. labeling device; 4. paperboard feeding mechanism; 5. box folding mechanism; 6. box loading and lidding device; 7. finished product conveying module; 11. reel turning mechanism; 12. reel feeding gripper; 13. reel feeding and transferring module; 14. reel reflux conveying module; 15. wrong reel buffer station; 16. reel feeding lifting module; 17. assembly manipulator; 18. gripper drive motor; 19. synchronous wheel set; 20. gripper swing rod; 21. gripper hook plate; 30. first longitudinal moving lever; 31. first longitudinal moving cylinder; 32. first transverse moving cylinder; 33. first transverse moving hook; 34. second longitudinal moving lever; 35. second longitudinal moving cylinder; 36. second transverse moving cylinder; 37. first transverse moving hook; 38. second longitudinal moving lever; 39. second longitudinal moving lever; 40. second longitudinal moving lever; 41. second longitudinal moving lever; 42. second longitudinal moving lever; 43. first transverse moving hook; 44. second longitudinal moving lever; 45. second longitudinal moving lever; 46. second longitudinal moving lever; 47. second longitudinal moving lever; 48. second longitudinal moving lever; 49. second longitudinal moving lever; 50. second longitudinal moving lever; 51. second longitudinal moving lever; 52. first transverse moving cylinder; 53. first transverse moving hook; 54. second longitudinal moving lever; 55. second longitudinal moving lever; 56. second longitudinal moving lever; 57. second longitudinal moving lever; 58. second longitudinal moving lever; 59. second longitudinal moving lever; 60. first transverse moving cylinder; 61. first transverse moving cylinder; 62. first transverse moving cylinder; 63. first transverse moving hook; 64. second longitudinal moving lever; 6 36. Second lateral movement hook; 37. Second lateral movement cylinder; 39. Label printer; 40. Y direction movement module; 41. X direction movement module; 42. Z direction movement module; 43. B direction rotation cylinder; 44. Label vacuum suction plate; 50. Cardboard loading cart; 51. Cardboard; 52. Cardboard suction fixture; 53. Cardboard handling robot; 54. Cardboard lifting module; 55. Handling robot lateral movement module; 60. Suction cup arm swing arm motor; 61. Transmission wheel group; 62. Suction fixture screw rod; 63. Suction fixture screw rod nut; 64. Suction cup arm diagonal support connecting rod; 65. Suction cup arm parallel connecting rod group; 66. Suction cup fixing plate; 67. Cardboard suction cup; 70. Folding box forming module; 71. Carton positioning mechanism; 72. Annular air Cylinder positioning seat; 73, clamping positioning cylinder; 74, positioning bearing seat; 75, positioning needle bearing; 76, fixture tray; 77, baffle lifting base plate; 79, baffle lifting cylinder, 78, front side baffle of paper box; 80, transfer robot; 81, annular transfer guide module; 82, small size paper box fixture; 83, large size paper box fixture; 85, box closing linear module; 86, folding side ear vertical plate, 87, folding side ear module; 88, box cover bearing; 90, paper box cover closing and folding side ear module; 91, left folding ear module; 92, right folding ear module; 93, folding ear screw nut; 94, folding ear module connecting plate; 95, folding ear module side plate; 96, folding ear cylinder fixing plate; 97, folding ear cylinder; 98, folding ear module pressure plate; 99, folding ear Lead screw motor; 100, carton label pasting module; 110, front folding ear module; 111, left front cover module; 112, right front cover module; 113, front cover screw motor; 114, front cover lifting motor; 115, front cover suction cup motor; 116, front cover suction cup; 117, first plug plate; 118, second plug plate; 119, front cover linear movable structure; 130, carton handling manipulator; 131, tape module; 150, finished product lifting platform, 160, large-size finished product conveyor belt, 161, small-size finished product conveyor belt; 201, glue rack; 202, glue reel; 204, glue guide cylinder; 206, glue puller; 207, glue adjustment cylinder; 209, glue block; 212, glue cylinder;213, glue sticking adjustment seat; 214, glue sticking movable seat; 215, glue sticking inclined block; 216, shearing cylinder; 217, shearing knife. ; DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the present invention.

