Full-automatic box inserting machine

Abstract

The invention discloses a full-automatic box inserting machine which comprises a material taking clamping jaw arranged on a rack, product suction nozzles are arranged on the material taking clamping jaw line by line at intervals, and the material taking clamping jaw is driven by a first driving mechanism to rotate or translate; butt joint suction nozzles are arranged on the transfer clamping jaw at intervals row by row, and the transfer clamping jaw is driven by a second driving mechanism to translate or rotate; the transplanting mechanism comprises a carrying disc and a transplanting conveying line, and inserting holes are evenly distributed in the carrying disc; the transfer robot comprises a suction cup and a transfer suction nozzle; the feeding mechanism comprises a set of carriers loaded with empty packaging boxes and a backflow conveying line, and product insertion holes are formed in the empty packaging boxes; the product suction nozzles in each row can be tightly attached pairwise through translation so as to be in butt joint with a group of butt joint suction nozzles in an initial state one by one for primary transfer of products; every two butt-joint suction nozzles in each row can be clung to each other through translation so as to be in butt joint with a group of jacks one by one for secondary transfer of products; the insertion holes, the transfer suction nozzles and the product insertion holes can be in butt joint one by one to complete product transfer, so that the products are packaged.

Description

Technical Field

[0001] The invention relates to the technical field of pipette tip packaging equipment, and in particular to a full-automatic box inserting machine. Background Art

[0002] Pipette tips are a type of injection-molded biological laboratory consumables. One end of the tip is used to combine with the pipette, and the other end is used to aspirate liquid. The tip forms an effective protective structure between the pipette and the sample to ensure the safety of aspirating and dividing samples. Therefore, tips are widely used in the field of biomedical research and are in huge demand. At the same time, in order to further facilitate practical use, the packaging of tips usually has clear quantity requirements to cooperate with the pipette tips of the pipette, so that the pipette tips can aspirate all the tips at one time, avoiding contamination and waste caused by unused tips after unpacking.

[0003] The suction head is generally injection molded by an injection mold, and then loaded into a prefabricated packaging box to complete the product packaging. The entire packaging process specifically includes: taking out the suction head and the nozzle from the multi-cavity mold, then removing the nozzle and adjusting the suction head spacing to rearrange it, and finally inserting the suction head into the hole of the prefabricated packaging box to complete the suction head packaging. At present, there are about two ways to realize the above process automatically: one is to temporarily store the injection molded suction head in a turnover box, and then transfer the scattered suction heads in the turnover box to a vibration plate for reorganization and arrangement, and then grab them by a robot and put them into a prefabricated box to complete the packaging as disclosed in publication number CN112960164 A. This production method causes great damage to the suction head product, and the problem of dust pollution cannot be avoided; the second is that the robot directly takes out the product from the injection molding machine mold for rearrangement, and then imports it into the prefabricated box. At present, this kind of equipment is dedicated to the machine, that is, one machine can only process one product. If the product is changed, another equipment needs to be replaced to match it, which greatly increases the equipment investment cost. Therefore, how to automatically package pipette tips efficiently, safely and at low cost is an issue that needs to be solved urgently. Summary of the invention

[0004] The purpose of the invention is to overcome the shortcomings of the prior art and provide a full-automatic box inserting machine.

[0005] The purpose of the present invention is achieved through the following technical solutions: The fully automatic box inserting machine comprises a material picking clamp arranged on a frame, wherein a group of product suction nozzles which can be translated are arranged on the material picking clamp in rows and intervals, and the material picking clamp is driven by a first driving mechanism to rotate or translate; a transfer clamp, wherein a group of docking suction nozzles which can be translated are arranged on the transfer clamp in rows and intervals, and the docking suction nozzles and the transfer clamp are driven by a second driving mechanism to translate or rotate; a transplanting mechanism, comprising a carrier and a transplanting conveyor line for driving the carrier to move, wherein a group of jacks are evenly distributed on the carrier; a transfer robot, comprising a suction cup and a transfer suction nozzle, and the transfer suction nozzle is arranged below the suction cup; a feeding mechanism, comprising a group of carriers loaded with empty packaging boxes and a group of carriers for driving the carriers to move. In the reflux conveying line, a group of product sockets for placing products are arranged in the empty packaging box; the product suction nozzles in each row can be translated and pressed against each other in pairs by a first moving mechanism to match the arrangement of a group of the docking suction nozzles in an initial state, so that the two can be docked one by one for the initial transfer of products; the docking suction nozzles in each column can be translated and pressed against each other in pairs by a second moving mechanism to match the arrangement of a group of the sockets, so that the two can be docked one by one for the secondary transfer of products; the spacing between the sockets, between the transfer nozzles, and between the product sockets are all matched, and the three can be docked one by one to complete the product transfer, so that the product is finally inserted into the product socket to complete the packaging.

[0006] Preferably, the material picking clamp includes at least a first variable-distance base plate, a group of first guide holes are arranged on the first variable-distance base plate at intervals in rows along the horizontal direction, a group of product suction nozzle units are slidably arranged on the back side of the first variable-distance base plate, each of the product suction nozzle units is composed of a first connecting strip and a group of product suction nozzles, the first connecting strip is perpendicular to the first guide hole, and a group of product suction nozzles are vertically fixed on the first connecting strip at intervals and are slidably inserted into the first guide holes respectively, the first connecting strip is hollow inside to connect the product suction nozzle and the first vacuum generator, a group of product suction nozzle units can be translated along the first guide hole to change the distance between two adjacent product suction nozzles in each row, and the minimum distance between the product suction nozzles in each row is three times the distance between the product insertion holes.

[0007] Preferably, the transfer clamp includes at least a second variable pitch substrate, a group of second guide holes are arranged on the second variable pitch substrate in a row and at intervals along the vertical direction, a group of transfer nozzle units are slidably arranged on the back side of the second variable pitch substrate, each of the transfer nozzle units is composed of a second connecting strip and a group of transfer nozzles, the second connecting strip is perpendicular to the second guide hole, and a group of docking nozzles are vertically fixed on the second connecting strip at intervals and are slidably inserted into the second guide holes respectively, the interior of the second connecting strip is hollow to connect the docking nozzles with the second vacuum generator, a group of the transfer nozzle units can be translated along the second guide hole to change the distance between two adjacent docking nozzles in each column, and the minimum distance between the docking nozzles in each column is twice the distance between the product sockets.

