A reel disk ring automatic packaging equipment

Abstract

The present invention relates to an automatic packaging device for reel trays, comprising a box loading and closing mechanism that closes, labels, and tapes cartons and delivers finished products to a finished product transport module. The box loading and closing mechanism is coupled with a reel tray loading mechanism via an assembly robot, coupled with a cartons positioning mechanism via a transfer robot, the cartons positioning mechanism being coupled with a folding mechanism that folds the top of the cartons upright to form a semi-finished cartons, the folding mechanism being coupled with a cardboard loading mechanism that sucks and moves cardboard from a pile of cartons to the folding mechanism and places the folded semi-finished cartons onto the cartons positioning mechanism, and the reel tray loading mechanism being coupled with an AGV trolley loading device. The purpose of the present invention is to provide an automatic packaging device for reel trays, which completes packaging within the entire machine and uses a fixed robot instead of a conveyor belt to transport the reel trays and semi-finished cartons, thereby greatly improving overall packaging efficiency.

Description

Technical Field

[0001] The present invention relates to the field of electronic 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, faced with growing market demand and fierce competitive pressure, traditional packaging equipment often cannot meet the requirements 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 for reel trays is roughly as follows: first, the reel trays are loaded and labeled. Then, the cardboard needs to be folded into a semi-finished box with the lid open upward. The reel trays are then placed in a paper box, which is then closed, labeled, and sealed with tape. Existing cartoning equipment mostly operates separately, rather than being fully integrated. The reel trays need to be transported by high-travel robots or conveyor belts, and the paper boxes are also folded before being transported by conveyor belts. This poor integrity affects 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 ring-shaped automatic packaging equipment, characterized in that it includes a box loading and closing mechanism that 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 the reel disk feeding mechanism through the assembly robot, and is coordinated with the carton positioning mechanism through the transfer robot, the carton positioning mechanism is coordinated with a folding mechanism that folds the carton cover vertically to the semi-finished carton, the folding mechanism is coordinated with a cardboard feeding mechanism, the cardboard feeding mechanism is used to suck the cardboard on the cardboard pile and move it 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 ring-shaped transfer guide rail module installed on the box loading rack, and a jig for carrying paper boxes is installed on the ring-shaped transfer guide rail module, and the jig includes a small-size paper box jig and a large-size paper box jig. The box loading rack is provided with a transfer 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 ring-shaped transfer guide rail module. The paper box handling robot is equipped with a tape sticking module and a finished product conveying module. The finished product conveying module includes a finished product lifting platform and a defective product processing roller slope, and each workstation of the ring-shaped 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 provided on the annular cylinder positioning seat, the clamping positioning cylinder is connected to a positioning bearing seat, a positioning needle roller bearing for clamping the jig tray is provided on the upper part of the positioning bearing seat, a recessed block cooperating with the positioning needle roller bearing is provided on the side of the jig tray, and the box loading rack 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, the baffle lifting base plate is connected to the 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 folding the side ears of the paper box inward, and the lower part of the folding side ear module is equipped with a lid closing bearing 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 screw through a folding ear screw nut, and move toward or away from each other as the folding ear screw rotates, the folding ear screw is matched with a folding ear 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 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, and the front cover closing screw is equipped with a left front cover closing module and a right front cover closing module that can move toward or back to each other, and the left front cover closing module and the right front cover closing module both include a front cover closing movable seat, and the front cover closing movable seat is equipped with a front cover closing lifting motor and a plug-in plate lifting structure, and the plug-in plate lifting structure is driven by the front cover closing lifting motor, and the first plug-in plate and the second plug-in plate are respectively connected to the lower part of the plug-in plate lifting structure of the left front cover closing module and the right front cover closing module, and the first plug-in plate and the second plug-in 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 closing module and the right front cover closing module also include a front cover closing suction cup motor installed on the front cover and the movable seat, the front cover closing suction cup motor is connected to the front cover closing suction cup and drives the front cover closing suction cup to rise and fall, and the folding front side ear module also includes a front cover linear movable structure, and the front cover closing screw motor and the front cover closing screw are installed below the front cover linear movable structure.