[0046] like Figure 1-2 As shown, the specific structure of the present invention is: a reel tray annular automatic packaging equipment, including a box loading and closing mechanism 6 for closing, labeling and taping the carton and sending the finished product to the finished product transmission module 7, the box loading and closing mechanism 6 is matched with the reel tray feeding mechanism 2 through the assembly robot 17, and is matched with the carton positioning mechanism 71 through the transfer robot 80, and the assembly robot 17 is also matched with the labeling device 3, the carton positioning mechanism 71 is matched with the folding mechanism 5 for folding the carton cover vertically into the semi-finished carton, the folding mechanism 5 is matched with the paperboard feeding mechanism 4, the paperboard feeding mechanism is used to suck the cardboard on the cardboard pile and move it to the folding forming module 70 of the folding mechanism 5, and place the semi-finished carton that has completed the folding into the carton positioning mechanism 71, and the reel tray feeding mechanism 2 is matched with the AGV trolley feeding device 1.

[0047] During specific use, the cardboard feeding mechanism 4 feeds the cardboard into the carton forming module 70 of the folding mechanism 5 for semi-finished product forming, and the carton then clamps the semi-finished carton to the carton positioning mechanism 71 for positioning, and the transplanting robot 9 feeds the semi-finished carton of the carton positioning mechanism 71 into the box loading and lid closing mechanism 6. At the same time, the AGV trolley feeding device 1 feeds the reel plate into the reel plate feeding mechanism 3, and then the assembly robot 17 clamps the reel plate to make it dock with the labeling device 3, and after being labeled by the labeling device 3, it is fed into the semi-finished carton in the box loading and lid closing mechanism 6, and then the box loading and lid closing mechanism 6 closes, labels and tapes the carton and feeds the finished product to the finished product transmission module 7.

[0048] like Figure 5 As shown, the reel labeling device is composed of a labeling module with four motion directions of X, Y, Z and B: 39 is a label printer, 40 is a Y direction motion module, 41 is an X direction motion module, 42 is a Z direction motion module, 43 is a B direction rotating cylinder, and 44 is a label vacuum suction plate.

[0049] The working process is as follows: the assembly robot 17 moves the reel plate to the labeling area, the label printer 39 completes label printing, and the label vacuum suction plate 44 further rotates -90° to absorb the label. Then, the moving parts in the three directions of 40, 41, and 42 move simultaneously to deliver the label to the top of the designated reel plate. At this time, the rotating cylinder 43 rotates 90° in the positive direction, and the assembly robot 17 lifts the reel plate, and the label is perfectly attached to the upper surface of the reel plate. At this point, the labeling part of the work is completed.

[0050] like Figure 9-10 As shown, the box loading and lid closing mechanism 6 includes a box loading frame, on which is mounted an annular transfer guide rail module 81, on which is mounted a jig for carrying cartons, the jig including a small-size carton jig 82 and a large-size carton jig 83, and on the box loading frame, along the conveying direction of the annular transfer guide rail module 81, there are sequentially arranged a transfer robot 80 for picking up and placing cartons, a reel plate assembly robot, a carton lid closing and folding side ear module 90, a carton label pasting module 100, a front folding side ear module 110, and a carton handling robot 130, the carton handling robot 130 is equipped with a tape pasting module 131, a finished product lifting platform 150 and a defective product processing roller slope, and each station of the annular transfer guide rail module 81 is equipped with a clamping device for clamping the jig; the finished product lifting platform 150 is equipped with a large-size finished product conveyor belt 160 and a small-size finished product conveyor belt 161.

[0051] Figure 2 Station a in the figure is the carton loading area, and the transfer robot 80 moves the semi-finished carton with the lid facing vertically upward to the corresponding jig (in specific use, it may not be limited to jigs of two sizes); further, the semi-finished carton is transported to station b (reel plate assembly area) through the circular conveyor line, and the clamping device clamps the carton jig (the clamping devices below the subsequent stations all play a clamping and positioning role); further, the assembly robot 17 moves the reel plate with a label to the carton at station b; further, the circular conveyor line sends the carton to station c (closing and folding side ear area), and the closing and folding side ear module 90 completes the folding of the upper box surface and the long side ears on both sides of the carton; further, the carton Entering the d station (labeling area on the rear surface of the carton), the carton label pasting module 100 prints and pastes the product information label on the rear surface of the carton; further, the carton enters the e station (folding front side ears and front box surface closing processing area), the folding front side ear module 110 completes the folding of the front side ears and the closing of the front box surface of the carton; further, the carton enters the g station (sealing tape area), the taping module 131 and the carton handling robot 130 complete the tape sealing of the front box surface of the carton; further, the carton handling robot 130 transports the packaged reel tray finished product to the f station (finished product conveying area), and a camera for detecting whether a label is affixed can be set on the carton handling robot 130. If no label is affixed, it is placed in Fig.19At the inclined surface of the defective product processing roller shown in the figure, if it is a qualified product, it is placed on the finished product lifting platform 150. According to the size, the finished product lifting platform 150 rises to the corresponding height, that is, it is connected with the large-size finished product conveyor belt 160 or the small-size finished product conveyor belt 161, thereby completing the conveying of finished products and the sorting of unqualified products, so that flexible packaging of reel trays of different specifications can be achieved.