[0008] Preferably, the first moving mechanism and the second moving mechanism have the same structure, and both include connecting blocks, guide slides and driving cylinders. A group of the connecting blocks and a group of guide slides are fixedly arranged at intervals on the back sides of a group of first connecting strips and a group of second connecting strips, and the guide slides are slidably sleeved on the connecting blocks to form a linkage between a group of first connecting strips and a group of second connecting strips. The two driving cylinders are respectively arranged on the first variable pitch base plate and the second variable pitch base plate, and the cylinder ends of the two driving cylinders are respectively fixedly connected to the first connecting strip and the second connecting strip located at the outermost sides to pull a group of first connecting strips and a group of second connecting strips to move synchronously.

[0009] Preferably, the first driving mechanism includes a first base, a first linear guide, a first driving motor, a first rotating shaft, and a first rotating motor. The first linear guide is mounted on the frame, the first base is slidably disposed on the first linear guide and is driven by the first driving motor to translate along the first linear guide, the first rotating motor is disposed on the first base, and a motor end thereof is fixedly connected to the first variable pitch substrate through the first rotating shaft to drive the first variable pitch substrate to rotate.

[0010] Preferably, the second driving mechanism includes a second base, a second linear guide, a second driving motor, a second rotating shaft, a second rotating motor and a third driving motor. The second variable pitch substrate is slidably disposed on the second linear guide and driven by the second driving motor to slide along the second linear guide. The second rotating motor is disposed on the second base and fixedly connected to the second linear guide through the second rotating shaft to drive the second linear guide and the second variable pitch substrate to rotate as a whole. The third driving motor is disposed on one side of the second base to drive the second variable pitch substrate to translate relative to the transplanting conveyor line.

[0011] Preferably, the input end of the transplanting conveyor line is located below the second variable pitch base plate, and transplanting motors are symmetrically arranged on both sides of the transplanting conveyor line, and a carrier plate is slidably arranged on the driving shafts of the two transplanting motors, and the two carrier plates are respectively arranged at the two ends of the transplanting conveyor line relatively to each other, and a lifting cylinder is arranged below the carrier plate to drive the carrier plate to move up and down, so that the two transplanting motors can respectively drive the two carrier plates to move relative to each other to alternately dock with the second variable pitch base plate, and a group of the sockets are evenly distributed on the carrier plate, the spacing between the sockets is consistent with the spacing between the product sockets, and the number of the sockets in a group is six times that of a group of docking nozzles.

[0012] Preferably, the transfer robot is arranged at the output end of the transplanting conveyor line, the suction cup is rotatably arranged at the moving end of the transfer robot, and two groups of transfer suction nozzles are symmetrically arranged under the suction cup to alternately suck the products on the carrier through rotation, and the number and arrangement of each group of transfer suction nozzles match the product sockets in an empty packaging box.

[0013] Preferably, the reflow conveyor line is a circulating conveyor line formed by connecting the first conveyor line, the second conveyor line, the third conveyor line and the fourth conveyor line in sequence, wherein a carrier tooling is fixedly provided at both ends of the first conveyor line and the third conveyor line, respectively, and a carrier tooling is slidably provided on the second conveyor line and the fourth conveyor line, each of the carrier tooling comprises a limit plate, a positioning plate, a lifting motor, and an in-place sensor, two limit plates are respectively fixedly provided on the top of the carrier tooling relatively to each other, and the distance between the two is smaller than the carrier to limit the top position of the carrier, a group of in-place sensors are fixedly provided on the top of each limit plate to detect the empty packaging box, the positioning plate is provided in the carrier tooling and is driven by the lifting motor to move up and down relative to the bottom of the carrier to fix the position of the carrier, the end where the second conveyor line is connected to the first conveyor line is a box insertion station, the transfer robot is provided on one side of the box insertion station, and the suction cup is opposite to the box insertion station to insert the product.

[0014] Preferably, more than two of the carriers are movably arranged on the reflux conveyor line, and a partition mechanism for limiting the position of the carrier is also arranged at both ends of the first conveyor line and the third conveyor line, and the partition mechanism includes a group of lifting vertical rods symmetrically arranged on the front and rear sides of the positioning tooling, and the lifting vertical rods are arranged on the top of the lifting cylinder and are driven by the lifting cylinder to rise and fall relative to the carrier to separate two adjacent carriers.

[0015] Preferably, the product nozzle, docking nozzle, carrier, transfer nozzle and carrier are all compatible with the empty packaging box, the product nozzle, docking nozzle and transfer nozzle have the same structure, and the suction heads can be replaceably screwed to the end; the carrier can be replaceably arranged on the transfer conveyor line, and the carrier can be replaceably arranged on the reflux conveyor line.

