Manipulator boxing structure

Abstract

The invention provides a mechanical arm boxing structure and belongs to the field of packaging mechanical equipment, the mechanical arm is arranged on one side of the boxing assembly and used for fixing a carton, the boxing assembly comprises a boxing table, a bearing roller set is rotationally installed on the boxing table, a guide frame is installed at the discharging end of the boxing table, and a guide channel is formed in the guide frame; the end, close to the boxing table, of the guide channel is larger than the other end, a pushing assembly for pushing articles to move towards the discharging end is further installed on the boxing table, a guide frame with one large end and the other small end is arranged at the discharging end of the boxing table, the large end faces the boxing table, the small end is inserted into a carton, and the articles are limited and guided through the guide frame. And articles can accurately enter a carton, and the situation that boxing fails due to dislocation, and the stability and boxing efficiency of equipment are affected is avoided.

Description

Technical Field

[0001] The invention belongs to the field of packaging machinery and equipment, and in particular relates to a manipulator boxing structure. Background Art

[0002] The carton automatic packaging production line is an important equipment in the modern packaging industry. It integrates automation and intelligent technology, greatly improving packaging efficiency and accuracy. The production line usually consists of multiple links such as cardboard feeding, forming, pasting, unpacking, filling, sealing and labeling. Each link is seamlessly connected through advanced sensors and control systems. In the production process, after the cardboard is accurately cut and formed, it is automatically sent to the packaging station. The unpacking structure opens the formed carton, and the product is accurately placed in the carton. Then it is automatically sealed and labeled. The whole process does not require excessive human intervention, which greatly saves labor costs.

[0003] In addition, rolling into cylindrical shape for box packaging is one of the common packaging methods for elastic soft cushions such as mattresses. However, the filling and boxing process in the existing packaging production line has the problem that cylindrical objects cannot be accurately aligned with the packaging box. The misalignment between the objects and the carton opening leads to packing failure and even damage to the carton, affecting packaging efficiency. Summary of the invention

[0004] Based on the above problems existing in the prior art, the present invention provides a robot packing structure, including a packing assembly and a robot arm arranged on one side of the packing assembly for fixing cartons, the packing assembly includes a packing table, a supporting roller group is rotatably installed on the packing table, a guide frame is installed at the discharge end of the packing table, a guide channel is arranged on the guide frame, one end of the guide channel close to the packing table is larger than the other end, and a pushing assembly for pushing objects to the discharge end is also installed on the packing table.

[0005] Wherein, the supporting roller group includes multiple V-shaped roller groups, and the V-shaped roller group is composed of two conveying rollers arranged in a V shape, the ends of the two conveying rollers close to each other are downward and rotatably connected to the packing table, and the ends of the two conveying rollers away from each other are upward and rotatably connected to the packing table.

[0006] The guide frame comprises a fixing ring for installation on the packing platform, and a plurality of elastic guide plates are centrally symmetrically installed on the fixing ring. The end of the elastic guide plate away from the fixing ring is a free end and is inclined toward the axis direction.

[0007] Among them, the discharge end of the packing table is fixedly installed with a slide rail extending up and down, and a mounting part is provided on the fixed ring of the guide frame, and the mounting part is slidably installed on the slide rail through a slider, and a guide motor and two adjusting gears are also fixedly installed on the packing table, and the same toothed belt is meshed and installed on the two adjusting gears, one of the adjusting gears is fixedly connected to the power output end of the guide motor, and the toothed belt is fixedly connected to the mounting part of the guide frame, and the guide frame is driven by the guide motor to slide up and down for adjustment.

[0008] Among them, the pushing assembly includes a pushing plate, a pushing rail is fixedly installed on the packing table, the pushing plate is slidably installed on the pushing rail through a slider, and a pushing motor is also fixedly installed on the packing table. The pushing motor is connected to the pushing plate through the cooperation of a belt and a pulley, and the pushing motor drives the pushing plate to slide on the pushing rail.