[0052] like Figure 11-13 The clamping device includes an annular cylinder positioning seat 72, on which a clamping positioning cylinder 73 is arranged, and the clamping positioning cylinder 73 is connected to a positioning bearing seat 74. A positioning needle bearing 75 for clamping a jig tray 76 is arranged on the upper part of the positioning bearing seat 74, and a concave block cooperating with the positioning needle bearing 75 is arranged on the side of the jig tray 76. The box loading frame is located at the carton closing and side ear folding station and the carton labeling station and is provided with a lifting baffle module for blocking the front side of the carton. The lifting baffle module includes a baffle lifting base plate 77, and the baffle lifting base plate 77 is connected to a baffle lifting cylinder 79, and the baffle lifting cylinder is connected to a carton front side baffle 78.

[0053] After the carton fixture enters the corresponding workstation, the clamping positioning cylinder 73 contracts, thereby driving the positioning bearing seat 74 to move toward the fixture, so that the fixture tray 76 can be clamped by the positioning needle bearing 75 to prevent the carton from moving when each workstation is operating; when entering the c or d workstation, the baffle lifting cylinder 79 drives the front side baffle 78 of the carton to rise, and the front side baffle 78 of the carton is used to block the front side of the carton to prevent the carton from moving in the opposite direction of transportation.

[0054] like Figure 14-16 As shown, the paper box lid closing and folding side ear module 90 includes a lid closing linear module 85 located above the conveyor line, and a folding side ear module 87 is connected to the lid closing linear module 85 below through a folding side ear vertical plate 86, and the folding side ear module 87 is used for folding the side ears of the paper box inwardly, and a lid closing bearing 88 is installed at the lower part of the folding side ear module 87 for cooperating with the lid closing linear module 85 to complete the lid closing process, and the folding side ear module 87 includes a left folding ear module 91 and a right folding ear module 92, and the left folding side ear module 91 and the right folding ear module 92 are installed on the folding ear lead screw through a folding ear lead screw nut 93, and As the folding ear screw rotates, it moves toward or away from each other (to achieve the movement toward or away from each other, it is only necessary to control the corresponding screw part to wind the wire in the opposite direction). The folding ear screw is equipped with a folding ear screw motor 99. The left folding ear module 91 and the right folding ear module 92 both include a folding ear connecting plate 94 that moves on the folding ear screw. The folding ear connecting plate 94 is connected to a folding ear cylinder fixing plate 96. The folding ear cylinder fixing plate 96 is connected to a folding ear cylinder 97. The folding ear cylinder 97 is connected to a folding ear pressure plate 98. The folding ear cylinder fixing plate 96 is also connected to a folding ear side plate 95 that is perpendicular to the folding ear connecting plate 94 and has a gap.