[0016] The beneficial effects of the present invention are mainly reflected in: 1. A movable product suction nozzle is set on the material picking clamp to change the horizontal spacing between products, and a movable docking suction nozzle is set on the transfer clamp to further change the longitudinal spacing between products. It can directly dock with the injection molding machine to pick up materials, and can also adjust the spacing between a group of products by changing the distance twice. The transfer clamp moves along the second linear guide to place multiple groups of products on the carrier at staggered intervals, so that the final arrangement of the products is neat and tidy to match the required arrangement of the product plug-in holes in the empty packaging box, so as to facilitate the transfer robot to directly suck the products on the carrier to insert them into the empty packaging box to complete the packaging, and realize the full process automation of picking, sorting, arranging and inserting products from injection molding to packaging. The mobility of the product suction nozzle and the docking suction nozzle makes it possible to adapt to the injection molding cavity of a variety of different products through adjustment to clamp products of different models for automatic box insertion processing without replacing the entire packaging production line, which greatly improves the use flexibility and compatibility of the box insertion machine equipment and effectively reduces the cost of processing packaging of products of different specifications; 2. Two trays are arranged on the transplanting mechanism in a relative manner, and the empty tray is lifted by a lifting cylinder so that the tray full of products and the empty tray can be relatively moved and alternately docked with the transfer clamps, thereby improving the transplanting efficiency and saving the space and volume of the transplanting mechanism. The sockets on the tray of the material-retrieving clamp are arranged according to the product spacing after the material-retrieving clamp and the transfer clamp are changed twice, so that the transfer clamp can place the products respectively through horizontal and vertical movement, and the spacing between the placed products is adapted to the product sockets in the empty packaging box, so as to coordinate the limitation that the distance between the suction nozzles cannot be further changed; 3. In the reflow conveyor line, carrier fixtures are fixedly arranged at both ends of the first conveyor line and the third conveyor line to dock with the carrier fixtures slidably arranged on the second conveyor line and the fourth conveyor line to realize the circulation of the carriers. At the same time, separation mechanisms for limiting the positions of the carriers are arranged at both ends of the first conveyor line and the third conveyor line to separate adjacent carriers, so as to leave time for the box insertion station to avoid obstacles caused by the synchronous movement of the two carriers; 4. The product suction nozzle, docking suction nozzle, carrier, transfer suction nozzle and carrier are all compatible with the empty packaging box, wherein the product suction nozzle, docking suction nozzle and transfer suction nozzle have the same structure, and the suction heads thereof can be replaceably screwed on the end; the carrier can be replaceably arranged on the transfer conveyor line, and the carrier can be replaceably arranged on the reflux conveyor line, so that the packaging boxes of different products can be adapted to perform box insertion operations by replacing the suction heads of the product suction nozzle, docking suction nozzle and transfer nozzle, as well as the corresponding carrier and carrier, without the need to replace the overall equipment, thereby greatly reducing the processing cost and flexibility of use of the entire box insertion production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The technical solution of the present invention is further described below in conjunction with the accompanying drawings: Figure 1 : A schematic diagram of an embodiment of the present invention; Figure 2 : A schematic diagram of a material taking clamp and a first driving mechanism in an embodiment of the present invention; Figure 3 : Schematic diagram of the back side of the material taking clamp in the embodiment of the present invention; Figure 4 : A schematic diagram of a part of the structure of the material taking clamp in an embodiment of the present invention; Figure 5 : Schematic diagram of the adapter clamp in an embodiment of the present invention; Figure 6 : A cross-sectional view of the adapter clamp in an embodiment of the present invention; Figure 7 : A partial schematic diagram of the adapter clamp in an embodiment of the present invention; Figure 8 : A schematic diagram of a transplanting mechanism in an embodiment of the present invention; Fig. 9 : A schematic diagram of a feeding mechanism in an embodiment of the present invention; Fig.10 : Fig. 9 A magnified schematic diagram of part A; Fig.11 : Schematic diagram of the transfer robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0019] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0020] like Figures 1 to 11 As shown, the present invention discloses a fully automatic box inserting machine, comprising a material picking clamp 1 arranged on a frame 6, on which a group of product suction nozzles 101 that can be translated are arranged at intervals in rows, and the material picking clamp 1 is driven by a first driving mechanism to rotate or translate; a transfer clamp 2, on which a group of docking suction nozzles 201 that can be translated are arranged at intervals in columns, and the docking suction nozzles 201 and the transfer clamp 2 are driven by a second driving mechanism to translate or rotate; a transplanting mechanism 3, comprising a carrier 301 and a transplanting conveyor line 302 that drives the carrier 301 to move, and a group of jacks 303 are evenly distributed on the carrier 301; a transfer robot 4, comprising a suction cup 401 and a transfer suction nozzle 402, and the transfer suction nozzle 402 is arranged below the suction cup 401; a feeding mechanism 5, comprising a group of carriers 5 loaded with empty packaging boxes 500 01 and a return conveyor line 502 that drives a group of the carriers 501 to move, a group of product sockets 503 for placing products are arranged in the empty packaging box 500; the product suction nozzles 101 in each row can be translated and pressed against each other in pairs by the first moving mechanism to match the arrangement of a group of the docking suction nozzles 201 in the initial state, so that the two can be docked one by one for the initial transfer of products; the docking suction nozzles 201 in each column can be translated and pressed against each other in pairs by the second moving mechanism to match the arrangement of a group of the sockets 303, so that the two can be docked one by one for the secondary transfer of products; the spacing between the sockets 303, between the transfer nozzles 402, and between the product sockets 503 are all matched, and the three can be docked one by one to complete the product transfer, so that the product is finally inserted into the product socket 503 to complete the packaging.

[0021] In this solution, a movable product suction nozzle 101 is provided on the material taking clamp 1 to change the lateral spacing between products, and a movable docking suction nozzle 201 is provided on the adapter clamp 2 to further change the longitudinal spacing between products, so that the device can directly dock with the injection molding machine (not shown in the figure) to take materials, and can also adjust the spacing between a group of products by two pitch changes. The adapter clamp 2 places multiple groups of products on the carrier 301 at staggered intervals through the second driving mechanism, so that the final arrangement of the products is neat, which matches the required arrangement of the product sockets 501 in the empty packaging box 500. The transfer robot 4 can directly absorb the product on the carrier 301 and insert it into the empty packaging box 500 to complete the packaging, thereby realizing the full process automation of material collection, sorting, arrangement, and insertion from the completion of injection molding to packaging. The mobility of the product suction nozzle 101 and the docking suction nozzle 201 makes it possible to adapt to the injection molding cavity of a variety of different products through adjustment, to clamp products of different models for automatic box insertion processing without replacing the entire packaging production line, which greatly improves the use flexibility and compatibility of the box insertion machine equipment and effectively reduces the cost of processing packaging of products of different specifications.

