Box filling machine

Abstract

The invention provides a box filling machine, and belongs to the technical field of automatic packaging equipment. The device comprises a frame body, a belt type feeding and conveying device is arranged on the frame body, at least two groups of hopper groups are arranged on the belt type feeding and conveying device, and a multi-station differential material receiving mechanism is arranged between the hopper groups and the feeding and conveying device; a belt type box body conveyor used for conveying box bodies is arranged on one side of the belt type feeding conveying device, a plurality of box body axial limiting structures distributed in the circumferential direction are arranged on the belt type box body conveyor, and a box inlet conveyor and a box outlet conveyor are arranged at the two ends of the side, away from the belt type feeding conveying device, of the belt type box body conveyor respectively. An upper box pushing mechanism is arranged between the box inlet conveyor and the belt type box body conveyor, and an unloading pushing mechanism is arranged between the box outlet conveyor and the belt type box body conveyor; and a multi-station variable-pitch boxing manipulator is arranged between the belt type feeding and conveying device and the belt type box body conveyor.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic packaging equipment and relates to a case packing machine. Background Art

[0002] With the rapid development of industrial automation technology, packaging machinery is increasingly used in the fields of food, medicine, and chemical industry. As one of the core equipment of the packaging production line, the efficiency and reliability of the case packer directly affect the operation effect of the entire production line. The working principle of the case packer is to use the material grabbing manipulator to grab the material on the material conveying mechanism and transfer it to the box on the box conveying mechanism to complete the transfer and packing.

[0003] However, traditional material conveying mechanisms mostly use a one-way transmission drive method to drive the receiving hopper to move in a fixed direction, resulting in the hopper not being able to reset in time after unloading the material. The hopper has a long reset time and low efficiency, which easily causes material accumulation and is difficult to adapt to high-speed production rhythms and high-speed automation requirements. In addition, in traditional box conveying mechanisms, the loading of empty boxes and the unloading of boxes with materials are usually carried out in steps, and synchronous operation cannot be achieved. For example, when the loading station is filling the box, the unloading end must wait until the loading is completed before starting the unloading action, resulting in idling or waiting time on the production line, which seriously restricts production efficiency. Especially in high-speed production scenarios, this asynchronous operation will further amplify the time loss and is difficult to match the modern industry's demand for efficient rhythms. Summary of the invention

[0004] The object of the present invention is to provide a case packing machine in view of the above problems.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A case packing machine comprises a frame, a belt feeding conveyor device is arranged on the frame, at least two material receiving hopper groups are arranged on the belt feeding conveyor device, and a multi-station differential material receiving mechanism capable of differentially driving the material receiving hopper group to rotate is arranged between the material receiving hopper group and the feeding conveyor device; A belt box conveyor for conveying boxes is provided on one side of the belt feeding conveyor device, and a plurality of box axial limiting structures distributed along the circumferential direction are provided on the belt box conveyor. An in-box conveyor and an out-box conveyor are provided at both ends of the belt box conveyor located away from the belt feeding conveyor device, respectively. An upper box pushing mechanism capable of simultaneously pushing at least two boxes radially is provided between the in-box conveyor and the belt box conveyor, and a lower goods pushing mechanism capable of simultaneously pushing at least two boxes radially is provided between the out-box conveyor and the belt box conveyor; A multi-station variable-distance packing robot for moving materials on the receiving hopper group to the upper box of the belt box conveyor is arranged between the belt feeding conveyor device and the belt box conveyor.

[0006] The multi-station differential material receiving mechanism can differentially drive the receiving hopper group to rotate so as to seamlessly receive and transport materials, achieve efficient production rhythm, improve production efficiency, and is suitable for high-speed continuous operation scenarios. The multi-station variable-pitch packing robot can adapt to boxes of various sizes and allow the use of smaller boxes, which greatly improves the space utilization of the production line. In addition, the multi-station variable-pitch packing robot can eliminate empty strokes, has high rhythm efficiency, and greatly improves the packing efficiency of materials.

[0007] When the empty boxes on the belt box conveyor are loaded at the loading position, the upper box pushing mechanism and the lower box pushing mechanism respectively synchronously push the new empty boxes into the belt box conveyor and push the loaded boxes out of the belt box conveyor, and the number of empty boxes pushed in is the same as the number of boxes with material pushed out, thereby realizing the synchronization of loading of empty boxes and unloading of boxes with material, which can ensure the matching of loading and unloading actions, avoid idling or blockage of the production line, achieve efficient production rhythm, and significantly improve the production efficiency of the production line.

[0008] In the above-mentioned cartoning machine, the multi-station variable-distance cartoning robot includes a material receiving rack, which is connected to the rack body through an XZ-axis moving mechanism. A linear guide mechanism is provided at the bottom of the material receiving rack, and at least one group of multiple grabbing unit groups is provided on the linear guide mechanism. Each group of multiple grabbing unit groups includes N grabbing units distributed along the linear direction of the linear guide mechanism, N≥3, one of which is linearly fixed on the linear guide mechanism, and the remaining grabbing units are movably connected to the linear guide mechanism; two adjacent grabbing units are respectively connected to the two ends of the displacement rod, and one of the grabbing units is linearly movable with one end of the displacement rod in a limited manner; the two grabbing units located at the two ends of the N grabbing units are respectively connected to the two ends of the linear drive.

[0009] After the variable-pitch contraction, the overall length of the multi-function grabbing unit group is greatly shortened. It can adapt to boxes of various sizes and allow the use of smaller boxes, which greatly improves the space utilization of the production line. The multi-function grabbing unit group can perform variable-pitch contraction operations between the grabbing units during the movement toward the box, which can eliminate empty strokes, has high cycle efficiency, and greatly improves the material packing efficiency. Only one linear drive is required to drive all the grabbing units to contract or expand with variable pitch, which can effectively reduce the complexity of the system.

[0010] In the above-mentioned cartoning machine, a strip slide groove is provided at one end of the shifting pull rod, and a sliding body capable of sliding along the strip slide groove is provided in the strip slide groove, and the sliding body is connected to one of the grabbing units; a stroke adjustable component is provided between the other end of the shifting pull rod and the other grabbing unit; the stroke adjustable component includes a plurality of adjustment holes distributed along the length direction of the shifting pull rod, and the grabbing unit is fixed to one of the adjustment holes by a bolt.

[0011] During the movement of the grabbing unit toward the linearly fixed grabbing unit, the sliding body on the grabbing unit moves linearly to the limit position in the strip slide corresponding to the displacement rod, and drives the adjacent grabbing unit to move toward the linearly fixed grabbing unit through the displacement rod, so as to shorten the margin between the grabbing units. The grabbing unit can be fixed by bolts and different adjustment holes in the length direction of the displacement rod, so as to adjust the spacing between the grabbing units after the multi-function grabbing unit group is expanded or contracted, which can adapt to materials of different sizes and specifications, and realize high-precision adaptation and fast changeover.

[0012] In the above-mentioned case packing machine, the linear actuator comprises a displacement drive cylinder, and both ends of the displacement drive cylinder are respectively connected to two grabbing units at both ends of the N grabbing units; One end of the displacement drive cylinder is connected to the grabbing unit at one end through the front seat of the displacement cylinder, and the other end is connected to the grabbing unit at the other end through the rear seat of the displacement cylinder, and the displacement drive cylinder is located on the side of the linear guide mechanism; any two adjacent linear displacement pull rods are respectively located on both sides of the grabbing unit.

[0013] When the two ends of the linear actuator retract in both directions in coordination, the two grabbing units at the two ends of the N grabbing units can be driven to move toward each other and approach the linear fixed grabbing unit, and the remaining grabbing units can be driven to move toward the linear fixed grabbing unit through the coordinated action of the displacement rods, so as to achieve variable distance contraction between the grabbing units. Any two adjacent displacement rods in the linear are respectively located on both sides of the grabbing unit to form a staggered arrangement, avoiding the interference caused by the accumulation of multiple displacement rods on the same side, and the symmetrically distributed rod forces are balanced with each other, which can reduce the lateral load of the grabbing unit.

[0014] In the above-mentioned cartoning machine, the linear guide mechanism includes a slide rail arranged at the bottom of the material receiving rack, and the slide rail is provided with linear sliders equal to the number of grabbing units, and the linear sliders are penetrated with bolts that can be used to lean against the slide rail to achieve immovability.

[0015] The linear slider on the grabbing unit slides with the slide rail at the bottom of the receiving rack to play a role of linear guide. The linear slider can be made immovable by bolts to achieve linear fixation.

[0016] In the above-mentioned cartoning machine, the multi-station differential material receiving mechanism includes at least one first transmission belt body arranged on a belt feed frame of a belt feed conveyor device, a first driving pulley and a first driven pulley are respectively provided at both ends of the first transmission belt body, the first driving pulley and the first driven pulley are respectively connected to the belt feed frame through a first rotating shaft and a second rotating shaft, the first rotating shaft is connected to a first driver, a material receiving hopper group is provided on the first transmission belt body, at least one second transmission belt body parallel to the first transmission belt body is also provided at the bottom of the material receiving hopper group, and the second transmission belt body is connected to a second driving mechanism that can differentially drive another group of material receiving hopper groups to rotate with the first transmission belt body.