[0055] The process of folding ears and closing the box is as follows Fig.16 As shown, the folding ear screw motor 99 drives the left folding ear module 91 and the right folding ear module 92 to move in opposite directions and open to both sides; further, the carton moves to the bottom of the box closing and folding side ear module 90 under the action of the conveyor line and the carton fixture, and the vertical box cover stops on the folding ear connecting plate 94 ( Fig.16 -A); then, the ear-folding cylinder 97 extends out of the ear-folding plate 98, and the forming surface of the ear-folding plate 98 is coplanar with the ear-folding connecting plate 94 ( Fig.16 -A); Then, the folding ear screw motor 99 drives the left folding ear module 91 and the right folding ear module 92 to move toward each other until the ears on both sides are horizontally inserted into the folding ear cavity (that is, the side ears pass through the folding ear side plate 95 and the folding ear connecting plate 94 and enter the folding ear pressing plate 98). At this time, the side ears rest on the forming surface of the folding ear pressing plate 98 ( Fig.16 -B); Next, the ear-folding cylinder 97 contracts to complete the 90° pre-folding of the side ear, ( Fig.16 -C); then, the ear-folding cylinder 97 is extended first so that the ear-folding plate 98 and the ear-folding connecting plate 94 are flush again ( Fig.16 -D), the left and right folding ear modules extend outwards, so that the pre-folded side ears are released in the folding ear cavity ( Fig.16 -E); further, by folding the ear side plate 95 to the inside of the contraction, again the pre-folded side ear pressed into a vertical state ( Fig.16 -F); Finally, the folding ear linear module 85 moves the entire folding ear module below toward the front box surface, and the box cover is pressed down by the closing bearing 88 to complete the closing process ( Fig.16 -F).

[0056] like Figure 17-18As shown, the folding front side ear module 110 includes a front cover closing screw motor 113 and a front cover closing screw, and the front cover closing screw is matched with a left front cover closing module 111 and a right front cover closing module 112 that can move toward or away from each other, and the left front cover closing module 111 and the right front cover closing module 112 both include a front cover closing movable seat, and a front cover closing lifting motor 114 and a plug-in plate lifting structure are installed on the front cover closing movable seat, and the plug-in plate lifting structure is driven by the front cover lifting motor 114, and the plug-in plate 117 and the second plug-in plate 117 are connected to the lower part of the plug-in plate lifting structure of the left front cover closing module 111 and the right front cover closing module 112, respectively. 18, the first plug plate 117 and the second plug plate 118 both include a first vertical plate connected to the lifting structure, an inclined plate connected to the vertical plate and a second vertical plate located outside the inclined plate, the left front cover closing module 111 and the right front cover closing module 112 also include a front cover closing suction cup motor 115 installed on the front cover and the movable seat, the front cover closing suction cup motor 115 is connected to the front cover closing suction cup 116 and drives the front cover closing suction cup 116 to rise and fall, the front folding side ear module 110 also includes a front cover closing linear movable structure 119, the front cover closing screw motor 113 and the front cover closing screw are installed below the front cover closing linear movable structure 119.

[0057] The paper box enters the folding front side ear and front box surface closing processing area, and the front cover closing screw motor 113 drives the left front cover closing module 111 and the right front cover closing module 112 to move toward each other, and then drives the first plug plate 117 and the second plug plate 118 to move toward each other, thus completing the folding and forming of the front box surface side ears ( Fig.18 -A1); In addition, the front cover suction cup motor 115 drives the front cover vacuum suction cup 116 to descend and then suck the upper box surface of the carton, ensuring the static state of the carton during the molding process ( Fig.18 -B1); the front cover lifting motor 114 drives the first plug plate 117 and the second plug plate 118 to drop, and during the drop process, the first plug plate and the second plug rod of the inclined block plate will be inserted into the front side ear of the box ( Fig.18 -B1); further, the front cover lifting motor 114 drives the first plug plate and the second plug rod to continue to descend, and the vertical plate portion of the first plug plate and the second plug plate moves downward to complete the front box surface is fully inserted into the carton ( Fig.18 -C1); Finally, the front cover linear module 119 drives the whole to move in a macro manner, so that the vertical plate on the first plugboard and the second plugboard can be moved toward the rear box surface in a macro manner to achieve the effect of fastening the front box surface ( Fig.18 -D1).

[0058] like Fig. 20As shown, the adhesive tape device 131 includes an adhesive tape rack 201, on which a film reel 202 for mounting a film, an adhesive guide cylinder 204 and an adhesive drawing cylinder extending vertically are arranged, the adhesive drawing cylinder is connected to an adhesive drawing clamp 206 for clamping the adhesive tape, an adhesive tape adjustment seat 213 is arranged on the adhesive tape rack 201, the adhesive tape adjustment seat 213 is connected to an adhesive tape block 209 located between the adhesive guide cylinder 204 and the adhesive tape clamp 206, the adhesive tape block 209 is provided with adhesive tape grooves at the upper and lower parts, and the three areas divided by the two adhesive tape grooves are provided with adhesive tape air holes, and are equipped with a negative pressure suction device. Attached pipelines, a glue cylinder 212 is provided on the glue adjusting seat 213, and the glue cylinder 212 is connected to a glue movable seat 214, and the glue movable seat 214 is connected to two glue inclined blocks 215 which are inclined upward and downward respectively, and the two glue inclined blocks 215 pass through the upper and lower glue grooves respectively, and the glue rack 201 is provided with a horizontal glue adjusting cylinder 207, and the glue adjusting seat 213 is connected to the glue adjusting cylinder 207, and the upper part of the glue adjusting seat 213 is provided with a shearing cylinder 216, and the shearing cylinder 216 is connected to a shearing knife 217.