[0012] Preferably, the reel loading mechanism includes a loading rack, a reel reflux conveying module is provided on the loading rack, the reel reflux conveying module is used to carry and convey the stacked reels, the loading rack is also provided with a reel turning mechanism that cooperates with the AGV loading trolley device 1 and rotates the stacked reels 90 degrees, a reel loading and transferring module is provided on the top of the loading rack, the reel loading and transferring module is connected to a reel loading clamp for taking the stacked reels from the reel turning mechanism to the reel reflux conveying module, and the loading rack is also provided with a reel loading The lifting module and the error reel cache station, the reel loading lifting module is provided with an assembly robot, the reel loading gripper includes a gripper mounting seat, and the gripper mounting seat is provided with no less than three gripper assemblies, 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 gripper swing rods installed on the gripper mounting seat through bearings through a synchronous wheel set.

[0013] Preferably, the cardboard loading mechanism includes a stacking rack for stacking cardboard, the stacking rack is provided with a cardboard stacking area, and the cardboard stacking area is matched with a cardboard loading trolley, and the cardboard stacking area is also matched with a cardboard lifting module, and the stacking rack is provided with no less than two cardboard stacking areas, 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 includes a suction device body, a suction cup assembly distributed in an annular manner is arranged on the suction device body, and a suction cup adjustment structure is provided on the suction device body to enable the suction cup assembly to expand or contract in the radial direction, the suction cup assembly includes a suction cup fixing plate, and a cardboard suction cup is installed on the suction cup fixing plate, the suction cup adjustment structure includes a suction device screw installed on the suction device body, the lower end of the suction device screw is sleeved with a suction device screw nut, the suction device screw nut is annularly hinged with a suction cup arm diagonal support connecting rod, and the suction device A suction cup arm parallel link group is provided 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 to 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 provided on the suction device main body through the transmission wheel group, and the suction cup arm parallel link group includes two upper and lower base bodies, and two parallel links are arranged between the two base bodies, and the base 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:

[0016] The packaging is completed in the whole machine, and a fixed robot is used instead of a conveyor belt to transport the reel trays and semi-finished cartons, which greatly improves the overall packaging efficiency.

[0017] A circular transfer guide module is used to circulate the carton jigs of different sizes, so that the carton jigs can pass through the corresponding workstations in turn to complete the corresponding reel tray cartoning operations, which improves the overall cartoning and packaging efficiency and can complete the reel cartoning and packaging of multiple different specifications at the same time.

[0018] The clamping device can prevent the jig from moving during the folding process, and the design of the lifting baffle module prevents the carton from moving backwards at the carton lid closing and side ear folding module stations and labeling stations, while being compatible with cartons of different sizes.

[0019] 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 inward, and press the side ears into the box body. The structure of the interaction between the two is simple and the cooperation is ingenious. 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 folding side ear module and the design of the folding ear side plate can limit the folded side ears, ensure that the side ears can enter the box body, and at the same time avoid the side ears from being folded inward too much and interfering with the reel plate in the box when closing the lid.

[0020] 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 side 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 make a slight movement after the front cover is closed, so that the front cover can be further pressed into the box body to achieve a better front cover closing effect.

[0021] Through the design of the reel return 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 reflow conveying, thus meeting the automatic feeding of multi-specification packaging equipment and ensuring the continuous feeding.

[0022] The reel loading gripper can open or tighten the gripper hooks 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.

[0023] 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.

[0024] The specific structural design of the paper tray suction device only requires a single drive motor to cooperate with the suction cup arm diagonal support link and the suction cup arm parallel link group to achieve the expansion or contraction of all suction cup components into 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 that each suction cup component can stably absorb the cardboard. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a reel disk ring automatic packaging equipment.

[0026] Figure 2 This is a three-dimensional schematic diagram of the reel tray loading mechanism.

[0027] Figure 3 This is a three-dimensional schematic diagram of the reel loading clamp.

[0028] Figure 4 This is a three-dimensional schematic diagram of the reel reflow conveying module after removing the tray.

[0029] Figure 5 3D diagram of labeling a reel plate.