[0017] The receiving hopper group on the first transmission belt body transports the material to the unloading position after receiving the material. When the receiving hopper group on the first transmission belt body completes unloading, the second driving mechanism differentially drives another receiving hopper group to rotate to perform the next round of seamless material receiving and conveying.

[0018] The material receiving hopper groups on the first transmission belt body and the second transmission belt body can rotate differentially, which can realize seamless material receiving and seamless material transportation, can achieve efficient production rhythm, improve production efficiency, and are suitable for high-speed continuous operation scenarios.

[0019] In the above-mentioned box packing machine, the second driving mechanism comprises a second driving pulley and a second driven pulley respectively arranged at both ends of the second transmission belt body, the second driving pulley and the second driven pulley are respectively arranged on the second rotating shaft and the first rotating shaft, the first driving pulley and the second driving pulley are respectively connected to the first rotating shaft and the second rotating shaft in a circumferentially limited manner, and the first driven pulley and the second driven pulley are respectively connected to the second rotating shaft and the first rotating shaft in a circumferentially movable manner; The first driving pulley is connected to the first rotating shaft through a tension sleeve, and the first driven pulley is connected to the second rotating shaft through a bearing; the second driving pulley is connected to the second rotating shaft through a tension sleeve, and the second driven pulley is connected to the first rotating shaft through a bearing; The first transmission belt body and the second transmission belt body each have two and are axially spaced and distributed along the first rotating shaft and the second rotating shaft.

[0020] The operation of the second driver can drive the second transmission belt body to rotate, so as to achieve seamless connection and switching between the two groups of receiving hopper groups, which can achieve efficient production rhythm and improve production efficiency. There are two first transmission belt bodies and two second transmission belt bodies, which are arranged at intervals to share the load of the receiving hopper group, which can improve the carrying capacity and operation stability of the receiving hopper group.

[0021] In the above-mentioned cartoning machine, the belt box conveyor includes a box conveyor frame, on which at least one box conveyor belt is provided, and the box conveyor belt is connected to the box conveyor frame through a conveying drive assembly, and the box axial limiting structure includes two box baffles arranged above the box conveyor belt and vertically distributed with the box conveyor belt, and a fixed bottom plate is provided at the bottom of the box baffle, and the bottom end of the fixed bottom plate is fixedly connected to the box conveyor belt, and a box fixing position that can cooperate with the box is formed between the two box baffles and their respective corresponding fixed bottom plates.

[0022] The conveying drive assembly can drive the box conveyor belt to rotate in a circular motion along the conveying direction to convey the box. The box fixing position is used to accurately position the box. The box baffles on both sides of the box can limit the displacement of the box in the length direction of the box conveyor belt, thereby avoiding material connection errors caused by displacement of the box during the conveying process.

[0023] In the above-mentioned case packing machine, the upper box pushing mechanism includes a pushing plate arranged above the box feeding conveyor, a pushing driver is arranged above the belt box conveyor through a pushing fixing frame, an output rod of the pushing driver is connected to the pushing plate through a connecting frame, and a pushing guide structure is also arranged between the connecting frame and the pushing fixing frame; The unloading pushing mechanism includes a discharging driver arranged on one side of the tail end of the belt box conveyor and fixed by a discharging fixing frame. The driving rod of the discharging driver is connected to a discharging plate, and a discharging guide structure is provided between the discharging plate and the discharging fixing frame.

[0024] The push drive can drive the push plate to push several empty boxes synchronously into the box fixing group of the material conveying belt mechanism. During the movement of the push plate, the push guide structure plays a role of moving and guiding the push plate to ensure that the push plate does not deviate in linear motion. The discharge drive can drive the discharge plate to synchronously push several boxes with materials onto the discharge conveyor. During the movement of the discharge plate, the discharge guide structure plays a role of moving and guiding the discharge plate to ensure that the discharge plate does not deviate in linear motion.

[0025] In the above-mentioned cartoning machine, a loading conveyor belt is provided on the feeding end of the belt-type feeding conveyor device, a high-speed four-axis material adjustment robot is provided on one side of the loading conveyor belt, the high-speed four-axis material adjustment robot includes a four-axis frame, a robot mounting seat is provided on the four-axis frame, an X-axis moving mechanism is provided between the robot mounting seat and the four-axis frame, an adsorber is provided on the robot mounting seat, the adsorber is connected to the robot mounting seat through the adsorber rotation assembly and the Z-axis lifting mechanism in turn, and a Y-axis shifting mechanism is provided between the Z-axis lifting mechanism and the robot mounting seat, which can be used to adjust the position of the material in the width direction of the loading conveyor belt after the adsorber adsorbs the material.

[0026] The Y-axis shift mechanism can adjust the position of the material in the width direction of the feeding conveyor belt so that the material is located in the center position in the width direction of the feeding conveyor belt after the angle correction is completed. The central adjustment can eliminate the accumulation of deviations between materials in multiple stations to ensure accurate positioning of subsequent processing, and can adapt to feeding conveyor belts of different widths.

[0027] Compared with the existing technology, the advantages of the present invention are: 1. It can realize seamless access to materials and seamless transportation of materials, can achieve efficient production rhythm, improve production efficiency, and is suitable for high-speed continuous operation scenarios. 2. The gripper units can be contracted at variable distances, so that the overall length of the multi-work gripping unit group is greatly shortened, and it can adapt to packaging boxes of various sizes and allow the use of smaller packaging boxes, thereby improving the space utilization of the production line. 3. The loading of empty boxes and the unloading of filled boxes are synchronized, which can ensure the matching of loading and unloading actions, avoid idling or blocking of the production line, achieve efficient production rhythm, and significantly improve the production efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure provided by the present invention; Figure 2 It is a structural schematic diagram provided by the present invention; Figure 3 This is a schematic diagram of the overall structure of a multi-station variable-pitch packing robot; Figure 4 This is the front view of the multi-station variable-distance packing robot; Figure 5 It is a schematic diagram of the structure of two groups of multi-working grasping units in different states; Figure 6 It is a schematic diagram of the structure when the multi-working grabbing unit group is deployed; Figure 7 is the distribution diagram of the displacement rod; Figure 8 It is a structural schematic diagram of the displacement pull rod on the grabbing unit; Fig. 9 It is a structural schematic diagram of a multi-station differential material receiving mechanism; Fig.10 It is a top view of the multi-station differential material receiving mechanism; Fig.11 It is a side view of the multi-station differential material receiving mechanism; Fig.12 It is a structural schematic diagram of the anti-stuck structure; Fig.13 It is a structural schematic diagram of the receiving hopper; Fig.14 It is the overall structural diagram of the belt box conveyor; Fig.15 It is the working schematic diagram of the belt box conveyor; Fig.16 It is a schematic diagram of the structure of the conveying drive assembly; Fig.17 It is a structural schematic diagram of the box conveyor frame; Fig.18 is a schematic diagram of the structure of the belt guide assembly; Fig.19 It is a structural diagram of the upper box pushing mechanism; Fig. 20 It is a structural diagram of the cargo unloading and pushing mechanism; Fig.21 It is a structural schematic diagram of the box shift connection frame; Fig. 22 This is the installation diagram of the high-speed four-axis material adjustment robot; Fig.23 It is a schematic diagram of the overall structure of the high-speed four-axis material adjustment robot; Fig.24 It is a structural schematic diagram of the Y-axis shift mechanism; Fig.25 It is a structural diagram of the adsorber self-rotation assembly and the Z-axis lifting mechanism; Fig.26 It is a structural schematic diagram of a lifting connection; Fig. 27 It is a schematic diagram of the structure of the bearing connected to the spline shaft; Fig.28 It is an exploded schematic diagram of the adsorber rotation assembly.