[0022] Specific as Figure 1-Figure 4 As shown, the material picking clamp 1 at least includes a first variable-distance base plate 100, on which a group of first guide holes 103 are arranged in rows and at intervals in the horizontal direction, and a group of product suction nozzle units are slidably arranged on the back of the first variable-distance base plate 100, each of which is composed of a first connecting strip 102 and a group of product suction nozzles 101, the first connecting strip 102 is perpendicular to the first guide hole 103, and a group of product suction nozzles 101 are fixed vertically on the first connecting strip 102 at intervals and are respectively slidably inserted into the first guide holes 103, and the first connecting strip 102 is hollow inside to connect the product suction nozzle 101 and the first vacuum generator. In order to facilitate the connection between a group of the first connecting strips 102 and the first vacuum generator, an air path distributor 108 is also arranged on the back of the first variable-distance base plate 100 to connect the first vacuum generator and a group of the first connecting strips 102. As shown Figure 2 As shown, in the initial state, the positions of a group of the product suction nozzles 101 correspond one-to-one to the positions of the products molded by the injection cavity in the injection molding machine, so that the material picking jaws 1 can directly suck the products by moving to complete the picking of materials from the injection molding machine; in the second state, the product suction nozzles 101 in each row are translated inward so that they are tightly attached to each other. At this time, the distance between the two product suction nozzles 101 is minimized by the width of the first connecting strip 102. At this time, the minimum distance between the two product suction nozzles 101 in each row is three times the distance between the two product sockets 503.

[0023] The first variable pitch substrate 100 is provided with the first moving mechanism to drive a group of product suction nozzle units to change the spacing between the product suction nozzles 101 in each row through translation, so as to adapt to the injection molding cavity of the injection molding machine or to adapt to the docking suction nozzle 201 for docking. Figure 3 and Figure 7 As shown, the first moving mechanism includes a connecting block 701, a guide slide 702 and a driving cylinder 703. A group of the connecting blocks 701 and a group of the guide slides 702 are fixedly arranged at intervals on the back of a group of first connecting strips 102, and the guide slides 702 are slidably mounted on the connecting blocks 701 to form a linkage between a group of first connecting strips 102. The driving cylinder 703 is arranged on the first variable pitch base plate 100, and the cylinder ends of the driving cylinder 703 are respectively fixedly connected to the first connecting strips 102 located at the outermost side to drive a group of first connecting strips 102 to move synchronously by pulling the first connecting strips 102 located at the outermost side. At this time, since the product suction nozzle 101 is slidably inserted into the first guide hole 103, a group of the product suction nozzle units can be translated along the first guide hole 103 to change the spacing between two adjacent product suction nozzles 101 in each row. In order to improve the movement smoothness of the product suction nozzle unit, a movable slide rail may be provided on the first variable distance substrate 100 to enable a group of the first connecting strips 102 to be slidably disposed on the first variable distance substrate 100 .

[0024] Furthermore, the first driving mechanism includes a first base 104, a first linear guide 105, a first driving motor, a first rotating shaft 106, and a first rotating motor 107. The first linear guide 105 is mounted on the frame 6. The first base 104 is slidably mounted on the first linear guide 105 and driven by the first driving motor to translate along the first linear guide 105, so that the material-retrieving clamping jaw 1 translates along the first linear guide 105. The first rotating motor 107 is disposed on the first base 104, and its motor end is fixedly connected to the first variable pitch base plate 100 through the first rotating shaft 106 to drive the first variable pitch base plate 100 to rotate.

[0025] In practice, there will be a sprue connected between the products to be molded in the injection molding machine. Therefore, preferably, the first variable pitch base plate 100 is also provided with a sprue suction plate 110 that can suck the sprue. The sprue suction plate 110 is provided with a sprue suction nozzle corresponding to the sprue position one by one. The sprue suction plate 110 is hollow inside to connect the sprue suction nozzle and the vacuum valve. One side of the sprue suction plate 110 is provided with a lateral movement motor 111 that drives it to move horizontally, so that it can form a shear force between the sprue and the product by moving horizontally relative to the product suction nozzle 101, so that the sprue and the product are completely separated. The back of the sprue suction plate 110 is slidably inserted on the first variable pitch base plate 100 through a group of hollow guide rods 112, so that the sprue is directly pushed out of the sprue by driving the push cylinder or the push motor (not shown in the figure) to move relative to the first variable pitch base plate 100, thereby completing the desprue operation of the product. A waste bin or a waste recovery conveyor line can be provided on one side of the frame 6 to collect the removed sprue waste. When removing the water nozzle, the first rotating motor 107 drives the first variable pitch base plate 100 to rotate via the first rotating shaft 106 to further facilitate the peeling of the water nozzle.

[0026] After the material-retrieving jaw 1 completes the water outlet, a group of the product suction nozzle units moves until each row of the product suction nozzles 101 are closely attached to each other, completing the transition from the initial state to the second state. At the same time, the material-retrieving jaw 1 translates again along the first linear guide rail 105 until it is directly opposite to the transfer jaw 2. At this time, the arrangement of the group of product suction nozzles 101 in the second state matches the arrangement of the group of docking suction nozzles 201 in the initial state, and a group of the product suction nozzles 101 is opposite to a group of docking suction nozzles 201 one by one.

[0027] like Figure 5-Figure 7 As shown, the transfer clamp 2 at least includes a second variable pitch substrate 200, on which a group of second guide holes 203 are arranged in rows and columns at intervals in the vertical direction, and a group of transfer nozzle units are slidably arranged on the back of the second variable pitch substrate 200, each of which is composed of a second connecting strip 202 and a group of transfer nozzles 201, the second connecting strip 202 is perpendicular to the second guide hole 203, and a group of docking nozzles 201 are fixed vertically on the second connecting strip 202 at intervals and are slidably inserted into the second guide holes 203 respectively, the interior of the second connecting strip 202 is hollow to connect the docking nozzles 201 with the second vacuum generator 204, and a group of the transfer nozzle units can be translated along the second guide hole 203 to change the distance between two adjacent docking nozzles 201 in each column, and the minimum distance between the docking nozzles 201 in each column is twice the distance between the product insertion holes 503.