[0030] Figure 6 It is a three-dimensional schematic diagram of the paperboard feeding mechanism.

[0031] Figure 7 It is a three-dimensional schematic diagram of the cardboard suction device.

[0032] Figure 8 It is a three-dimensional schematic diagram of the box folding mechanism and the carton positioning mechanism.

[0033] Figure 9 It is a three-dimensional schematic diagram of the cartoning mechanism.

[0034] Figure 10 This is a schematic diagram of the cartoning station.

[0035] Figure 11 It is a three-dimensional schematic diagram of the clamping device.

[0036] Figure 12 It is a three-dimensional schematic diagram of the lifting baffle module.

[0037] Figure 13 It is a three-dimensional schematic diagram of the clamping device and the lifting baffle module in the annular transplanting guide rail module.

[0038] Figure 14 It is a three-dimensional schematic diagram of the paper box lid and folding side ear module.

[0039] Figure 15 It is a three-dimensional schematic diagram of the left-folding ear module.

[0040] Figure 16 This is a workflow status diagram of the carton lid closing and side ear folding module.

[0041] Figure 17 It is a three-dimensional schematic diagram of the folded front side ear module.

[0042] Figure 18 This is the workflow status diagram of the folding front ear module.

[0043] Figure 19 A three-dimensional diagram of sorting defective cartons.

[0044] Figure 20 It is a three-dimensional schematic diagram of the tape applying device.

[0045] The text labels shown in the figure indicate: 1. AGV trolley loading device; 2. reel conveying mechanism; 3. labeling device; 4. paperboard loading mechanism; 5. box folding mechanism; 6. box loading and lidding device; 7. finished product conveying module; 11. reel turning mechanism; 12. reel loading gripper; 13. reel loading and transferring module; 14. reel return conveying module; 15. wrong reel buffer station; 16. reel loading and lifting module; 17. assembly robot; 18. gripper drive motor; 19. synchronous wheel group; 20. gripper swing arm; 21. gripper hook plate; 30. first longitudinal moving lever; 31. first longitudinal moving cylinder; 32. first transverse moving cylinder; 33. first transverse moving claw; 34. second longitudinal moving lever; 35. second longitudinal moving cylinder; 36. Second transverse moving claw; 37. Second transverse moving cylinder; 39. Label printer; 40. Y-direction movement module; 41. X-direction movement module; 42. Z-direction movement module; 43. B-direction rotating cylinder; 44. Label vacuum suction plate; 50. Cardboard loading trolley; 51. Cardboard; 52. Cardboard suction fixture; 53. Cardboard handling robot; 54. Cardboard lifting module; 55. Handling robot transverse movement module; 60. Suction cup arm swing arm motor; 61. Transmission wheel group; 62. Suction fixture screw; 63. Suction fixture screw nut; 64. Suction cup arm diagonal support link; 65. Suction cup arm parallel link group; 66. Suction cup fixing plate; 67. Cardboard suction cup; 70. Folding box forming module; 71. Carton positioning mechanism; 72. Annular air filter; Cylinder positioning seat; 73, clamping positioning cylinder; 74, positioning bearing seat; 75, positioning needle roller bearing; 76, fixture tray; 77, baffle lifting base plate; 79, baffle lifting cylinder, 78, carton front side baffle; 80, transfer robot; 81, annular transfer guide module; 82, small size carton fixture; 83, large size carton fixture; 85, box closing linear module; 86, folding side ear vertical plate, 87, folding side ear module; 88, box cover bearing; 90, carton 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 Screw motor; 100, carton label pasting module; 110, front ear folding module; 111, left front cover closing module; 112, right front cover closing module; 113, front cover closing screw motor; 114, front cover closing lifting motor; 115, front cover suction cup motor; 116, front cover suction cup; 117, first plug-in plate; 118, second plug-in plate; 119, front cover closing linear movable structure; 130, carton handling robot; 131, tape applying module; 150, finished product lifting platform, 160, large-size finished product conveyor belt, 161, small-size finished product conveyor belt; 201, glue applying rack; 202, glue reel; 204, glue guide cylinder; 206, glue pulling clamp; 207, glue applying adjustment cylinder; 209, glue applying block; 212, glue applying cylinder;213, Glue-applying adjustment seat; 214, Glue-applying movable seat; 215, Glue-applying inclined block; 216, Shearing cylinder; 217, Shearing knife. DETAILED DESCRIPTION

[0046] 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 with reference to the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention.