[0059] The carton handling robot clamps the covered and labeled carton and enters the tape sticking device 131 for tape sticking. The specific operation of gluing is to first pull the tape down through the glue pulling cylinder and the glue pulling clamp 206, and then drive the glue sticking adjustment seat 213 to move through the glue sticking adjustment cylinder 207 to make the straightened tape fit with the glue sticking block 209, and perform negative pressure adsorption through the glue sticking pores, and then drive the shearing knife 217 to cut the tape through the shearing cylinder 216. The carton handling robot 130 pushes the carton to the glue sticking block 209 to complete the side gluing, and the glue sticking cylinder 212 will drive the glue sticking movable seat 214 to move, so that the two glue sticking oblique blocks 215 pass through the glue sticking groove, and stick the upper and lower tapes on the upper and lower surfaces of the carton respectively, and then release the adsorption of the glue sticking pores to complete the three-sided gluing of the carton.

[0060] like Figure 2-4The reel loading mechanism 2 comprises a loading rack, on which a reel reflux conveying module 14 is provided, and the reel reflux conveying module 14 is used to carry and convey the stacked reels. The loading rack is also provided with a reel turning mechanism 11 for rotating the stacked reels 90 degrees, and a reel loading and transplanting module 13 is provided on the top of the loading rack. The reel loading and transplanting module 13 is connected to a reel loading gripper 12 for taking the stacked reels from the reel turning mechanism 11 to the reel reflux conveying module 14. The loading rack is also provided with a reel loading lifting module 16 and an error reel buffer station 15, and the reel loading lifting module 16 is provided with an assembly robot 17, and the reel loading gripper 12 includes a gripper mounting seat, and the gripper mounting seat is provided with no less than three gripper assemblies, and the gripper assembly includes two parallel gripper swing rods 20, and the bottoms of the two gripper swing rods 20 are connected with gripper hook plates 21, one of which is mounted on the gripper mounting seat through a bearing, and the gripper mounting seat is provided with a gripper hook plate 21. A gripper drive motor 18 is provided, and the gripper drive motor 18 drives all gripper swing arms 20 mounted on the gripper mounting seat through bearings through a synchronous wheel set 19. The reel return conveying module includes a square return seat, and two rows of return slides for placing pallets are arranged on the return seat. A baffle is arranged in the middle of the two return slides, and there is no baffle at the edge. A first transverse movement module and a second transverse movement module for moving the pallet along the slide are arranged below the two return slides, and the transverse movement directions of the two are opposite. A first longitudinal movement module and a second longitudinal movement module for replacing the slide of the pallet are arranged on both sides of the directional return seat, and the longitudinal movement directions of the two are opposite. The first longitudinal movement module includes a first longitudinal movement cylinder 31 and a first longitudinal movement lever 30 connected thereto, and the second longitudinal movement module includes a second longitudinal movement cylinder 35 and a second longitudinal movement lever 34 connected thereto; the first transverse movement module includes a first transverse movement cylinder 32 and a first transverse movement hook 33 connected thereto, and the second transverse movement module includes a second transverse movement cylinder 37 and a second transverse movement hook 36 connected thereto.