[0029] In the figure, frame 1, belt feeding conveyor device 2, receiving hopper group 3, multi-station differential receiving mechanism 4, belt box conveyor 5, box axial limiting structure 6, in-box conveyor 7, out-box conveyor 8, box 9, upper box pushing mechanism 10, lower goods pushing mechanism 11, material 12, multi-station variable distance packing manipulator 13, receiving frame 14, XZ axis moving mechanism 15, linear guide mechanism 16, multi-station grabbing unit group 17, grabbing unit 18, displacement pull rod 19, linear drive 20, strip slide 21, sliding body 22, stroke adjustable component 23, adjustment hole 24, displacement drive cylinder 25, displacement cylinder front seat 26, displacement cylinder rear seat 27, slide rail 28, linear slide block 29, suction cup seat 30, extractor 31, X-axis mover 32, Z-axis Mover 33, X-axis slider 34, triangular reinforcing rib 35, secondary reinforcing rib 36, belt feeding frame 37, first transmission belt body 38, first active pulley 39, first driven pulley 40, first rotating shaft 41, second rotating shaft 42, first driver 43, second transmission belt body 44, second driving mechanism 45, second active pulley 46, second driven pulley 47, second driver 48, receiving hopper 49, receiving hopper fixing hole 50, anti-stuck structure 51, cushion belt 52, side guide strip 53, anti-drop plate 54, receiving plate 55, positioning baffle 56, receiving material fixing position 57, end baffle plate 58, box conveyor frame 59, box conveyor belt 60, conveying drive assembly 61, box baffle 62, fixed bottom plate 63, box fixing position 64 , belt fixing hole 65, bottom plate fixing hole 66, transmission wheel 67, driven wheel 68, transmission shaft 69, driven shaft 70, conveying driver 71, belt guide assembly 72, belt guide 73, guide bar 74, guide groove 75, guide bar mounting plate 76, guide bar support plate 77, push plate 78, push fixing frame 79, push driver 80, output rod 81, connecting frame 82, push guide structure 83, discharge fixing frame 84, discharge driver 85, drive rod 86, discharge plate 87, discharge guide structure 88, guide slider 89, guide slide rail 90, discharge guide rod 91, discharge guide hole 92, limit structure 93, positioning frame 94, limit driver 95, limit plate 96, side baffle 97, height adjustment frame 98, box shift connection Frame 99, box bottom guide plate 100, shift guide structure 101, box side guide plate 102, box guide position 103, bottom inclined guide plate 104, side inclined guide plate 105, inclined guide plate 106, high-speed four-axis material adjustment manipulator 107, four-axis frame 108, manipulator mounting seat 109, X-axis moving mechanism 110, adsorber 111, adsorber rotation assembly 112, Z-axis lifting mechanism 113, Y-axis shifting mechanism 114, Y-axis slider rail assembly 115, eccentric drive assembly 116, drive wheel 117, drive wheel drive unit 118, connecting rod 119, slide seat 120, drive wheel clearance groove 121, drive wheel driver 122, drive gear 123, drive gear body 124, drive belt 125,Sliding seat 126, lifting motor plate 127, lifting driving wheel 128, lifting driven wheel 129, lifting belt 130, driving wheel driver 131, lifting connecting piece 132, limiting column 133, spline shaft 134, connecting bearing 135, fixing ring 136, connecting rotating groove 137, fixing clamping claw 138, rotating fixing plate 139, connecting groove 140, spline nut 141, convex strip 142, groove 143, rotating pulley shaft 144, bearing seat 145, pulley rotating driver 146, pulley belt 147, first positioning screw hole 148, X-direction sliding plate 149, second positioning screw hole 150. DETAILED DESCRIPTION

[0030] like Figure 1 , Figure 2 , Figure 3 , Fig. 9 , Fig.14 and Fig.15 As shown, a case packing machine comprises a frame 1, on which a belt feeding conveyor device 2 is provided, on which at least two groups of receiving hopper groups 3 are provided, and between the receiving hopper groups 3 and the feeding conveyor device 2, a multi-station differential receiving mechanism 4 capable of differentially driving the receiving hopper groups 3 to rotate is provided; A belt box conveyor 5 for conveying boxes 9 is provided on one side of the belt feeding conveyor 2, and a plurality of box axial limiting structures 6 distributed along the circumferential direction are provided on the belt box conveyor 5. An in-box conveyor 7 and an out-box conveyor 8 are provided at both ends of the belt box conveyor 5 located away from the belt feeding conveyor 2, respectively. An upper box pushing mechanism 10 capable of simultaneously pushing at least two boxes 9 radially is provided between the in-box conveyor 7 and the belt box conveyor 5, and a lower goods pushing mechanism 11 capable of simultaneously pushing at least two boxes 9 radially is provided between the out-box conveyor 8 and the belt box conveyor 5; A multi-station variable-distance box packing robot 13 for moving materials 12 on the receiving hopper group 3 to the upper box 9 of the belt box conveyor 5 is provided between the belt feeding conveyor device 2 and the belt box conveyor 5 .

[0031] In the present invention, after the multi-station differential material receiving mechanism 4 drives a group of receiving hopper groups 3 to sequentially receive the materials 12 entering the belt feeding conveyor device 2, the multi-station differential material receiving mechanism 4 continues to drive the receiving hopper group 3 to convey the materials 12 in the positive direction. At the same time, the empty box bodies 9 are conveyed from the box feeding conveyor 7 to the specified position, and the upper box pushing mechanism 10 simultaneously pushes the two empty box bodies 9 radially into the box body axial limiting structure 6 on the belt box body conveyor 5. Then the belt box body conveyor 5 conveys the two empty box bodies 9 to the loading position. When the material 12 to be conveyed reaches the unloading position of the belt feeding conveyor device 2, the multi-station variable distance packing manipulator 13 pushes the receiving hopper group 3 to the loading position. The material 12 on 3 is moved to the empty box 9 on the belt box conveyor 5 to complete the loading. After the material 12 in the receiving hopper group 3 is transferred by the multi-station variable-distance packaging robot 13, the multi-station differential receiving mechanism 4 differentially drives the other group of receiving hopper groups 3 to rotate to receive the materials seamlessly and continuously. When the empty box 9 is loaded at the loading position, the upper box pushing mechanism 10 continues to push the empty box 9 in place into the belt box conveyor 5. After the loading of the empty box 9 is completed, the belt box conveyor 5 transports the filled box 9 to the tail end, and then the unloading pushing mechanism 11 pushes the two corresponding filled boxes 9 to the out-of-box conveyor 8, so as to continuously carry out the loading and transportation of the boxes.

[0032] The multi-station differential material receiving mechanism 4 can differentially drive the material receiving hopper group 3 to rotate so as to seamlessly receive and convey the material 12, which can achieve efficient production rhythm and improve production efficiency. It is suitable for high-speed continuous operation scenarios. The multi-station variable-pitch packing robot 13 can adapt to boxes 9 of various sizes and allow the use of smaller boxes 9, which greatly improves the space utilization of the production line. In addition, the multi-station variable-pitch packing robot 13 can eliminate empty strokes, has high rhythm efficiency, and greatly improves the packing efficiency of the material 12.

[0033] When the empty boxes 9 on the belt box conveyor 5 are loaded at the loading position, the upper box pushing mechanism 10 and the lower box pushing mechanism 11 respectively push the new empty boxes 9 into the belt box conveyor 5 and push the loaded boxes 9 out of the belt box conveyor 5, and the number of empty boxes 9 pushed in is the same as the number of boxes 9 pushed out with material, thereby realizing the synchronization of loading of empty boxes 9 and unloading of boxes 9 with material, which can ensure the matching of loading and unloading actions, avoid idling or blockage of the production line, achieve efficient production rhythm, and significantly improve the production efficiency of the production line.

[0034] Specifically, combined with Figure 3-Figure 8As shown, the multi-station variable-distance packing robot 13 includes a material receiving rack 14, which is connected to the frame 1 through an XZ-axis moving mechanism 15. A linear guide mechanism 16 is provided at the bottom of the material receiving rack 14, and at least one group of multiple grabbing unit groups 17 is provided on the linear guide mechanism 16. Each group of multiple grabbing unit groups 17 includes N grabbing units 18 distributed along the linear direction of the linear guide mechanism 16, N ≥ 3, one of the grabbing units 18 is linearly fixed on the linear guide mechanism 16, and the remaining grabbing units 18 are movably connected to the linear guide mechanism 16; two adjacent grabbing units 18 are respectively connected to the two ends of the displacement rod 19, and one of the grabbing units 18 is linearly movable with one end of the displacement rod 19 to a limited extent; the two grabbing units 18 located at the two ends of the N grabbing units 18 are respectively connected to the two ends of the linear driver 20.

[0035] The receiving rack 14 is initially located above the belt feeding conveyor 2. After the material 12 on the belt feeding conveyor 2 is in place, the XZ axis moving mechanism 15 drives the receiving rack 14 to descend to drive the grabbing unit 18 to descend and grab the material 12. Then the XZ axis moving mechanism 15 drives the receiving rack 14 to move above the belt box conveyor 5. During the movement of the receiving rack 14, the two ends of the linear drive 20 are retracted in a bidirectional coordinated manner to drive the two grabbing units 18 at the two ends of the N grabbing units 18 to move toward each other and approach the linear fixed grabbing unit 18. When the two grabbing units 18 move toward each other and approach each other, they are respectively connected to the linear fixed grabbing unit 18 by the displacement rod 19. Adjacent grabbing units 18 contact each other to drive adjacent grabbing units 18 to approach the linearly fixed grabbing unit 18, and finally drive all grabbing units 18 to move close to the linearly fixed grabbing unit 18 to realize variable-distance contraction between the grabbing units 18. The empty box 9 on the belt box conveyor 5 is located directly below the group of multiple grabbing unit groups 17. Then the XZ-axis moving mechanism 15 drives the material receiving rack 14 to descend. The grabbing units 18 after variable-distance contraction unload the grabbed materials 12 into the empty box 9. Then the multiple grabbing unit group 17 is reset to the initial expanded state, and the material receiving rack 14 is reset to perform the next round of unloading and packing operations.