[0047] 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 paper box and sending the finished product to the finished product transmission module 7, the box loading and closing mechanism 6 is coordinated with the reel tray feeding mechanism 2 through the assembly robot 17, and is coordinated with the paper box positioning mechanism 71 through the transfer robot 80, and the assembly robot 17 is also coordinated with the labeling device 3, the paper box positioning mechanism 71 is coordinated with the folding mechanism 5 for folding the paper box into a vertical semi-finished paper box, the folding mechanism 5 is coordinated with the cardboard feeding mechanism 4, the cardboard feeding mechanism is used to suck the cardboard on the cardboard pile and move it to the folding box forming module 70 of the folding mechanism 5, and place the semi-finished paper box that has completed the folding into the paper box positioning mechanism 71, and the reel tray feeding mechanism 2 is coordinated with the AGV trolley feeding device 1.

[0048] 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 loading 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 labeling 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.

[0049] 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.

[0050] The process is as follows: the assembly robot 17 moves the reel to the labeling area, where the label printer 39 prints the label. The label vacuum suction plate 44 then rotates -90° to absorb the label. Then, the moving components 40, 41, and 42 move simultaneously, delivering the label to the designated reel. At this point, the rotary cylinder 43 rotates 90° in the forward direction, and the assembly robot 17 lifts the reel, securing the label to the reel's surface. This completes the labeling process.

[0051] like Figure 9-10 As shown, the box loading and lid closing mechanism 6 includes a box loading rack, on which is installed a ring-shaped transfer guide rail module 81, on which is installed 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 rack, along the conveying direction of the ring-shaped 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 applying module 131, a finished product lifting platform 150 and a defective product processing roller inclined surface, and each workstation of the ring-shaped 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.

[0052] Figure 2 Station a 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 can be more than just two sizes of jigs); 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 the label to the carton at station b; further, the circular conveyor line sends the carton to station c (box closing and side ear folding area), and the box closing and side ear folding 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 back surface of the carton), the carton label pasting module 100 prints and pastes the product information label on the back 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 the carton handling robot 130 can be provided with a camera to detect whether the label is affixed. If not, it is placed in Figure 19If the defective products are qualified, they are 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 to 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 defective products, so that flexible packaging of reel trays of different specifications can be achieved.

[0053] like Figure 11-13 The clamping device includes an annular cylinder positioning seat 72, on which a clamping positioning cylinder 73 is provided, and the clamping positioning cylinder 73 is connected to a positioning bearing seat 74. The upper part of the positioning bearing seat 74 is provided with a positioning needle roller bearing 75 for clamping the jig tray 76, and the side of the jig tray 76 is provided with a concave block that cooperates with the positioning needle roller bearing 75. The box loading rack is located at the carton closing and folding side ear 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 the carton front side baffle 78.

[0054] 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 blocked to prevent the carton from moving in the opposite direction of transportation.

[0055] like Figure 14-16 As shown, the carton 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. The folding side ear module 87 is used for folding the side ears of the carton 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. 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 screw through a folding ear 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.

[0056] The process of folding ears and closing the box is as follows Figure 16 As shown, the ear folding screw motor 99 drives the left ear folding module 91 and the right ear folding 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 ear module 90 under the action of the conveyor line and the carton fixture, and the vertical box cover stops on the ear folding connecting plate 94 ( Figure 16 -A); Subsequently, the ear cylinder 97 extends out of the ear plate 98, the ear plate 98 and the forming surface of the ear connecting plate 94 are coplanar ( Figure 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 ( Figure 16 -B); Next, the folding ear cylinder 97 contracts to complete the 90 ° pre-folding of the side ear, ( Figure 16 -C); then, the ear cylinder 97 extends first so that the ear plate 98 and the ear connecting plate 94 are flush again ( Figure 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 ( Figure 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 ( Figure 16 -F); Finally, the folding ear linear module 85 moves the entire folding ear module below toward the front box surface, and the lid is pressed down by the closing bearing 88 to complete the closing process ( Figure 16 -F).