[0028] The structure of the docking suction nozzle 201 is the same as that of the product suction nozzle 101, and both suck products by vacuum. The structure of the second variable pitch base plate 200 is also substantially the same as that of the first variable pitch base plate 100, and the difference between the two is that the extension directions of the first guide hole 103 and the second guide hole 203 are perpendicular to each other, and are used to adjust the spacing of a group of products in the horizontal and vertical directions respectively.

[0029] Furthermore, the adapter clamp 2 is a box structure to facilitate overall rotation or movement. The second variable pitch substrate 200 is one side of the box, and the second moving mechanism is arranged in the box. The second variable pitch substrate 200 drives a group of adapter nozzle units to move through the second moving mechanism. The second moving mechanism structure is the same as the first moving mechanism, and also includes a connecting block 701, a guide slide 702 and a driving cylinder 703. A group of the connecting blocks 701 and a group of guide slides 702 are respectively fixed at intervals on the back of a group of second connecting strips 202, and the guide slide 702 is slidably mounted on the connecting block 701 to form a linkage between groups of second connecting strips 202. The driving cylinder 703 is arranged on the second variable pitch substrate 200, and the cylinder ends of the driving cylinder 703 are respectively fixed to the second connecting strips 202 located at the outermost side, so as to achieve the purpose of pulling a group of second connecting strips 202 to move synchronously by pulling the second connecting strips 202 located at the outermost side.

[0030] The second driving mechanism includes a second base 205, a second linear guide 206, a second driving motor 207, a second rotating shaft 208, a second rotating motor 209 and a third driving motor 210. The second variable pitch substrate 200 is slidably disposed on the second linear guide 206 and is driven by the second driving motor 207 to slide along the second linear guide 206. The second rotating motor 209 is disposed on the second base 205 and is fixedly connected to the second linear guide 206 through the second rotating shaft 208 to drive the second linear guide 206 and the second variable pitch substrate 200 to rotate as a whole. The third driving motor 210 is disposed on one side of the second base 205 to drive the second variable pitch substrate 200 to translate relative to the transplanting conveyor line 302. The structures of the second drive mechanism and the first drive mechanism are substantially the same, and the main difference is that in the second drive mechanism, the second linear guide rail 206 rotates synchronously with the second variable pitch substrate 200, so that the second variable pitch substrate 200 can move along the second linear guide rail 206 in both the vertical and horizontal states to achieve translation in the front-to-back direction and lifting in the vertical direction, thereby enabling the second variable pitch substrate 200 to move in the front-to-back direction to dock with the material-collecting clamp 1, and to move in the up-down direction to dock with the transplanting mechanism 3. The third drive motor 310 is fixedly connected to the second base 205 to drive the second variable pitch substrate 200, the second linear guide rail 206 and other components to translate left and right as a whole, so as to ensure the stability of the overall translation of the transfer clamp 2, so that the second variable pitch substrate 200 can translate left and right relative to the transplanting conveyor line 302 to place the products on the carrier 301 in an interlaced manner.

[0031] like Figure 5 The figure shows an initial state of a group of the docking nozzles 201. The arrangement of a group of the docking nozzles 201 in the initial state is consistent with the arrangement of a group of product nozzles 101 in the second state, so that the docking nozzles 201 suck the products from the product nozzles 101 to complete the transfer; in the second state, the docking nozzles 201 in each column move downward until they are tightly attached to each other. At this time, the longitudinal spacing of the products reaches the minimum, but affected by the width of the second connecting strip 202 itself, the minimum spacing between the docking nozzles 201 in each column is twice the spacing between the product sockets 503.

[0032] like Figure 8As shown, the input end of the transplanting conveyor line 302 is located below the second variable pitch base plate 200, and transplanting motors 304 are symmetrically arranged on both sides of the transplanting conveyor line 302. A carrier plate 301 is slidably arranged on the driving shafts of the two transplanting motors 304, and the two carrier plates 301 are respectively arranged at the two ends of the transplanting conveyor line 302. A lifting cylinder 305 is arranged below the carrier plate 301 to drive the carrier plate 301 to move up and down, so that the two transplanting motors 304 can respectively drive the two carrier plates 301 to move relative to each other to alternately dock with the second variable pitch base plate 200. The carrier plate 301 at the input end moves toward the output end after being fully loaded with products, and the empty carrier plate 301 at the output end moves toward the input end synchronously. At the same time, the lifting cylinder 305 lifts the empty carrier plate 301 upwards to make it pass above the carrier plate 301 fully loaded with products to complete the handover between the carrier plates 301 at both ends. Such a structure can improve the transplanting efficiency and save the space and volume of the transplanting mechanism.

[0033] A group of the insertion holes 303 are evenly distributed on the carrier 301. In a preferred embodiment, the spacing between the insertion holes 303 is consistent with the spacing between the product insertion holes 503, and the number of the insertion holes 303 in a group is six times that of a group of docking nozzles 201, that is, the number of the insertion holes 303 in the horizontal direction is three times the number of the docking nozzles 201 in the horizontal direction, and the number of the insertion holes 303 in the vertical direction is twice the number of the docking nozzles 201 in the vertical direction. In this way, the transfer clamp 2 can insert six groups of products on the carrier 301 in an interlaced manner through translation, so that each of the insertion holes 303 can be filled, thereby eliminating the gap between the minimum spacing between the product nozzles 101 and the minimum spacing between the docking nozzles 201 and the spacing between the product insertion holes 503, that is, the spacing between the products on the carrier 301 is consistent with the spacing between the product insertion holes 503. The carrier plate 301 can coordinate the limitation that the distance between the product suction nozzle 101 and the docking suction nozzle 201 cannot be further changed, and complete the final adjustment of the distance between the products.