[0061] The specific loading process of the present application is as follows: first, a pile of reel materials is inserted into the reel turning mechanism 11 through the AGV trolley feeding device 1, and then the reel turning mechanism 11 turns it 90 degrees, and then the reel loading gripper 12 is driven to move and rise and fall through the reel loading and transplanting module 13, and the height of the gripper hook plate 21 corresponds to the lower end of the reel pile on the reel turning mechanism 11, and then the gripper drive motor 18 drives the gripper hook plate 20 to rotate, so that the gripper hook plate 21 can be driven to rotate, so that one end of the gripper hook plate 21 enters the bottom of the reel pile, so that the reel pile can be adjusted by at least three gripper hook plates 21. The reel feeding and transferring module 13 then drives the reel feeding gripper 12 to move and lift, so that the clamped reel falls onto the tray of the reel return conveying module 14. Then the reel turning mechanism 11 and the reel feeding and transferring module 13 drive the reel feeding gripper 12 to repeat the above operation. The reel return conveying module drives the first transverse moving claw 33, the second transverse moving claw 36, the first longitudinal moving lever 30 and the second longitudinal moving lever 34 to act on the tray through the first transverse moving cylinder 32, the second transverse moving cylinder 37, the first longitudinal moving cylinder 31 and the second longitudinal moving cylinder 35 respectively, so that all the trays move along the pallet. Figure 3 The reflow direction shown moves one grid, that is, the second pallet is in a position to cooperate with the reel feeding clamp 12, thereby completing the reel stacking of the second pallet, and then repeating the above operation, and reel reels of different specifications can be placed until the first pallet enters the position corresponding to the assembly robot 17, and then the assembly robot 17 is driven to rise and fall by the reel feeding lifting module 16, and then the assembly robot 17 is used to pick up the material on the first pallet. The assembly robot 17 can cooperate with the detection structure, and then the reel that fails the detection is placed in the error reel cache station 15, and the reel that passes the detection is loaded into the packaging box by the assembly robot 17.

[0062] like Figure 6-7As shown, the cardboard feeding mechanism includes a stacking rack for stacking cardboards, the stacking rack is provided with a cardboard stacking area, and the cardboard stacking area is matched with a cardboard feeding trolley 50, and the cardboard stacking area is also matched with a cardboard lifting module 54, and the stacking rack is provided with no less than two cardboard stacking areas, and different cardboard stacking areas are used to stack cardboards 51 of different sizes, and the stacking rack is provided with a handling robot transverse movement module 55, and the handling robot transverse movement module 55 is installed with a cardboard handling robot 53, and the cardboard handling robot 53 is connected to a cardboard suction device 52, and the cardboard suction device 52 includes a suction device body, and the suction device body is provided with a suction cup assembly distributed in an annular manner, and the suction cup assembly includes a suction cup fixing plate 66, and the suction cup fixing plate 66 is installed with a cardboard suction cup 67, and the suction device wire installed on the suction device body Rod 62, the lower end of the suction device screw rod 62 is sleeved with a suction device screw rod nut 63, the suction device screw rod nut 63 is hinged with a suction cup arm diagonal support link 64 in a ring shape, a suction cup arm parallel link group 65 is arranged on the lower side of the suction device body, the other end of the suction cup arm diagonal support link 64 is hinged at the middle part of the suction cup arm parallel link group 65; the lower end of the suction cup arm parallel link group 65 is connected with the suction cup fixing plate 66; the suction device screw rod 62 is connected with the suction cup arm swing arm motor 60 arranged on the suction device body through the transmission wheel group 61, the suction cup arm parallel link group includes two upper and lower seat bodies, two parallel connecting rods are arranged between the two seat bodies, and the seat bodies and the connecting rods are hinged, the suction cup arm diagonal support link 64 is hinged with one of the parallel connecting rods, and three cardboard suction cups 67 are installed on each suction cup fixing plate 66, and are distributed in a triangle.

[0063] When in use, first push the cardboard 51 of corresponding size to the cardboard lifting module 54 of the corresponding cardboard stacking area through the cardboard loading trolley 50, then the cardboard handling robot 53 and the handling robot transverse movement module 55 drive the cardboard suction device 52 to move to the top of the corresponding cardboard pile, and according to the size of the cardboard to be sucked, the suction cup arm swing arm motor 60 drives the suction device lead screw 62 to rotate, so that the suction device lead screw 63 can be driven to rise or fall, so that the suction cup arm diagonal support link 64 can be driven to rotate (angle change), and then the parallel link of the suction cup arm parallel link group 65 can be driven to rotate, so that all the suction cup fixing plates 66 can be stretched outward or contracted inward, so that all the suction cups The fixed plate 66 matches the size of the corresponding cardboard 51, and then the cardboard handling robot 53 drives the entire cardboard suction device 52 to descend, so that all the cardboard suction cups 67 suck the cardboard 51 on the top layer of the cardboard pile, and then the cardboard handling robot 53 and the alloy handling robot transverse movement module 55 move the cardboard suction device 52 as a whole to the folding box mechanism 5, thereby completing a cardboard material collection. When different cardboards need to be collected, the cardboard suction device 52 is also driven to move to the folding box mechanism through the cardboard handling robot 53 and the handling robot transverse movement module 55, and then the suction cup swing arm motor 60 drives the suction device screw 62 to rotate, thereby adjusting the cardboard specifications corresponding to all suction cup fixing plates 66.