[0057] 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 equipped 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 plug-in plate lifting structure of the left front cover module 111 and the right front cover module 112 respectively. 18. The first plug-in plate 117 and the second plug-in plate 118 each 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 linear movable structure 119. The front cover closing screw motor 113 and the front cover closing screw are installed below the front cover linear movable structure 119.

[0058] The carton enters the folding front 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 inserting plate 117 and the second inserting plate 118 to move toward each other, thus completing the folding of the front box surface side ear ( Figure 18 -A1); In addition, the closing cover suction cup motor 115 drives the closing cover vacuum suction cup 116 to descend and then suck the carton box surface, ensuring the static state of the carton forming process ( Figure 18 -B1); close the front cover lift motor 114 drives the first plugboard 117 and the second plugboard 118 to drop, and in the process of dropping the first plugboard and the second plugboard, the inclined block portion of the plate will be inserted into the front side ear box ( Figure 18 -B1); further, the front cover lifting motor 114 drives the first plugboard and the second plug rod to continue to drop, the first plugboard and the second plugboard portion of the vertical plate moves downward, completing the front box surface is fully inserted into the carton ( Figure 18 -C1); Finally, the front cover linear module 119 drives the entire macro movement, so that the vertical plate on the first plugboard and the second plugboard can be moved toward the rear box surface macro, so as to achieve the effect of fastening the front box surface ( Figure 18 -D1).

[0059] like Figure 20As shown, the adhesive tape device 131 includes a adhesive tape frame 201, on which a film reel 202 for mounting a film roll, an adhesive guide cylinder 204 and a vertical adhesive pulling cylinder are provided. The adhesive pulling cylinder is connected to an adhesive pulling clamp 206 for clamping the adhesive tape. A adhesive tape adjusting seat 213 is provided on the adhesive tape frame 201, and the adhesive tape adjusting 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 has adhesive tape grooves at the upper and lower parts, and the three areas divided by the two adhesive tape grooves are all provided with adhesive tape holes, and are equipped with negative pressure suction. Attached pipeline, the glue adjustment seat 213 is provided with a glue cylinder 212, the glue cylinder 212 is connected to the glue movable seat 214, the glue movable seat 214 is connected to two glue inclined blocks 215 that are inclined upward and downward respectively, and the two glue inclined blocks 215 pass through the upper and lower glue grooves respectively, the glue rack 201 is provided with a horizontal glue adjustment cylinder 207, the glue adjustment seat 213 is connected to the glue adjustment cylinder 207, the upper part of the glue adjustment seat 213 is provided with a shearing cylinder 216, and the shearing cylinder 216 is connected to a shearing knife 217.

[0060] The carton handling robot clamps the covered and labeled carton and enters the tape applying device 131 for tape applying. 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 adjusting seat 213 to move through the glue adjusting cylinder 207 to make the straightened tape fit with the glue applying block 209, and perform negative pressure adsorption through the glue applying 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 applying block 209 to complete the side gluing, and the glue applying cylinder 212 will drive the glue applying movable seat 214 to move, thereby making the two glue applying oblique blocks 215 pass through the glue applying 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 applying pores to complete the three-sided gluing of the carton.

[0061] like Figure 2-4The reel loading mechanism 2 includes a loading rack, on which a reel return conveying module 14 is provided. The reel return 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. 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 return 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, the reel loading clamp 12 includes a clamp mounting seat, and the clamp mounting seat is provided with no less than three clamp assemblies, the clamp assembly includes two parallel clamp swing rods 20, and the bottoms of the two clamp swing rods 20 are connected to a clamp hook plate 21, one of the clamp swing rods 20 is installed on the clamp mounting seat through a bearing, and the clamp mounting seat is provided with a clamp hook plate 21. It is equipped with a gripper drive motor 18, which drives all gripper rocker 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 provided on the return seat. A baffle is provided 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 are provided below the two return slides to move the pallets along the slides, and the transverse movement directions of the two are opposite. The first longitudinal movement module and the second longitudinal movement module are provided on both sides of the directional return seat to replace the pallet slides, 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.