[0034] like Figure 1 and Fig.11As shown, the transfer robot 4 is arranged at the output end of the transplanting conveyor line 302, the suction cup 401 is rotatably arranged at the moving end of the transfer robot 4, and two groups of transfer suction nozzles 402 are symmetrically arranged below the suction cup 401 to alternately absorb the products on the carrier 301 by rotation. The number and arrangement of each group of transfer suction nozzles 402 match the product jack 503 in an empty packaging box 500. The transfer robot 4 is internally provided with a vacuum valve and a moving component to drive the suction cup 401 to move and drive the transfer suction nozzle 402 to absorb the product on the carrier 301. This is a prior art and is not the focus of this solution, so it will not be described here. The two groups of transfer suction nozzles 402 are symmetrically arranged below the suction cup 401, so that the transfer robot 4 can absorb two groups of products by rotating once to improve the transfer efficiency and rhythm.

[0035] like Figure 1 , Fig. 9 , Fig.10 As shown, the reflux conveyor line 502 is a circulating conveyor line formed by sequentially connecting the first conveyor line 5021, the second conveyor line 5022, the third conveyor line 5023 and the fourth conveyor line 5024, wherein preferably, the first conveyor line 5021 and the third conveyor line 5023 are belt conveyor lines, and the second conveyor line 5022 and the fourth conveyor line 5024 are slide rails. The first conveyor line 5021 and the third conveyor line 5023 are respectively fixed with a carrier tooling at both ends, and the second conveyor line 5022 and the fourth conveyor line 5024 are respectively slidably provided with a carrier tooling, a group of the carriers 501 move along the first conveyor line 5021, the second conveyor line 5022, the third conveyor line 5023 and the fourth conveyor line 5024, and the switching movement between the first conveyor line 5021, the second conveyor line 5022, the third conveyor line 5023 and the fourth conveyor line 5024 is completed by docking between a group of the carrier tools, so that a group of the carriers 501 circulates on the return conveyor line 502. In order to improve the adaptability between the carrier 501 and the packaging box, a limiting groove matching the outer wall of the packaging box is concave in the center of the surface of the carrier 501, so that the empty packaging box 500 and the packaging box after the product is loaded are both stuck in the limiting groove for smooth movement.

[0036] Furthermore, each of the carrier tooling includes a limit plate 504, a positioning plate 505, a lifting motor 506, and an in-position sensor 507. The two limit plates 504 are fixedly arranged on the top of the carrier tooling respectively, and the distance between the two is smaller than the carrier 501 to limit the top position of the carrier 501. A group of in-position sensors 507 are fixedly arranged on the top of each limit plate 504 to detect the empty packaging box 500. The positioning plate 506 is arranged in the carrier tooling and is driven by the lifting motor 506 to move up and down relative to the bottom of the carrier 501 to fix the position of the carrier 501. The setting of the carrier tooling makes it possible to fix the carrier 501 as needed. The positioning plate 506 can fix the carrier 501 in any suitable manner. In a preferred embodiment, limiting rods 508 are provided on the four corners of the positioning plate 506 , and positioning holes matching the limiting rods 508 are provided on the back of the carrier 501 to engage with the limiting rods 508 to limit the carrier 501 .

[0037] The carrier 501 is fixed at the input end of the first conveyor line 5021 to place the empty packaging box 500, and the carrier 501 is fixed at the output end of the first conveyor line 5021, so that the in-place sensor 507 detects that the empty packaging box 500 is docked with the carrier tooling on the second conveyor line 4022 one by one to prevent blockage; the end where the second conveyor line 5022 and the first conveyor line 5021 are connected is the box insertion station, where the carrier 501 is fixed for insertion operation, wherein the transfer robot 4 is arranged on one side of the box insertion station, and the suction cup 401 is opposite to the box insertion station to insert the product; the third conveyor line 5023 and the fourth conveyor line 5024 also coordinate the workers' taking speed by fixing the carrier 501 to form an orderly circulation of the carrier 501.

[0038] Furthermore, more than two carriers 501 are movably provided on the return conveyor line 502. In a preferred embodiment, in order to adapt to the number of the carriers 301, six carriers 501 are provided on the return conveyor line 502 to move in a circular manner. A separation mechanism for limiting the position of the carrier 501 is also provided at both ends of the first conveyor line 5021 and the third conveyor line 5023. The separation mechanism includes a group of lifting vertical rods 509 symmetrically arranged on the front and rear sides of the positioning tooling. The lifting vertical rods 509 are arranged on the top of the lifting cylinder 510 and driven by the lifting cylinder 510 to rise and fall relative to the carrier 501 to separate two adjacent carriers 501, avoid the connection between more than two carriers 501, avoid congestion at the box insertion station, leave time for the box insertion station, and ensure the orderly circulation of a group of carriers 501 on the return conveyor line 502.

[0039] The product nozzle 101, docking nozzle 201, carrier 301, transfer nozzle 402, and carrier 501 in this solution are all compatible with the empty packaging box 500. The product nozzle 101, docking nozzle 201, and transfer nozzle 402 have the same structure, and their suction heads can be replaceably screwed to the end. In a preferred embodiment, the suction heads are screwed to the hollow rod to form the product nozzle 101, docking nozzle 201, and transfer nozzle 402. The carrier 301 is replaceably arranged on the transfer conveyor line 302, and the carrier 501 is replaceably arranged on the reflux conveyor line 502. Such a structure makes it possible to adapt different products and their packaging boxes to perform box insertion operations by replacing the suction heads of the product nozzle 101, docking nozzle 201, and transfer nozzle 402, as well as the corresponding carrier 301 and carrier 501, without the need to replace the overall equipment, which greatly reduces the processing cost and flexibility of use of the entire box insertion production line.