[0036] After the variable-length contraction, the overall length of the multi-function grabbing unit group 17 is greatly shortened, which can adapt to boxes 9 of various sizes and allow the use of smaller boxes 9, greatly improving the space utilization of the production line. The multi-function grabbing unit group 17 can perform variable-length contraction operations between the grabbing units 18 during the movement toward the box 9, which can eliminate empty strokes, has high cycle efficiency, and greatly improves the packing efficiency of the material 12. Only one linear drive 20 is required to drive all the grabbing units 18 to contract or expand with variable length, which can effectively reduce the complexity of the system.

[0037] Specifically, combined with Figure 5-Figure 8As shown, a strip slide groove 21 is provided at one end of the shifting pull rod 19, and a sliding body 22 capable of sliding along the strip slide groove 21 is provided in the strip slide groove 21, and the sliding body 22 is connected to one of the grabbing units 18; a stroke adjustable component 23 is provided between the other end of the shifting pull rod 19 and another grabbing unit 18; the stroke adjustable component 23 includes a plurality of adjusting holes 24 arranged on the shifting pull rod 19 and distributed along its length direction, and the grabbing unit 18 is fixed to one of the adjusting holes 24 by bolts.

[0038] During the movement of the grabbing unit 18 toward the linearly fixed grabbing unit 18, the sliding body 22 on the grabbing unit 18 moves linearly to the limit position in the strip slide groove 21 corresponding to the displacement rod 19, and drives the adjacent grabbing unit 18 to move toward the linearly fixed grabbing unit 18 through the displacement rod 19, so as to shorten the margin between the grabbing units 18.

[0039] The grabbing unit 18 can be fixed by bolts to different adjustment holes 24 in the length direction of the displacement rod 19, so as to adjust the distance between the grabbing units 18 after the multi-function grabbing unit group 17 is expanded or contracted, which can adapt to materials 12 of different sizes and specifications, and achieve high-precision adaptation and rapid changeover.

[0040] Specifically, combined with Figure 5-Figure 8 As shown, the linear actuator 20 includes a displacement drive cylinder 25, and two ends of the displacement drive cylinder 25 are respectively connected to two grabbing units 18 at two ends of the N grabbing units 18; One end of the shifting drive cylinder 25 is connected to the grabbing unit 18 at one end through the shifting cylinder front seat 26, and the other end is connected to the grabbing unit 18 at the other end through the shifting cylinder rear seat 27, and the shifting drive cylinder 25 is located on the side of the linear guide mechanism 16; any two linearly adjacent shifting pull rods 19 are respectively located on both sides of the grabbing unit 18.

[0041] When both ends of the linear drive 20 retract in bidirectional coordination, it can drive the two grasping units 18 located at the two ends of the N grasping units 18 to move toward each other and get closer to the linearly fixed grasping unit 18, and drive the remaining grasping units 18 to move closer to the linearly fixed grasping unit 18 through the coordinated action of the displacement pull rod 19, so as to realize the variable distance contraction between the grasping units 18.

[0042] Any two linearly adjacent displacement rods 19 are respectively located on both sides of the grabbing unit 18 to form a staggered arrangement, so as to avoid interference caused by the accumulation of multiple displacement rods 19 on the same side, and the symmetrically distributed rod forces are balanced with each other, which can reduce the lateral load of the grabbing unit 18.

[0043] Specifically, combined with Figure 3-Figure 6 As shown, there are five gripping units 18 , and the linearly fixed gripping units 18 are not located at both ends.

[0044] Each group of multiple grabbing units 17 can grab five materials 12 into the empty box 9 at the same time.

[0045] Specifically, combined with Figure 5-Figure 8 As shown, the linear guide mechanism 16 includes a slide rail 28 arranged at the bottom of the material receiving rack 14, and the slide rail 28 is provided with linear sliders 29 equal in number to the grabbing units 18, and the linear sliders 29 are penetrated with bolts that can be used to lean against the slide rail 28 to achieve immovability.

[0046] The linear slider 29 on the grabbing unit 18 is slidably matched with the slide rail 28 at the bottom of the receiving rack 14 to play a role of linear guidance. The linear slider 29 can be made immovable by bolts to achieve linear fixation.

[0047] Specifically, combined with Figure 5-Figure 8 As shown, the gripping unit 18 includes an I-shaped suction cup seat 30 , the upper end of the suction cup seat 30 is connected to the linear guide mechanism 16 , and the lower end is connected to at least one detachable suction device 31 .

[0048] The sucker 31 is used to suck the material 12 to facilitate the transfer and packing of the material 12. The sucker 31 and the suction cup seat 30 can be detachably connected, and the disassembly and assembly are convenient.

[0049] The moving axis of the linear guide mechanism 16 is parallel to the bottom surface, and the suction axis of the suction device 31 is inclined to the bottom surface.

[0050] The suction cup seat 30 is in an I-shape, the moving axis of the linear guide mechanism 16 is parallel to the bottom surface, the suction axis of the sucker 31 is inclined to the bottom surface, and the sucker 31 is inclined to perform inclined adsorption, which can avoid collision between the material 12 and the edge of the sucker 31.

[0051] Specifically, combined with Figure 3 and Figure 4 As shown, the XZ-axis moving mechanism 15 includes an X-axis mover 32 and a Z-axis mover 33, and at least two triangular reinforcing ribs 35 distributed in the vertical direction and arranged laterally are provided between the X-axis slider 34 of the X-axis mover 32 and the Z-axis mover 33, and a secondary reinforcing rib 36 arranged vertically is also provided between the bottom triangular reinforcing rib 35 and the Z-axis mover 33.

[0052] The operation of the X-axis mover 32 and the Z-axis mover 33 can respectively drive the material receiving rack 14 to move and lift. The triangular reinforcement ribs 35 and the secondary reinforcement ribs 36 between the X-axis slider 34 and the Z-axis mover 33 can effectively improve the torsional stiffness and load capacity of the XZ-axis moving mechanism 15.

[0053] Specifically, combined with Figure 9-13As shown, the multi-station differential material receiving mechanism 4 includes at least one first transmission belt body 38 arranged on the belt feeding frame 37 of the belt feeding conveyor device 2, and the first driving pulley 39 and the first driven pulley 40 are respectively provided at both ends of the first transmission belt body 38. The first driving pulley 39 and the first driven pulley 40 are respectively connected to the belt feeding frame 37 through the first rotating shaft 41 and the second rotating shaft 42. The first rotating shaft 41 is connected to the first driver 43. A receiving hopper group 3 is provided on the first transmission belt body 38, and at least one second transmission belt body 44 parallel to the first transmission belt body 38 is also provided at the bottom of the receiving hopper group 3. The second transmission belt body 44 is connected to a second driving mechanism 45 which can drive another group of receiving hopper groups 3 to rotate differentially with the first transmission belt body 38.

[0054] The receiving hopper group 3 on the first transmission belt body 38 transports the material 12 to the unloading position after receiving the material. When the receiving hopper group 3 on the first transmission belt body 38 completes unloading, the second driving mechanism 45 differentially drives another group of receiving hopper groups 3 to rotate to perform the next round of seamless material receiving and conveying of the material 12.

[0055] The receiving hopper group 3 on the first transmission belt body 38 and the second transmission belt body 44 can rotate differentially, can realize seamless receiving of materials 12 and seamless conveying of materials 12, can realize efficient production rhythm, improve production efficiency, and is suitable for high-speed continuous operation scenarios.

[0056] Specifically, combined with Figure 9-12 As shown, the second driving mechanism 45 includes a second driving pulley 46 and a second driven pulley 47 respectively arranged at both ends of the second transmission belt body 44, the second driving pulley 46 and the second driven pulley 47 are respectively arranged on the second rotating shaft 42 and the first rotating shaft 41, the first driving pulley 39 and the second driving pulley 46 are respectively connected to the first rotating shaft 41 and the second rotating shaft 42 in a circumferentially limited manner, and the first driven pulley 40 and the second driven pulley 47 are respectively connected to the second rotating shaft 42 and the first rotating shaft 41 in a circumferentially movable manner; The first driving pulley 39 is connected to the first rotating shaft 41 through a tension sleeve, and the first driven pulley 40 is connected to the second rotating shaft 42 through a bearing; the second driving pulley 46 is connected to the second rotating shaft 42 through a tension sleeve, and the second driven pulley 47 is connected to the first rotating shaft 41 through a bearing; The first transmission belt body 38 and the second transmission belt body 38 each have two and are axially spaced apart from each other along the first rotating shaft 41 and the second rotating shaft 42 .