[0062] 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 clamp 12 is driven to move and lift by the reel loading transplanting module 13, and the height of the clamping hook plate 21 corresponds to the lower end of the reel pile on the reel turning mechanism 11, and then the clamping hook plate 20 is driven to rotate by the clamping drive motor 18, so that the clamping hook plate 21 can be driven to rotate, so that one end of the clamping hook plate 21 enters the bottom of the reel pile, so that the reel pile can be adjusted by at least three clamping hook plates 21. The reel feeding and transferring module 13 then drives the reel feeding clamp 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 clamp 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 loading clamp 12, thereby completing the reel stacking of the second pallet, and then repeating the above operation, and reel reel stacks 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 loading 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 reel that fails the inspection is placed in the error reel cache station 15, and the reel reel that has passed the inspection is loaded into the packaging box by the assembly robot 17.

[0063] like Figure 6-7As shown, the cardboard feeding mechanism includes a stacking rack for stacking cardboard, a cardboard stacking area is provided on the stacking rack, 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 no less than two cardboard stacking areas are provided on the stacking rack, and different cardboard stacking areas are used to stack cardboards 51 of different sizes, and a handling robot lateral movement module 55 is provided on the stacking rack, and a cardboard handling robot 53 is installed on the handling robot lateral movement module 55, 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 a suction cup assembly distributed in an annular shape is provided on the suction device body, and the suction cup assembly includes a suction cup fixing plate 66, and a cardboard suction cup 67 is installed on the suction cup fixing plate 66, and a suction cup wire is 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, and the suction device screw rod nut 63 is hinged in a ring with a suction cup arm diagonal support link 64, and a suction cup arm parallel link group 65 is provided on the lower side of the suction device body, and the other end of the suction cup arm diagonal support link 64 is hinged to 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 to the suction cup fixing plate 66; the suction device screw rod 62 is connected to the suction cup arm swing arm motor 60 provided on the suction device body through the transmission wheel group 61, and the suction cup arm parallel link group includes two upper and lower base bodies, and there are two parallel connecting rods between the two base bodies, and the base body and the connecting rod are hinged, the suction cup arm diagonal support link 64 is hinged with one of the parallel links, and three cardboard suction cups 67 are installed on each suction cup fixing plate 66, and are distributed in a triangle.

[0064] During specific use, the cardboard 51 of corresponding size is first pushed to the cardboard lifting module 54 of the corresponding cardboard stacking area through the cardboard loading trolley 50, and 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. According to the size of the cardboard to be sucked, the suction cup arm swing arm motor 60 drives the suction device screw 62 to rotate, so that the suction device 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 retracted 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 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 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 mechanism by 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.

[0065] 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 includes other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or apparatus.

[0066] 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 of the present invention and its core ideas. The above is only a preferred implementation method of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, 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 scope of protection of the present invention.

Claims

1. A reel plate ring automatic packaging equipment, characterized in that: The carton packaging machine comprises a carton packaging and lidding mechanism which closes the lid, labels and tapes the carton and feeds the finished product into the finished product transmission module. The carton packaging and lidding 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 carton into a vertical semi-finished carton with an upper cover. The folding mechanism is coordinated with a paper skin feeding mechanism which is used to suck the paper skin on the paper skin pile and move it to the folding mechanism, and then transfer the semi-finished product of the folded box to the folding mechanism. The carton is placed on the carton positioning mechanism, the reel tray loading mechanism is matched with the AGV trolley loading device, the cardboard loading 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 loading trolley, and the cardboard stacking area is also matched with a cardboard lifting module, there are no less than two cardboard stacking areas on the stacking rack, and different cardboard stacking areas are used to stack cardboard of different sizes, the stacking rack is provided with a handling manipulator transverse movement module, and the handling manipulator transverse movement module is equipped with a cardboard moving device. The cardboard handling robot is connected to a cardboard suction device, and the cardboard suction device is a suction device structure capable of adjusting the suction size, 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 provided on the suction device body, the suction cup assembly comprises a suction cup fixing plate, and a cardboard suction cup is mounted on the suction cup fixing plate, the suction cup adjustment structure comprises a suction device screw rod installed on the suction device body, the lower end of the suction device screw rod is sleeved with a suction device screw rod nut, and the suction device screw rod nut The female ring is hinged with a suction cup arm diagonal support link, and a suction cup arm parallel link group is provided on the lower side of the suction device body. The other end of the suction cup arm diagonal support link is hinged to 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 provided on the suction device body through the transmission wheel group, and the suction cup arm parallel link group includes two upper and lower base bodies, and two parallel links are arranged between the two base bodies, and the base body and the link are hinged, and the suction cup arm diagonal support link is hinged to one of the parallel links.