[0040] The working process of this device is as follows: S1, the material taking jaw 1 is driven by the first driving motor to move along the first linear guide rail 105 to dock with the injection molding machine, the product suction nozzle 101 sucks the product, and the sprue suction nozzle sucks the sprue to complete the material taking; S2, the material taking gripper 1 is driven by the first driving motor to move in the opposite direction along the first linear guide rail 105 and is separated from the injection molding machine, and the nozzle suction plate 110 is driven by the moving motor 111 to move laterally relative to the product suction nozzle 101, so that the nozzle is completely separated from the product; S3, the first rotating motor 107 drives the first variable pitch base plate 100 to rotate, and the water outlet suction plate 110 is driven by the pushing motor to move relative to the first variable pitch base plate 100 to directly push out the water outlet, thereby completing the water outlet removal operation; S4, the material picking jaw 1 is continuously driven by the first driving motor to move in the opposite direction along the first linear guide rail 105 until it is aligned with the adapter jaw 2, and at the same time, the driving cylinder 703 pulls a group of product suction nozzle units closer to the inside, so that the product suction nozzles 101 in each row are closely attached to each other and aligned one by one with the docking suction nozzles 201; S5, the transfer clamp 2 is driven by the second drive motor 207 to move along the second linear guide rail 206 in the front-rear direction, so that the docking suction nozzle 201 docks with the product suction nozzle 101 to suck the product for transfer; S6, the adapter clamp 2 is reset and driven by the second rotary motor 209 to rotate until it is parallel to the carrier plate 301 on the transplanting conveyor line 302, and at the same time, a group of the docking nozzles 201 are pulled toward the bottom side by the driving cylinder 703, so that the docking nozzles 201 in each row are closely attached to each other; S7, the adapter clamp 2 is driven by the second drive motor 207 to move in the up-down direction along the second linear guide rail 206, and is driven by the third drive motor 210 to move in the left-right direction, so that the docking nozzle 201 is aligned with the socket 303 above the carrier 301, and the product is placed on the carrier 301; S8, repeat steps S1-S7 six times to fill one carrier tray 301; S9, the transplanting conveyor line 302 drives the tray 301 full of products and the empty tray 301 to alternately exchange, so that the tray 301 full of products docks with the transfer robot 4, and the empty tray 301 docks with the transfer gripper 2; S10, the transfer robot 4 drives the suction cup 401 to rotate so that each group of transfer nozzles 402 sucks a group of products; S11, the reflux conveyor line 502 conveys the empty packaging box 500 to the box insertion station, and the transfer robot 4 drives each group of transfer nozzles 402 to dock with the empty packaging box 500 to insert a group of products into the empty packaging box 500, completing one box insertion; S12, repeating steps S1-S11 until all product boxes are inserted.

[0041] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0042] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. Fully automatic box inserting machine, characterized by: comprising a A material picking clamp (1), wherein a group of product suction nozzles (101) that can be translated are arranged in rows and intervals on the material picking clamp (1), and the material picking clamp (1) is driven by a first driving mechanism to rotate or translate; A transfer clamping jaw (2), wherein a group of translationally movable docking nozzles (201) are arranged in rows and intervals on the transfer clamping jaw (2), and the docking nozzles (201) and the transfer clamping jaw (2) are driven by a second driving mechanism to translate or rotate; A transplanting mechanism (3) comprises a carrier plate (301) and a transplanting conveyor line (302) for driving the carrier plate (301) to move, wherein a group of insertion holes (303) are evenly distributed on the carrier plate (301); A transfer robot (4), comprising a suction cup (401) and a transfer nozzle (402), wherein the transfer nozzle (402) is arranged below the suction cup (401); A feeding mechanism (5) comprises a group of carriers (501) loaded with empty packaging boxes (500) and a return conveyor line (502) for driving a group of the carriers (501) to move, wherein a group of product insertion holes (503) for placing products are arranged in the empty packaging boxes (500); The product suction nozzles (101) in each row can be translated by the first moving mechanism and closely attached to each other in pairs, so as to match the arrangement of a group of the docking suction nozzles (201) in the initial state, so that the two can be docked one by one to perform the initial transfer of the product; the docking suction nozzles (201) in each column can be translated by the second moving mechanism and closely attached to each other in pairs, so as to match the arrangement of a group of the plug holes (303), so that the two can be docked one by one to perform the secondary transfer of the product; the spacing between the plug holes (303), between the transfer suction nozzles (402), and between the product plug holes (503) are all matched, and the three can be docked one by one to complete the product transfer, so that the product is finally inserted into the product plug hole (503) to complete the packaging.

2. The fully automatic box inserting machine according to claim 1, characterized in that: The material picking clamp (1) comprises at least a first variable pitch base plate (100), a group of first guide holes (103) are arranged in rows and spaced apart in a horizontal direction on the first variable pitch base plate (100), a group of product suction nozzle units are slidably arranged on the back side of the first variable pitch base plate (100), each of the product suction nozzle units is composed of a first connecting strip (102) and a group of the product suction nozzles (101), the first connecting strip (102) is perpendicular to the first guide holes (103), and the group of the product suction nozzles (101) are spaced apart. The first connecting strip (102) is vertically fixed on the first connecting strip (102) and is slidably inserted into the first guide holes (103). The first connecting strip (102) is hollow inside to connect the product suction nozzle (101) and the first vacuum generator. A group of the product suction nozzle units can be translated along the first guide holes (103) to change the distance between two adjacent product suction nozzles (101) in each row. The minimum distance between two adjacent product suction nozzles (101) in each row is three times the distance between two adjacent product insertion holes (503).

3. The fully automatic box inserting machine according to claim 2, characterized in that: The transfer clamp (2) comprises at least a second variable pitch base plate (200), a group of second guide holes (203) are arranged in a row and at intervals in a vertical direction on the second variable pitch base plate (200), a group of transfer nozzle units are slidably arranged on the back side of the second variable pitch base plate (200), each of the transfer nozzle units is composed of a second connecting strip (202) and a group of transfer nozzles (201), the second connecting strip (202) is perpendicular to the second guide hole (203), and a group of docking nozzles (201) are fixed vertically at intervals. The adapter nozzle units are arranged on the second connecting strip (202) and are respectively slidably inserted into the second guide holes (203); the interior of the second connecting strip (202) is hollow so as to connect the docking nozzle (201) and the second vacuum generator (204); a group of the adapter nozzle units can be translated along the second guide holes (203) to change the distance between two adjacent docking nozzles (201) in each column; the minimum distance between the docking nozzles (201) in each column is twice the distance between the product insertion holes (503).