[0064] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0065] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A reel disk ring automatic packaging equipment, characterized in that: It includes a box loading and closing mechanism which closes the lid, labels and tapes the carton and feeds the finished product into the finished product transmission module; the box loading and closing mechanism is coordinated with a reel tray feeding mechanism through an assembly robot, coordinated with a carton positioning mechanism through a transfer robot, and the assembly robot is also coordinated with a labeling device; the carton positioning mechanism is coordinated with a folding mechanism which folds the upper cover of the carton into a vertical semi-finished carton; the folding mechanism is coordinated with a cardboard feeding mechanism which is used to suck and move the cardboard on the cardboard pile to the folding mechanism, and place the semi-finished carton that has completed the folding into the carton positioning mechanism; the reel tray feeding mechanism is coordinated with an AGV trolley feeding device.

2. The reel disk annular automatic packaging equipment according to claim 1 is characterized in that: The box loading and lid closing mechanism includes a box loading frame equipped with an annular transplanting guide rail module, the annular transplanting guide rail module is equipped with a jig for carrying paper boxes, the jig includes a small-size paper box jig and a large-size paper box jig, and the box loading frame is provided with a transplanting robot for picking up and placing paper boxes, a reel plate assembly robot, a paper box lid closing and folding side ear module, a paper box label pasting module, a front folding side ear module, and a paper box handling robot in sequence along the conveying direction of the annular transplanting guide rail module. The paper box handling robot is equipped with a tape pasting module and a finished product conveying module, the finished product conveying module includes a finished product lifting platform and a defective product processing roller inclined surface, and each station of the annular transplanting guide rail module is equipped with a clamping device for clamping the jig; the finished product lifting platform is equipped with a large-size finished product conveyor belt and a small-size finished product conveyor belt.

3. The reel disk annular automatic packaging equipment according to claim 2 is characterized in that: The clamping device includes an annular cylinder positioning seat, a clamping positioning cylinder is arranged on the annular cylinder positioning seat, the clamping positioning cylinder is connected to a positioning bearing seat, a positioning needle bearing for clamping the jig tray is arranged on the upper part of the positioning bearing seat, a concave block matching with the positioning needle bearing is arranged on the side of the jig tray, and a lifting baffle module for blocking the front side of the carton is arranged at the carton closing and side ear folding station and the carton labeling station. The lifting baffle module includes a baffle lifting base plate, the baffle lifting base plate is connected to a baffle lifting cylinder, and the baffle lifting cylinder is connected to the front side baffle of the carton.

4. The reel disk annular automatic packaging equipment according to claim 2 is characterized in that: The paper box lid closing and folding side ear module includes a lid closing linear module located above the conveyor line, and a folding side ear module is connected to the lid closing linear module below through a folding side ear vertical plate. The folding side ear module is used for folding the side ears of the paper box inwardly, and a lid closing bearing is installed at the bottom of the folding side ear module for cooperating with the lid closing linear module to complete the lid closing process.

5. The reel disk annular automatic packaging equipment according to claim 4 is characterized in that: The folding ear module includes a left folding ear module and a right folding ear module, and the left folding ear module and the right folding ear module are installed on the folding ear lead screw through a folding ear lead screw nut, and move toward or away from each other as the folding ear lead screw rotates. The folding ear lead screw is matched with a folding ear lead screw motor. The left folding ear module and the right folding ear module both include a folding ear connecting plate that moves on the folding ear lead screw, the folding ear connecting plate is connected to a folding ear cylinder fixing plate, the folding ear cylinder fixing plate is connected to a folding ear cylinder, the folding ear cylinder is connected to a folding ear pressure plate, and the folding ear cylinder fixing plate is also connected to a folding ear side plate that is perpendicular to the folding ear connecting plate and has a gap.