[0057] After the material receiving hopper group 3 on the first transmission belt body 38 has finished unloading, the second driver 48 can drive the second transmission belt body 44 to rotate, so that the material receiving hopper group 3 on the second transmission belt body 44 can seamlessly receive and convey the material 12 in the next round. In this way, seamless connection and switching between the two groups of material receiving hopper groups 3 can be achieved, and efficient production rhythm can be achieved, and production efficiency can be improved.

[0058] The first driving pulley 39 is connected to the first rotating shaft 41 in a circumferentially limited manner through a tension sleeve, and the first driven pulley 40 is connected to the second rotating shaft 42 in a circumferentially movable manner through a bearing; the second driving pulley 46 is connected to the second rotating shaft 42 in a circumferentially limited manner through a tension sleeve, and the second driven pulley 47 is connected to the first rotating shaft 41 in a circumferentially movable manner through a bearing.

[0059] There are two first transmission belt bodies 38 and two second transmission belt bodies 44 , and the double belt bodies are arranged at intervals to share the load of the receiving hopper group 3 , thereby improving the load-bearing capacity and operation stability of the receiving hopper group 3 .

[0060] Specifically, combined with Fig. 9 , Fig.10 and Fig.12 As shown, the receiving hopper group 3 includes a plurality of receiving hoppers 49 distributed along the circumference of the first transmission belt body 38, and the first transmission belt body 38 and the second transmission belt body 44 are respectively provided with a plurality of receiving hopper fixing holes 50 distributed along the circumference, and the receiving hopper fixing holes 50 are provided with bolts for fixing the first transmission belt body 38 and the second transmission belt body 44 to the receiving hoppers 49 of the receiving hopper groups 3 of their respective groups.

[0061] A plurality of receiving hoppers 49 distributed along the circumference of the first transmission belt body 38 are provided to realize multi-station material receiving and conveying. The connection between the first transmission belt body 38 and the second transmission belt body 44 and their respective receiving hoppers 49 is stable and convenient for assembly and disassembly.

[0062] Specifically, combined with Fig. 9 , Fig.10 and Fig.12 As shown, an anti-stuck structure 51 is provided between the first transmission belt body 38, the second transmission belt body 44 and the receiving hopper group 3, which can prevent the material 12 from falling into the gap between the belt bodies. The anti-stuck structure 51 includes a cushion belt 52 arranged between the first transmission belt body 38, the second transmission belt body 44 and the receiving hopper 49.

[0063] The cushion belt 52 can prevent the material 12 from falling into the gap between the belt bodies, thereby solving the problem of the material 12 getting stuck in the belt body and causing the machine to stop.

[0064] Preferably, combined Fig. 9 and Fig.11 As shown, side guide bars 53 are provided on both sides of the receiving hopper group 3, and an anti-drop plate 54 is also provided on the side guide bars 53 in an inclined manner.

[0065] The side guide bars 53 on both sides of the receiving hopper group 3 are used to limit the deviation of the material 12. When the receiving hopper group 3 receives the material, the inclined anti-drop plate 54 can guide the material 12 to fall back to the receiving hopper group 3, which can significantly reduce the risk of spillage during the receiving and conveying of the material 12 by the receiving hopper group 3 and improve the sorting accuracy.

[0066] Specifically, combined with Fig.11 As shown, at least one group of receiving hopper groups 3 distributed along the circumferential direction is respectively provided on the first transmission belt body 38 and the second transmission belt body 44 .

[0067] Specifically, combined with Fig. 9 , Fig.10 and Fig.13 As shown, the material receiving hopper 49 includes a material receiving plate 55, a positioning baffle 56 is provided on the front side of the material receiving plate 55, a material receiving fixed position 57 is formed between the positioning baffles 56 of two adjacent material receiving plates 55 and the corresponding material receiving plates 55, and a rear baffle plate 58 is provided on the rear side of the material receiving plate 55 located at the end.

[0068] The material receiving fixing position 57 formed between the positioning baffles 56 of two adjacent material receiving plates 55 and the corresponding material receiving plates 55 is used to limit the deviation of the material 12, which can improve the accuracy of material receiving and conveying.

[0069] The material receiving surface of the material receiving plate 55 is an inclined surface with a slope such that the front side height of the material receiving surface is higher than the rear side height.

[0070] Specifically, combined with Figure 14-Figure 21 As shown, the belt box conveyor 5 includes a box conveyor frame 59, on which at least one box conveyor belt 60 is provided, and the box conveyor belt 60 is connected to the box conveyor frame 59 through a conveying drive assembly 61, and the box axial limiting structure 6 includes two box baffles 62 arranged above the box conveyor belt 60 and vertically distributed with the box conveyor belt 60, and a fixed bottom plate 63 is provided at the bottom of the box baffle 62, and the bottom end of the fixed bottom plate 63 is fixedly connected to the box conveyor belt 60, and a box fixed position 64 that can cooperate with the box 9 is formed between the two box baffles 62 and their respective corresponding fixed bottom plates 63.

[0071] In this embodiment, the number of filled boxes 9 pushed out synchronously by the upper box pushing mechanism 10 is consistent with the number of empty boxes 9 pushed in, which is two.

[0072] Two box conveying belts 60 are arranged on the box conveying frame 59, and the double belt design can balance the load.

[0073] The conveying drive assembly 61 can drive the box conveying belt 60 to rotate in a circular motion along the conveying direction to convey the box 9. The box fixing position 64 is used to accurately position the box 9. The box baffles 62 on both sides of the box 9 can limit the displacement of the box 9 in the length direction of the box conveying belt 60, thereby avoiding material receiving errors caused by displacement of the box 9 during the conveying process.

[0074] Specifically, combined with Figure 16-18As shown, the box conveyor belt 60 is provided with belt fixing holes 65 distributed along its circumference, and the fixed bottom plate 63 is provided with bottom plate fixing holes 66 adapted to the belt fixing holes 65 . The fixed bottom plate 63 and the box conveyor belt 60 are fixed by bolts passing through the bottom plate fixing holes 66 and the belt fixing holes 65 .

[0075] The fixed bottom plate 63 and the box conveyor belt 60 are firmly fixed and convenient to assemble and disassemble, and can be adapted to boxes 9 of various sizes through adjustment.

[0076] Specifically, combined with Figure 14-18 As shown, the conveying drive assembly 61 includes a driving wheel 67 and a driven wheel 68 respectively arranged at both ends of the box conveying belt 60, the driving wheel 67 and the driven wheel 68 are respectively connected to the box conveying frame 59 through a driving shaft 69 and a driven shaft 70, the driving shaft 69 is connected to a conveying driver 71, and a belt guide assembly 72 is also provided between the box conveying belt 60 and the box conveying frame 59.

[0077] The conveying driver 71 can drive the transmission shaft 69 to rotate to drive the transmission wheel 67 to rotate, thereby driving the box conveying belt 60 to rotate in a circular manner along the conveying direction to convey the box 9. The belt guide assembly 72 guides the box conveying belt 60 to prevent the box conveying belt 60 from deviating during the conveying process, thereby ensuring the stability of the conveying.

[0078] Specifically, combined with Figure 16-18 As shown, the belt guide assembly 72 includes two groups of belt guide members 73 distributed up and down, and each group of belt guide members 73 includes guide bars 74 respectively arranged on both sides of the box conveying belt 60. The guide bars 74 are provided with guide grooves 75 that cooperate with the side edges of the box conveying belt 60. The guide bars 74 are connected to the box conveying frame 59 through a plurality of guide bar mounting plates 76, and a guide bar support plate 77 is also provided between the guide bars 74 and the guide bar mounting plates 76.

[0079] Two groups of belt guides 73 distributed up and down cooperate with the upper and lower surfaces of the box conveyor belt 60 respectively. The guide bars 74 on both sides of the box conveyor belt 60 clamp the box conveyor belt 60. The guide grooves 75 of the guide bars 74 play a guiding role to prevent the box conveyor belt 60 from running off the track, and can suppress the vibration of the box conveyor belt 60 during rotation and improve the carrying capacity.

[0080] Specifically, combined with Fig.14 , Fig.15 and Fig.19 As shown, the upper box pushing mechanism 10 includes a pushing plate 78 arranged above the box feeding conveyor 7, a pushing driver 80 is arranged above the belt box conveyor 5 through a pushing fixing frame 79, an output rod 81 of the pushing driver 80 is connected to the pushing plate 78 through a connecting frame 82, and a pushing guide structure 83 is also arranged between the connecting frame 82 and the pushing fixing frame 79; The unloading pushing mechanism 11 includes a discharge driver 85 arranged on one side of the tail end of the belt box conveyor 5 and fixed by a discharge fixing frame 84. The driving rod 86 of the discharge driver 85 is connected to a discharge plate 87. A discharge guide structure 88 is provided between the discharge plate 87 and the discharge fixing frame 84.