4. The fully automatic box inserting machine according to claim 3, characterized in that: The first moving mechanism and the second moving mechanism have the same structure, and both comprise a connecting block (701), a guide slide bar (702) and a driving cylinder (703); a group of the connecting blocks (701) and a group of the guide slide bars (702) are respectively fixedly arranged at intervals on the back sides of a group of the first connecting bars (102) and the second connecting bars (202); and the guide slide bars (702) are slidably sleeved on the connecting blocks (701) to form a linkage between the group of the first connecting bars (102) and the group of the second connecting bars (202); two driving cylinders (703) are respectively arranged on the first variable pitch base plate (100) and the second variable pitch base plate (200); and the cylinder ends of the two driving cylinders (703) are respectively fixedly connected to the first connecting bars (102) and the second connecting bars (202) located at the outermost sides to pull the group of the first connecting bars (102) and the group of the second connecting bars (202) to move synchronously.

5. The fully automatic box inserting machine according to claim 4, characterized in that: The first driving mechanism comprises a first base (104), a first linear guide rail (105), a first driving motor, a first rotating shaft (106), and a first rotating motor (107); the first linear guide rail (105) is mounted on the frame (6); the first base (104) is slidably mounted on the first linear guide rail (105) and driven by the first driving motor to translate along the first linear guide rail (105); the first rotating motor (107) is mounted on the first base (104), and a motor end of the first rotating motor is fixedly connected to the first variable pitch base plate (100) via the first rotating shaft (106) so as to drive the first variable pitch base plate (100) to rotate.

6. The fully automatic box inserting machine according to claim 5, characterized in that: The second driving mechanism comprises a second base (205), a second linear guide rail (206), a second driving motor (207), a second rotating shaft (208), a second rotating motor (209) and a third driving motor (210); the second variable pitch base plate (200) is slidably arranged on the second linear guide rail (206) and driven by the second driving motor (207) to slide along the second linear guide rail (206); the second rotating motor (209) is arranged on the second base (205) and is fixedly connected to the second linear guide rail (206) via the second rotating shaft (208) to drive the second linear guide rail (206) and the second variable pitch base plate (200) to rotate as a whole; the third driving motor (210) is arranged on one side of the second base (205) to drive the second variable pitch base plate (200) to translate relative to the transplanting conveyor line (302).

7. The fully automatic box inserting machine according to claim 6, characterized in that: The input end of the transplanting conveyor line (302) is located below the second variable pitch base plate (200), and transplanting motors (304) are symmetrically arranged on both sides of the transplanting conveyor line (302). A carrier plate (301) is slidably arranged on the driving shafts of the two transplanting motors (304), and the two carrier plates (301) are respectively arranged at two ends of the transplanting conveyor line (302) opposite to each other, and a lifting cylinder (305) is arranged below the carrier plates (301) to drive the transplanting conveyor line (302). The carrier plate (301) is lifted up and down so that the two transplanting motors (304) can respectively drive the two carrier plates (301) to move relative to each other so as to alternately dock with the second variable pitch base plate (200); a group of the plug holes (303) are evenly distributed on the carrier plate (301); the spacing between the plug holes (303) is consistent with the spacing between the product plug holes (503); and the number of the plug holes (303) in a group is six times that of a group of docking nozzles (201).

8. The fully automatic box inserting machine according to claim 7, characterized in that: The transfer robot (4) is arranged at the output end of the transplanting conveyor line (302), the suction cup (401) is rotatably arranged at the moving end of the transfer robot (4), and two groups of transfer suction nozzles (402) are symmetrically arranged below the suction cup (401) to alternately suck the products on the carrier (301) by rotation, and the number and arrangement of each group of transfer suction nozzles (402) match the product sockets (503) in an empty packaging box (500).

9. The fully automatic box inserting machine according to claim 8, characterized in that: The return conveyor line (502) is a circulating conveyor line formed by sequentially connecting a first conveyor line (5021), a second conveyor line (5022), a third conveyor line (5023) and a fourth conveyor line (5024), wherein a carrier tooling is fixedly provided at both ends of the first conveyor line (5021) and the third conveyor line (5023), and a carrier tooling is slidably provided on the second conveyor line (5022) and the fourth conveyor line (5024), and each of the carrier tools comprises a limit plate (504), a positioning plate (505), a lifting motor (506) and an in-position sensor (507), and the two limit plates (504) are fixedly provided on the top of the carrier tooling respectively. The distance between the two is smaller than the carrier (501) to limit the top position of the carrier (501), and a group of in-position sensors (507) are fixedly provided on the top of each of the limit plates (504) to detect the empty packaging box (500). The positioning plate (506) is arranged in the carrier tooling and is driven by the lifting motor (506) to move up and down relative to the bottom of the carrier (501) to fix the position of the carrier (501). The end where the second conveyor line (5022) is connected to the first conveyor line (5021) is a box insertion station. The transfer robot (4) is arranged on one side of the box insertion station, and the suction cup (401) is opposite to the box insertion station to insert the product.

10. The fully automatic box inserting machine according to claim 9, characterized in that: More than two carriers (501) are movably arranged on the return conveyor line (502), and separation mechanisms for limiting the positions of the carriers (501) are also arranged at both ends of the first conveyor line (5021) and the third conveyor line (5023), and the separation mechanisms include a group of lifting vertical rods (509) symmetrically arranged on the front and rear sides of the positioning tooling, and the lifting vertical rods (509) are arranged on the top of the lifting cylinder (510) and driven by the lifting cylinder (510) to rise and fall relative to the carrier (501) to separate two adjacent carriers (501).

11. The fully automatic box inserting machine according to any one of claims 1 to 10, characterized in that: The product suction nozzle (101), docking suction nozzle (201), carrier (301), transfer suction nozzle (402), and carrier (501) are all compatible with the empty packaging box (500); the product suction nozzle (101), docking suction nozzle (201), and transfer suction nozzle (402) have the same structure, and their suction heads can be replaceably screwed to the end; the carrier (301) can be replaceably arranged on the transfer conveyor line (302), and the carrier (501) can be replaceably arranged on the return conveyor line (502).

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