6. The reel disk annular automatic packaging equipment according to claim 2, characterized in that: The folding front side ear module comprises a front cover closing screw motor and a front cover closing screw, the front cover closing screw is matched with a left front cover closing module and a right front cover closing module which can move toward or away from each other, the left front cover closing module and the right front cover closing module both comprise a front cover closing movable seat, a front cover closing lifting motor and a plug-in plate lifting structure are installed on the front cover closing movable seat, and the plug-in plate lifting structure is driven by the front cover closing lifting motor, a first plug-in plate and a second plug-in plate are respectively connected below the plug-in plate lifting structure of the left front cover closing module and the right front cover closing module, the first plug-in plate and the second plug-in plate both comprise a first vertical plate connected to the lifting structure, an inclined plate connected to the vertical plate and a second vertical plate located outside the inclined plate.

7. The reel disk annular automatic packaging equipment according to claim 6 is characterized in that: The left front cover module and the right front cover module also include a front cover suction cup motor installed on the front cover and the movable seat. The front cover suction cup motor is connected to the front cover suction cup and drives the front cover suction cup to rise and fall. The front folding side ear module also includes a front cover linear movable structure. The front cover screw motor and the front cover screw are installed below the front cover linear movable structure.

8. The reel disk annular automatic packaging equipment according to claim 1 is characterized in that: The reel feeding mechanism includes a feeding rack, on which a reel reflux conveying module is provided, which is used to carry and convey the stacked reels, and the feeding rack is also provided with a reel turning mechanism that cooperates with the AGV feeding trolley device and rotates the stacked reels 90 degrees, and a reel feeding and transplanting module is provided on the top of the feeding rack, and the reel feeding and transplanting module is connected with a reel feeding gripper for taking and placing the stacked reels from the reel turning mechanism to the reel reflux conveying module, and the feeding rack is also provided with a reel feeding lifting module. The reel loading and unloading lifting module is provided with an assembly robot, and the reel loading gripper includes a gripper mounting seat, and the gripper mounting seat is provided with no less than three gripper assemblies, and the gripper assembly includes two parallel gripper swing rods, and the bottoms of the two gripper swing rods are connected with gripper hook plates, one of the gripper swing rods is installed on the gripper mounting seat through a bearing, and a gripper drive motor is installed on the gripper mounting seat, and the gripper drive motor drives all the gripper swing rods installed on the gripper mounting seat through bearings through a synchronous wheel set.

9. The reel disk annular automatic packaging equipment according to claim 1, characterized in that: The cardboard feeding mechanism includes a stacking rack for cardboard stacking, a cardboard stacking area is arranged on the stacking rack, and the cardboard stacking area is matched with a cardboard feeding trolley, and the cardboard stacking area is also matched with a cardboard lifting module, and no less than two cardboard stacking areas are arranged on the stacking rack, and different cardboard stacking areas are used for stacking cardboard of different sizes and specifications, and a handling robot transverse movement module is arranged on the stacking rack, and a cardboard handling robot is installed on the handling robot transverse movement module, and the cardboard handling robot is connected to a cardboard suction device, and the cardboard suction device is a suction device structure that can adjust the suction size.

10. The reel disk annular automatic packaging equipment according to claim 9, characterized in that: The cardboard suction device comprises a suction device body, a suction cup assembly arranged in an annular distribution on the suction device body, and a suction cup adjustment structure for expanding or contracting the suction cup assembly in a radial direction is arranged on the suction device body, the suction cup assembly comprises a suction cup fixing plate, and a cardboard suction cup is installed on the suction cup fixing plate, the suction cup adjustment structure comprises a suction device screw rod installed on the suction device body, a suction device screw rod nut is sleeved at the lower end of the suction device screw rod, and the suction device screw rod nut is annularly hinged with a suction cup arm diagonal bracing connecting rod, and the suction device body A suction cup arm parallel link group is arranged on the lower side, and the other end of the suction cup arm diagonal support link is hinged at the middle part of the suction cup arm parallel link group; the lower end of the suction cup arm parallel link group is connected to the suction cup fixing plate; the suction device screw rod is connected to the suction cup arm swing arm motor arranged on the suction device body through a transmission wheel group, and the suction cup arm parallel link group includes an upper and lower seat body, and two parallel connecting rods are arranged between the two seat bodies, and the seat body and the connecting rod are hinged, and the suction cup arm diagonal support link is hinged to one of the parallel connecting rods.

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