[0081] The pushing guide structure 83 includes guide sliders 89 arranged at the bottom end of the pushing fixed frame 79 and located on both sides of the output rod 81, and guide rails 90 matching with the guide sliders 89 are respectively provided on both sides of the upper end of the connecting frame 82; the discharging guide structure 88 includes discharging guide rods 91 respectively arranged on both sides of the discharging driver 85, one end of the discharging guide rod 91 is connected to the discharging plate 87, and the other end is passed through the discharging guide hole 92 of the discharging fixed frame 84.

[0082] The retraction of the output rod 81 of the push drive 80 can drive the push plate 78 to move toward the material conveying belt mechanism 5. When the push plate 78 moves, it will simultaneously push a number of empty boxes 9 into the box fixing group 64 of the material conveying belt mechanism 5. During the movement of the push plate 78, the guide slide rail 90 on the connecting frame 82 slides with the guide slider 89 at the bottom end of the push fixing frame 79, which plays a role of guiding the movement of the push plate 78 to ensure that the push plate 78 will not deviate during the linear motion.

[0083] The driving rod 86 of the discharge driver 85 is extended to drive the discharge plate 87 to move toward the discharge conveyor 8. When the discharge plate 87 moves, several boxes 9 with materials are simultaneously pushed out to the discharge conveyor 8. During the movement of the discharge plate 87, the discharge guide rod 91 on the discharge plate 87 slides with the discharge guide hole 92 of the discharge fixing frame 84, which plays a role of guiding the movement of the discharge plate 87 to ensure that the linear motion of the discharge plate 87 will not be offset.

[0084] Preferably, combined Figure 14-17 As shown, a limiting structure 93 is also provided on one side of the middle section of the box conveyor frame 59, which can limit the box 9 from shifting in the box fixed position 64 along the width direction of the box conveyor belt 60 when the empty box 9 receives materials. The limiting structure 93 includes a plurality of limiting drivers 95 arranged above one side of the box conveyor frame 59 through a positioning frame 94, and the output end of the limiting driver 95 is connected to a limiting plate 96. Side baffles 97 are also provided on both sides of the box conveyor frame 59, and the side baffles 97 are connected to the box conveyor frame 59 through a height adjustment frame 98.

[0085] The output end of the limit driver 95 extends out to drive the limit plate 96 to move toward the box 9 and abut against the box 9, so as to limit the displacement of the box 9 in the box fixed position 64 along the width direction of the box conveyor belt 60, thereby avoiding the material receiving error caused by the displacement of the box 9 during the material receiving process. The middle baffle plate 97 can prevent the box 9 from overturning or shifting during material receiving and has an adjustable height, which cooperates with the limit plate 96 to achieve comprehensive protection.

[0086] Preferably, combined Fig.16 , Fig.17 , Fig.18 and Fig.21 As shown, a box shifting connection frame 99 is respectively provided between the box inlet conveyor 7 and the box outlet conveyor 8 and the box conveyor frame 59, and a plurality of box bottom surface guide plates 100 are evenly distributed on the box shifting connection frame 99. The box shifting connection frame 99 is also provided with a plurality of shifting guide structures 101 matched with the box 9, and the shifting guide structure 101 includes two box side surface guide plates 102, and the box side surface guide plates 102 are connected to the box bottom surface guide plates 100 corresponding to the bottom ends. A box guide position 103 is formed between the two box side guide plates 102 and the box bottom guide plate 100 corresponding to the bottom end. The box bottom guide plate 100 and the box side guide plate 102 are respectively provided with a bottom inclined guide plate 104 and a side inclined guide plate 105 at one end close to the sliding direction of the box 9, so that the entrance of the box guide position 103 is open; inclined guide plates 106 are respectively provided at both ends of the box baffle 62, so that the entrance of the box fixed position 64 is open.

[0087] The box guide position 103 on the box shift connection frame 99 plays a role in guiding the box 9 when the box 9 is pushed in or out for shifting, which can avoid jamming of the box 9 when it is shifted and reduce the probability of box jamming. The entrance of the box guide position 103 is open, which can make it easier for the box 9 to enter the box guide position 103. The inclined guide plates 106 at both ends of the box baffle 62 play a guiding role, which can guide the box 9 into the box fixed position 64, making it easier for the box 9 to enter and reducing the probability of box jamming.

[0088] Specifically, combined with Figure 22-Figure 25As shown, a loading conveyor belt is provided on the feeding end of the belt-type feeding conveying device 2, and a high-speed four-axis material adjustment robot 107 is provided on one side of the loading conveyor belt. The high-speed four-axis material adjustment robot 107 includes a four-axis frame 108, and a robot mounting seat 109 is provided on the four-axis frame 108. An X-axis moving mechanism 110 is provided between the robot mounting seat 109 and the four-axis frame 108, and an adsorber 111 is provided on the robot mounting seat 109. The adsorber 111 is connected to the robot mounting seat 109 through an adsorber rotation component 112 and a Z-axis lifting mechanism 113 in turn, and a Y-axis shifting mechanism 114 is provided between the Z-axis lifting mechanism 113 and the robot mounting seat 109, which can be used to adjust the position of the material 12 in the width direction of the loading conveyor belt after the adsorber 111 adsorbs the material 12.

[0089] The X-axis moving mechanism 110 and the Y-axis shifting mechanism 114 can respectively drive the adsorber 111 to move above the feeding conveyor belt along the length direction and the width direction of the feeding conveyor belt so that the adsorber 111 is located directly above the material 12 to be corrected. The X-axis moving mechanism 110 then makes the adsorber 111 move synchronously with the material 12 to be corrected along the conveying direction according to the conveying speed of the feeding conveyor belt. Then the Z-axis lifting mechanism 113 drives the adsorber 111 to descend so that the adsorber 111 adsorbs the material 12 to be corrected. Then the adsorber self-rotating assembly 112 drives the adsorber 111 to rotate, thereby driving the material 12 to be corrected to rotate until the material 12 to be corrected rotates to a uniform deflection angle. At the same time, the Y-axis shifting mechanism 114 adjusts the position of the material 12 in the width direction of the feeding conveyor belt so that the material 12 after the correction angle is located at the center position in the width direction of the feeding conveyor belt.

[0090] The Y-axis shift mechanism 114 can adjust the position of the material 12 in the width direction of the loading conveyor belt so that the material 12 is located at the center position in the width direction of the loading conveyor belt after the angle correction is completed. The central adjustment can eliminate the accumulated deviations between materials 12 at multiple stations to ensure accurate positioning of subsequent processing, and can adapt to loading conveyor belts of different widths.

[0091] Specifically, combined with Figure 22-Figure 25 As shown, the Y-axis shifting mechanism 114 includes a Y-axis slider rail assembly 115 arranged between the manipulator mounting seat 109 and the Z-axis lifting mechanism 113, and an eccentric driving assembly 116 for driving it to move along the Y-axis is provided between the Z-axis lifting mechanism 113 and the manipulator mounting seat 109. The eccentric driving assembly 116 includes a driving wheel 117 located at one end of the Y-axis slider rail assembly 115 and rotatably connected to the manipulator mounting seat 109, the driving wheel 117 is connected to the driving wheel driving unit 118, and the driving wheel 117 is connected to the Z-axis lifting mechanism 113 via a connecting rod 119 at a position deviating from the rotation center. One end of the connecting rod 119 is pivotally connected to the Z-axis lifting mechanism 113, and the other end is pivotally connected to the driving wheel 117 at a position deviating from the rotation center.

[0092] The driving wheel driving unit 118 can drive the driving wheel 117 to rotate. When the driving wheel 117 rotates, the connecting rod 119 on the driving wheel 117 that deviates from the rotation center can drive the Z-axis lifting mechanism 113 to move along the Y-axis on the manipulator mounting seat 109 through the Y-axis slider rail assembly 115, thereby driving the adsorber 111 to move along the width direction of the feeding conveyor belt to adjust the position of the material in the width direction of the feeding conveyor belt.

[0093] Specifically, combined with Fig.24 As shown, one end of the connecting rod 119 is connected to the slide 120 of the Z-axis lifting mechanism 113, and the slide 120 is located at one end of the driving wheel 117 and is provided with a driving wheel clearance groove 121. The driving wheel 117 is partially located in the driving wheel clearance groove 121, and the slide 120 is connected to the Y-axis slider rail assembly 115.

[0094] The driving wheel clearance groove 121 provides an evasive space for the driving wheel 117 and plays a role of making way. When the driving wheel 117 rotates, the connecting rod 119 can drive the slide 120 to move along the Y-axis on the manipulator mounting seat 109 through the Y-axis slider rail assembly 115.

[0095] Specifically, combined with Fig.23 and Fig.24 As shown, the driving wheel driving unit 118 includes a driving wheel driver 122 arranged at the bottom end of the manipulator mounting seat 109, the output end of the driving wheel driver 122 is passed through the manipulator mounting seat 109 to the upper end of the manipulator mounting seat 109, a driving gear 123 is sleeved on the output end of the driving wheel driver 122, a driving gear body 124 is provided on the driving wheel 117, and the driving gear 123 and the driving gear body 124 are connected by a driving belt 125.