[0009] Among them, the pushing plate includes a base frame, a sliding block is installed at the bottom of the base frame and is slidably connected to the pushing rail, the upper part of the base frame is a supporting part, a pushing part is fixedly installed on the supporting part, the pushing part and the supporting part are perpendicular to each other, and both sides of the bottom of the pushing part are inclined surfaces, and the slope of the inclined surface is the same as the slope of the conveying roller of the V-shaped roller group.

[0010] Among them, the end effector of the robotic arm includes a first box grabbing plate, a second box grabbing plate is hingedly installed on the top of the first box grabbing plate, a box grabbing cylinder is rotatably installed on the back side of the first box grabbing plate, the telescopic end of the box grabbing cylinder extends upward and is rotatably installed with an obtuse angle frame, one side of the obtuse angle frame is rotatably connected to the telescopic end of the box grabbing cylinder, and the other side of the obtuse angle frame is fixedly connected to the back side of the second box grabbing plate, the telescopic movement of the box grabbing cylinder drives the second box grabbing plate to rotate relative to the first box grabbing plate, and negative pressure suction cups are arranged on the front sides of the first box grabbing plate and the second box grabbing plate.

[0011] Wherein, the first box grabbing plate and the second box grabbing plate are both provided with a plurality of negative pressure suction cups, and the negative pressure suction cups on the first box grabbing plate and the second box grabbing plate are arranged in a rectangular array.

[0012] The present invention has the beneficial effect that a guide frame with one end larger and the other end smaller is arranged at the discharge end of the packing table, the larger end faces the packing table, and the smaller end is inserted into the carton, and the guide frame is used to limit and guide the articles so that the articles can accurately enter the carton, thereby avoiding packing failure due to misalignment and affecting the stability of the equipment and the packing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural diagram of the packing table.

[0014] Figure 2 It is a schematic diagram of the three-dimensional structure of the packing platform from another angle.

[0015] Figure 3yes Figure 2 Enlarged view of point A.

[0016] Figure 4 It is a three-dimensional structural diagram of the packing table, with some support frames and conveyor rollers hidden.

[0017] Figure 5 yes Figure 4 Enlarged view of point B.

[0018] Figure 6 It is a schematic diagram of the coordination between the packing table and cylindrical objects.

[0019] Figure 7 It is a schematic diagram of the coordination between the robot packing structure and the sealing structure.

[0020] Figure 8 It is a schematic diagram of the three-dimensional structure of the robotic arm.