2. The reel disk ring automatic packaging equipment according to claim 1 is characterized in that: The box loading and lid closing mechanism includes an annular transfer guide rail module installed on the box loading rack, and a jig for carrying paper boxes is installed on the annular transfer guide rail module, and the jig includes a small-size paper box jig and a large-size paper box jig. The box loading rack is sequentially provided with a transfer 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 side ear folding module, and a paper box handling robot along the conveying direction of the annular transfer guide rail module. The paper box handling robot is equipped with a tape sticking 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 workstation 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.

3. The reel disk ring 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 provided on the annular cylinder positioning seat, the clamping positioning cylinder is connected to a positioning bearing seat, a positioning needle roller bearing for clamping the jig tray is provided on the upper part of the positioning bearing seat, a concave block that cooperates with the positioning needle roller bearing is provided on the side of the jig tray, and the box loading rack is located at the carton closing and side ear folding station and the carton labeling station. A lifting baffle module for blocking the front side of the carton is provided, the lifting baffle module includes a baffle lifting base plate, the baffle lifting base plate is connected to the baffle lifting cylinder, and the baffle lifting cylinder is connected to the front side baffle of the carton.

4. The reel disk ring automatic packaging equipment according to claim 2, 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 inward, 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.

5. The reel disk ring automatic packaging equipment according to claim 4 is characterized in that: The folding side 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 screw through a folding ear screw nut, and move toward or away from each other as the folding ear screw rotates. The folding ear screw is equipped with a folding ear 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 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 ring automatic packaging equipment according to claim 2, characterized in that: The folding front side ear module includes a front cover closing screw motor and a front cover closing screw, and the front cover closing screw is matched with a left front cover closing module and a right front cover closing module that can move toward or back to each other, and the left front cover closing module and the right front cover closing module both include a front cover closing movable seat, and the front cover closing movable seat is installed with a front cover closing lifting motor and a plug-in plate lifting structure, and the plug-in plate lifting structure is driven by the front cover closing lifting motor, and a first plug-in plate and a second plug-in plate are respectively connected to the lower part of the plug-in plate lifting structure of the left front cover closing module and the right front cover closing module, and the first plug-in plate and the second plug-in 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.

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

8. The reel disk ring automatic packaging equipment according to claim 1, characterized in that: The reel loading mechanism includes a loading rack, on which a reel reflux conveying module is provided, which is used to carry and convey the stacked reels, and a reel turning mechanism is provided on the loading rack to cooperate with the AGV loading trolley device and rotate the stacked reels 90 degrees, a reel loading and transferring module is provided on the top of the loading rack, and the reel loading and transferring module is connected to a reel loading clamp for taking the stacked reels from the reel turning mechanism to the reel reflux conveying module, and a reel loading lifting module is also provided on the loading rack. The reel loading and unloading gripper comprises a gripper mounting seat, and the gripper mounting seat is provided with no less than three gripper assemblies, and 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 mounted on the gripper mounting seat through a bearing, and a gripper drive motor is mounted on the gripper mounting seat, and the gripper drive motor drives all the gripper swing rods mounted on the gripper mounting seat through bearings through a synchronous wheel set.

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