[0096] The driving wheel driver 122 can drive the driving gear 123 to rotate, and the driving gear 123 can drive the driving wheel 117 to rotate through the driving belt 125.

[0097] Specifically, combined with Figure 23-Figure 26 As shown, the Z-axis lifting mechanism 113 includes a slide 126 connected to the Y-axis shifting mechanism 114, the slide 126 is connected to the lifting motor plate 127, the lifting motor plate 127 is provided with a lifting driving wheel 128 and a lifting driven wheel 129 distributed up and down on the Z-axis, the lifting driving wheel 128 and the lifting driven wheel 129 are connected by a lifting belt 130, the lifting driving wheel 128 is connected to a driving wheel driver 131, and the adsorber rotation assembly 112 is connected to one side of the lifting belt 130 through a lifting connecting piece 132.

[0098] The operation of the driving wheel driver 131 can drive the lifting driving wheel 128 to rotate, thereby driving the lifting belt 130 to rotate. When the lifting belt 130 rotates, it can drive the adsorber rotation component 112 to be lifted and lowered through the lifting connection member 132, thereby driving the adsorber 111 to be lifted and lowered.

[0099] Preferably, combined Fig.23 As shown, the lifting motor plate 127 is provided with limit posts 133 matching with the lifting connector 132 below the lifting driving wheel 128 and above the lifting driven wheel 129 .

[0100] The limiting column 133 cooperates with the lifting connection member 132 to form a mechanical hard limit of the lifting stroke, which can prevent over-travel damage.

[0101] Specifically, combined with Figure 23-Figure 27 As shown, the adsorber rotation assembly 112 includes a spline shaft 134, the adsorber 111 is arranged at the bottom end of the spline shaft 134, and a connecting bearing 135 is sleeved on the upper end of the spline shaft 134. The two ends of the connecting bearing 135 are respectively fixed by fixing rings 136 sleeved on the spline shaft 134, the inner ring of the connecting bearing 135 is connected to the spline shaft 134, and the outer ring of the connecting bearing 135 is connected to the connecting rotation groove 137 of the lifting connection 132. The fixed claw 138 of the lifting connection 132 is clamped on one side of the lifting belt 130.

[0102] The lifting connection 132 is rotatably connected to the spline shaft 134 through the connecting groove 137 and the connecting bearing 135. The fixed claw 138 of the lifting connection 132 is clamped on one side of the lifting belt 130 to achieve fixation. When the lifting belt 130 rotates, the lifting connection 132 can drive the spline shaft 134 to rise and fall, thereby driving the adsorber 111 to rise and fall.

[0103] Specifically, combined with Figure 23-Figure 28 As shown, a rotating fixed plate 139 is provided at the bottom end of the lifting motor plate 127, a connecting groove 140 is provided on the rotating fixed plate 139, a spline nut 141 is sleeved on the lower end of the spline shaft 134, a plurality of convex strips 142 distributed along its axial direction are provided on the spline shaft 134, a groove 143 which is axially slidingly matched with the convex strips 142 and circumferentially rotation limited is provided on the spline nut 141, a rotating pulley shaft 144 is sleeved on the spline nut 141, and the rotating pulley shaft 144 is arranged in the connecting groove 140 through a bearing seat 145 sleeved thereon, a pulley rotating driver 146 is provided on the rotating fixed plate 139, and the output end of the pulley rotating driver 146 is connected to the rotating pulley shaft 144 through a pulley belt 147.

[0104] The convex strip 142 on the spline shaft 134 and the groove 143 on the spline nut 141 are axially slidably matched and circumferentially rotated. When the lifting belt 130 rotates, the lifting connection 132 can drive the spline shaft 134 to slide in the spline nut 141 to drive the adsorber 111 to rise and fall. The pulley rotation driver 146 runs through the pulley belt 147 to drive the rotating pulley shaft 144 to rotate on the bearing seat 145, thereby driving the spline nut 141 and the spline shaft 134 to rotate to realize the rotation of the adsorber 111, so as to perform the material correction operation.

[0105] Preferably, combined Fig. 22 and Fig.23 As shown, the lifting motor plate 127 is provided with a plurality of first positioning screw holes 148, and the X-axis sliding plate 149 of the X-axis moving mechanism 110 is provided with a second positioning screw hole 150 that matches the first positioning screw hole 148. The lifting motor plate 127 and the X-axis sliding plate 149 can be fixed by positioning bolts 151 that pass through the first positioning screw hole 148 and the second positioning screw hole 150.

[0106] The lifting motor plate 127 and the X-direction sliding plate 149 can be fixedly connected. When the lifting motor plate 127 and the X-direction sliding plate 149 are fixedly connected, the adjustment robot does not have the function of adjusting the position of the material in the width direction of the transmission belt, and can be selected according to actual conditions.

[0107] The working principle of the present invention is as follows: the material 12 to be boxed is first conveyed by the feeding conveyor belt, and the adsorber 111 on the feeding conveyor belt adsorbs the material 12 and then rotates the material 12 to a uniform deflection angle, and at the same time, the Y-axis shift mechanism 114 adjusts the position of the material 12 in the width direction of the feeding conveyor belt, so that the material 12 after the deflection angle correction is located at the center position in the width direction of the feeding conveyor belt, and enters the belt feeding conveyor device 2 from the feeding end of the belt feeding conveyor device 2 through the conveyance of the feeding conveyor belt; After the multi-station differential material receiving mechanism 4 drives a group of receiving hopper groups 3 to sequentially receive the materials 12 entering the belt feeding conveyor device 2, the multi-station differential material receiving mechanism 4 continues to drive the receiving hopper group 3 to convey the materials 12 in the positive direction. At the same time, the empty boxes 9 are conveyed from the box feeding conveyor 7 to the designated position, and the upper box pushing mechanism 10 simultaneously pushes the two empty boxes 9 radially into the box axial limiting structure 6 on the belt box conveyor 5. Then the belt box conveyor 5 conveys the two empty boxes 9 to the loading position. When the material 12 to be conveyed reaches the unloading position of the belt feeding conveyor device 2, the multi-station variable distance packing manipulator 13 pushes the upper box of the receiving hopper group 3 The material 12 is moved to the empty box 9 on the belt box conveyor 5 to complete the loading. After the material 12 in the receiving hopper group 3 is transferred by the multi-station variable-distance packaging robot 13, the multi-station differential receiving mechanism 4 differentially drives the other group of receiving hopper groups 3 to rotate to receive the materials seamlessly and continuously. When the empty box 9 is loaded at the loading position, the upper box pushing mechanism 10 continues to push the empty box 9 in place into the belt box conveyor 5. After the loading of the empty box 9 is completed, the belt box conveyor 5 transports the filled box 9 to the tail end, and then the unloading pushing mechanism 11 pushes the two corresponding filled boxes 9 to the out-of-box conveyor 8, so as to continuously carry out the loading and transportation of the boxes.