[0021] Fig. 9 It is a structural schematic diagram of the end effector of the robotic arm. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] As attached Figure 1-9The robot packing structure shown in the figure comprises a packing assembly 1 and a robot arm 2 arranged on one side of the packing assembly 1 for fixing cartons, the robot arm 2 is a four-axis robot arm 2, the packing assembly 1 comprises a packing platform 3, the packing platform 3 comprises a frame, a control box 4 is fixedly installed on one side of the frame, a supporting roller group 5 is rotatably installed on the frame of the packing platform 3, the supporting roller group 5 comprises a plurality of V-shaped roller groups, each V-shaped roller group is composed of two conveying rollers 6 arranged in a V shape, the ends of the two conveying rollers 6 close to each other are downward and rotatably connected to the frame of the packing platform 3, and the ends of the two conveying rollers 6 away from each other are upward and rotatably connected to the frame of the packing platform 3, the V-shaped roller groups are evenly arranged along the conveying direction, the setting of the V-shaped roller group can limit the cylindrical objects and can adapt to cylindrical objects of different sizes to a certain extent; both sides of the discharge end of the packing platform 3 are respectively fixedly installed with a slide rail extending up and down, and the slide rail slides up and down through the cooperation of the slider A guide frame 7 is installed, and the guide frame 7 includes a fixing ring 8 for being installed on the packing table 3. Four elastic guide plates 9 are installed on the fixing ring 8 in a symmetrical manner. The end of the elastic guide plate 9 away from the fixing ring 8 is a free end and is inclined in the axial direction. The four elastic guide plates 9 form a guide channel, and the end of the guide channel close to the packing table 3 is larger than the other end; a mounting portion 10 is also provided on the fixing ring 8 of the guide frame 7, and the mounting portion 10 is slidably mounted on the slide rail through a slider. A guide motor 11 and two adjusting gears 12 are also fixedly installed on the packing table 3. The same toothed belt 13 is meshed and installed on the two adjusting gears 12, one of the adjusting gears 12 is fixedly connected to the power output end of the guide motor 11, and the toothed belt 13 is fixedly connected to the mounting portion 10 of the guide frame 7. The guide motor 11 drives the guide frame 7 to slide up and down for adjustment, so as to facilitate the adjustment of the height of the axis of the guide frame 7 to adapt to cylindrical objects of different sizes.The packing platform 3 is also provided with a pushing assembly for pushing the articles to the discharge end. The two conveying rollers 6 of the V-shaped roller group are not connected to each other at one end close to each other, forming a pushing channel located directly below the V-shaped roller group. The packing platform 3 is fixedly provided with a pushing rail 14 below the pushing channel, and the pushing rail 14 is parallel to the pushing channel; the pushing assembly includes a pushing plate 15, and the pushing plate 15 includes a base frame 16. A slider is installed at the bottom of the base frame 16 and is slidably connected to the pushing rail 14. The upper part of the base frame 16 is a support portion 17 and extends from the pushing channel to the top of the V-shaped roller group. The pushing portion 1 is fixedly provided with a pushing portion 1 8. The pushing portion 18 and the supporting portion 17 are perpendicular to each other to form a more stable supporting structure, so that the supporting portion 17 can provide greater supporting force and thrust for the pushing portion 18. The bottom two sides of the pushing portion 18 are inclined surfaces, and the slope of the inclined surface is the same as the slope of the conveying roller 6 of the V-shaped roller group, so that the pushing portion 18 can fully contact with the objects, reduce the pressure, avoid compressive damage to the objects and provide a more stable driving force. A pushing motor 19 is also fixedly installed on the packing table 3. The pushing motor 19 is connected to the pushing plate 15 through the cooperation of the belt and the pulley. The pushing motor 19 drives the pushing plate 15 to slide on the pushing rail 14.

[0024] The robot arm 2 adopts a conventional four-axis robot arm 2 body with a specially designed end effector, and the end effector includes a first box grabbing plate 20, and the top of the first box grabbing plate 20 is hingedly installed with a second box grabbing plate 21 through two hinges, and the back of the first box grabbing plate 20 is rotatably installed with two box grabbing cylinders 22, and the telescopic end of the box grabbing cylinder 22 extends upward and is rotatably installed with an obtuse frame 23, one side of the obtuse frame 23 is rotatably connected to the telescopic end of the box grabbing cylinder 22, and the other side of the obtuse frame 23 is connected to the back of the second box grabbing plate 21 Fixedly connected, the extension and retraction of the box grabbing cylinder 22 drives the second box grabbing plate 21 to rotate relative to the first box grabbing plate 20, and the rotation range is 90°, from the first box grabbing plate 20 and the second box grabbing plate 21 being in the same plane to being perpendicular to each other. A plurality of negative pressure suction cups 24 are provided on the front sides of the first box grabbing plate 20 and the second box grabbing plate 21, and the negative pressure suction cups 24 on the first box grabbing plate 20 and the second box grabbing plate 21 are arranged in a rectangular array, and the negative pressure suction cups 24 are connected to an external negative pressure pump through a ventilation pipe, thereby realizing negative pressure adsorption.

[0025] The boxing structure provided in this embodiment is a part of an automatic packaging production line. When in use, the position of the guide frame 7 is adjusted by the guide motor 11 according to the size of the cylindrical article to be boxed, so that the guide frame 7 and the article are located on the same axis, and then the rolled cylindrical article is transported to the boxing table 3. Under the action of gravity, the article will automatically fall on the axis of the supporting roller group 5. At the same time, the robot arm 2 sucks up the carton through the cooperation of the first box grabbing plate 20 and the second box grabbing plate 21 and moves to insert one end of the guide frame 7 into the carton. At this time, the push motor 19 starts and drives the push plate 15 to move, and at the same time pushes the article to the guide frame 7 and enters the carton under the guidance of the guide frame 7, that is, the boxing process is completed.

[0026] The above-mentioned embodiment only expresses one implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A robot packing structure, comprising a packing assembly (1) and a robot arm (2) arranged on one side of the packing assembly (1) for fixing a carton, characterized in that: The packing assembly (1) comprises a packing platform (3), on which a supporting roller group (5) is rotatably mounted, a guide frame (7) is mounted at the discharge end of the packing platform (3), a guide channel is arranged on the guide frame (7), one end of the guide channel close to the packing platform (3) is larger than the other end, and a pushing assembly for pushing articles to move toward the discharge end is also mounted on the packing platform (3).

2. A robot packing structure according to claim 1, characterized in that: The supporting roller group (5) comprises a plurality of V-shaped roller groups, wherein the V-shaped roller group is composed of two conveying rollers (6) arranged in a V shape, wherein the ends of the two conveying rollers (6) that are close to each other are downward and rotatably connected to the packing platform (3), and the ends of the two conveying rollers (6) that are away from each other are upward and rotatably connected to the packing platform (3).

3. A robot packing structure according to claim 2, characterized in that: The guide frame (7) comprises a fixing ring (8) for mounting on the packing platform (3), and a plurality of elastic guide plates (9) are centrally symmetrically mounted on the fixing ring (8). The end of the elastic guide plate (9) away from the fixing ring (8) is a free end and is inclined in the axial direction.

4. A robot packing structure according to claim 3, characterized in that: A slide rail extending up and down is fixedly mounted on the discharge end of the packing platform (3); a mounting portion (10) is provided on the fixing ring (8) of the guide frame (7); the mounting portion (10) is slidably mounted on the slide rail through a slider; a guide motor (11) and two adjusting gears (12) are also fixedly mounted on the packing platform (3); the two adjusting gears (12) are meshed with a same toothed belt (13); one of the adjusting gears (12) is fixedly connected to the power output end of the guide motor (11); the toothed belt (13) is fixedly connected to the mounting portion (10) of the guide frame (7); and the guide frame (7) is driven by the guide motor (11) to slide up and down for adjustment.

5. A robot packing structure according to claim 2, characterized in that: The pusher assembly comprises a pusher plate (15), a pusher rail (14) is fixedly mounted on the packing platform (3), the pusher plate (15) is slidably mounted on the pusher rail (14) via a slider, a pusher motor (19) is also fixedly mounted on the packing platform (3), the pusher motor (19) is transmission-connected to the pusher plate (15) via a belt and a pulley, and the pusher motor (19) drives the pusher plate (15) to slide on the pusher rail (14).

6. A robot packing structure according to claim 5, characterized in that: The push plate (15) comprises a base frame (16), a slider is installed at the bottom of the base frame (16) and is slidably connected to the push rail (14), the upper part of the base frame (16) is a support part (17), a push part (18) is fixedly installed on the support part (17), the push part (18) and the support part (17) are perpendicular to each other, and both sides of the bottom of the push part (18) are inclined surfaces, and the slope of the inclined surface is the same as the slope of the conveying roller (6) of the V-shaped roller group.

7. The robot packing structure according to claim 1, characterized in that: The end effector of the mechanical arm (2) comprises a first box grabbing plate (20), a second box grabbing plate (21) is hingedly mounted on the top of the first box grabbing plate (20), a box grabbing cylinder (22) is rotatably mounted on the back of the first box grabbing plate (20), an obtuse-angle frame (23) is extended upward and rotatably mounted on the telescopic end of the box grabbing cylinder (22), one side of the obtuse-angle frame (23) is rotatably connected to the telescopic end of the box grabbing cylinder (22), the other side of the obtuse-angle frame (23) is fixedly connected to the back of the second box grabbing plate (21), the telescopic movement of the box grabbing cylinder (22) drives the second box grabbing plate (21) to rotate relative to the first box grabbing plate (20), and negative pressure suction cups (24) are arranged on the front sides of the first box grabbing plate (20) and the second box grabbing plate (21).

8. A robot packing structure according to claim 7, characterized in that: A plurality of negative pressure suction cups (24) are provided on the first box grabbing plate (20) and the second box grabbing plate (21), and the negative pressure suction cups (24) on the first box grabbing plate (20) and the second box grabbing plate (21) are arranged in a rectangular array.

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