[0108] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0109] Although this article uses more frame 1, belt feeding conveyor device 2, receiving hopper group 3, multi-station differential receiving mechanism 4, belt box conveyor 5, box axial limiting structure 6, in-box conveyor 7, out-box conveyor 8, box 9, upper box pushing mechanism 10, lower goods pushing mechanism 11, material 12, multi-station variable distance packing manipulator 13, receiving frame 14, XZ axis moving mechanism 15, linear guide mechanism 16, multi-station grabbing unit group 17, grabbing unit 18, displacement rod 19, linear drive 20, strip slide 21, sliding body 22, stroke adjustable component 23, adjustment hole 24, displacement drive cylinder 25, displacement cylinder front seat 26, displacement cylinder rear seat 27, slide rail 28, linear slide block 29, suction cup seat 30, extractor 31, X-axis shift Actuator 32, Z-axis mover 33, X-axis slider 34, triangular reinforcement rib 35, secondary reinforcement rib 36, belt feed frame 37, first transmission belt body 38, first active pulley 39, first driven pulley 40, first rotating shaft 41, second rotating shaft 42, first driver 43, second transmission belt body 44, second driving mechanism 45, second active pulley 46, second driven pulley 47, second driver 48, receiving hopper 49, receiving hopper fixing hole 50, anti-stuck structure 51, pad belt 52, side guide strip 53, anti-drop plate 54, receiving plate 55, positioning baffle 56, receiving fixed position 57, end baffle plate 58, box conveyor frame 59, box conveyor belt 60, conveying drive assembly 61, box baffle 62, fixed bottom plate 63, Box fixing position 64, belt fixing hole 65, bottom plate fixing hole 66, transmission wheel 67, driven wheel 68, transmission shaft 69, driven shaft 70, conveying driver 71, belt guide assembly 72, belt guide 73, guide bar 74, guide groove 75, guide bar mounting plate 76, guide bar support plate 77, push plate 78, push fixing frame 79, push driver 80, output rod 81, connecting frame 82, push guide structure 83, discharge fixing frame 84, discharge driver 85, drive rod 86, discharge plate 87, discharge guide structure 88, guide slider 89, guide slide rail 90, discharge guide rod 91, discharge guide hole 92, limit structure 93, positioning frame 94, limit driver 95, limit plate 96, side baffle 97, height adjustment frame 98 , box shift connection frame 99, box bottom guide plate 100, shift guide structure 101, box side guide plate 102, box guide position 103, bottom inclined guide plate 104, side inclined guide plate 105, inclined guide plate 106, high-speed four-axis material adjustment manipulator 107, four-axis frame 108, manipulator mounting seat 109, X-axis moving mechanism 110, adsorber 111, adsorber rotation assembly 112, Z-axis lifting mechanism 113, Y-axis shifting mechanism 114, Y-axis slider rail assembly 115, eccentric drive assembly 116, driving wheel 117, driving wheel driving unit 118, connecting rod 119, slide seat 120, driving wheel clearance groove 121, driving wheel driver 122, driving gear 123, driving gear body 124,The driving belt 125, the slide 126, the lifting motor plate 127, the lifting driving wheel 128, the lifting driven wheel 129, the lifting belt 130, the driving wheel driver 131, the lifting connecting piece 132, the limiting column 133, the spline shaft 134, the connecting bearing 135, the fixing ring 136, the connecting rotating groove 137, the fixing clamping claw 138, the rotating fixing plate 139, the connecting groove 140, the spline nut 141, the convex strip 142, the groove 143, the rotating pulley shaft 144, the bearing seat 145, the pulley rotating driver 146, the pulley belt 147, the first positioning screw hole 148, the X-direction sliding plate 149, the second positioning screw hole 150, etc., these terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A packing machine, characterized in that: The invention comprises a frame (1), wherein the frame (1) is provided with a belt-type feeding conveyor device (2), at least two groups of receiving hopper groups (3) are provided on the belt-type feeding conveyor device (2), and a multi-station differential receiving mechanism (4) capable of differentially driving the receiving hopper group (3) to rotate is provided between the receiving hopper group (3) and the feeding conveyor device (2); A belt box conveyor (5) for conveying boxes (9) is provided on one side of the belt feeding conveyor (2), and a plurality of box axial limiting structures (6) distributed along the circumferential direction are provided on the belt box conveyor (5); an inlet conveyor (7) and an outlet conveyor (8) are provided at both ends of the belt box conveyor (5) located away from the belt feeding conveyor (2); an upper box pushing mechanism (10) capable of simultaneously pushing at least two boxes (9) radially is provided between the inlet conveyor (7) and the belt box conveyor (5); and a lower box pushing mechanism (11) capable of simultaneously pushing at least two boxes (9) radially is provided between the outlet conveyor (8) and the belt box conveyor (5); A multi-station variable-distance box loading robot (13) is provided between the belt feeding conveyor device (2) and the belt box conveyor (5) for moving the material (12) on the receiving hopper group (3) into the upper box (9) of the belt box conveyor (5).

2. The case packing machine according to claim 1, characterized in that: The multi-station variable-distance packing robot (13) comprises a material receiving frame (14), the material receiving frame (14) is connected to the frame body (1) via an XZ axis moving mechanism (15), a linear guide mechanism (16) is provided at the bottom of the material receiving frame (14), at least one group of multi-function grabbing unit groups (17) is provided on the linear guide mechanism (16), each group of multi-function grabbing unit groups (17) comprises N grabbing units (18) distributed along the linear direction of the linear guide mechanism (16), N≥3, one of the grabbing units (18) is linearly fixed on the linear guide mechanism (16), and the remaining grabbing units (18) are movably connected to the linear guide mechanism (16); two adjacent grabbing units (18) are respectively connected to the two ends of a displacement rod (19), and one of the grabbing units (18) is linearly movable with one end of the displacement rod (19) in a limited manner; and two grabbing units (18) located at the two ends of the N grabbing units (18) are respectively connected to the two ends of a linear driver (20).

3. The case packing machine according to claim 2, characterized in that: One end of the displacement rod (19) is provided with a strip slide groove (21), and a sliding body (22) capable of sliding along the strip slide groove (21) is provided in the strip slide groove (21), and the sliding body (22) is connected to one of the grabbing units (18); a stroke adjustable component (23) is provided between the other end of the displacement rod (19) and another grabbing unit (18); the stroke adjustable component (23) includes a plurality of adjustment holes (24) arranged on the displacement rod (19) and distributed along its length direction, and the grabbing unit (18) is fixed to one of the adjustment holes (24) by a bolt.

4. The case packing machine according to claim 2, characterized in that: The linear actuator (20) comprises a displacement drive cylinder (25), and two ends of the displacement drive cylinder (25) are respectively connected to two gripping units (18) at two ends of the N gripping units (18); One end of the displacement drive cylinder (25) is connected to a gripping unit (18) at one end via a displacement cylinder front seat (26), and the other end is connected to a gripping unit (18) at the other end via a displacement cylinder rear seat (27), and the displacement drive cylinder (25) is located on the side of the linear guide mechanism (16); any two linearly adjacent displacement pull rods (19) are respectively located on both sides of the gripping unit (18).

5. The case packing machine according to claim 2, characterized in that: The linear guide mechanism (16) comprises a slide rail (28) arranged at the bottom of the material receiving rack (14), the slide rail (28) being provided with linear sliders (29) equal in number to the number of the grabbing units (18), and bolts which can be used to abut against the slide rail (28) to achieve immovability are passed through the linear sliders (29).

6. The case packing machine according to any one of claims 1 to 5, characterized in that: The multi-station differential material receiving mechanism (4) comprises at least one first transmission belt body (38) arranged on a belt feeding frame (37) of a belt feeding conveyor device (2); a first driving pulley (39) and a first driven pulley (40) are respectively arranged at both ends of the first transmission belt body (38); the first driving pulley (39) and the first driven pulley (40) are respectively connected to the belt feeding frame (37) via a first rotating shaft (41) and a second rotating shaft (42); the first rotating shaft (41) is connected to a first driver (43); a material receiving hopper group (3) is arranged on the first transmission belt body (38); at least one second transmission belt body (44) parallel to the first transmission belt body (38) is also arranged at the bottom of the material receiving hopper group (3); the second transmission belt body (44) is connected to a second driving mechanism (45) capable of differentially driving another group of material receiving hopper groups (3) to rotate with the first transmission belt body (38).

7. The case packing machine according to claim 6, characterized in that: The second driving mechanism (45) comprises a second driving pulley (46) and a second driven pulley (47) respectively arranged at two ends of the second transmission belt body (44); the second driving pulley (46) and the second driven pulley (47) are respectively arranged on the second rotating shaft (42) and the first rotating shaft (41); the first driving pulley (39) and the second driving pulley (46) are respectively connected to the first rotating shaft (41) and the second rotating shaft (42) in a circumferentially limited manner; and the first driven pulley (40) and the second driven pulley (47) are respectively connected to the second rotating shaft (42) and the first rotating shaft (41) in a circumferentially movable manner; The first driving pulley (39) is connected to the first rotating shaft (41) via a tension sleeve, and the first driven pulley (40) is connected to the second rotating shaft (42) via a bearing; the second driving pulley (46) is connected to the second rotating shaft (42) via a tension sleeve, and the second driven pulley (47) is connected to the first rotating shaft (41) via a bearing; The first transmission belt body (38) and the second transmission belt body (38) each have two belts and are axially spaced apart and distributed along the first rotating shaft (41) and the second rotating shaft (42).

8. The case packing machine according to any one of claims 1 to 5, characterized in that: The belt-type box conveyor (5) comprises a box conveyor frame (59), on which at least one box conveyor belt (60) is arranged, and the box conveyor belt (60) is connected to the box conveyor frame (59) via a conveying drive assembly (61); the box axial limiting structure (6) comprises two box baffles (62) arranged above the box conveyor belt (60) and vertically distributed with the box conveyor belt (60); a fixed bottom plate (63) is provided at the bottom of the box baffle (62); the bottom end of the fixed bottom plate (63) is fixedly connected to the box conveyor belt (60); and a box fixing position (64) that can cooperate with the box (9) is formed between the two box baffles (62) and their corresponding fixed bottom plates (63).

9. The case packing machine according to claim 8, characterized in that: The upper box pushing mechanism (10) comprises a pushing plate (78) arranged above the box feeding conveyor (7); a pushing driver (80) is arranged above the belt box conveyor (5) via a pushing fixed frame (79); an output rod (81) of the pushing driver (80) is connected to the pushing plate (78) via a connecting frame (82); a pushing guide structure (83) is also arranged between the connecting frame (82) and the pushing fixed frame (79); The unloading pushing mechanism (11) comprises a discharge driver (85) arranged at one side of the rear end of the belt box conveyor (5) and fixed by a discharge fixing frame (84); a driving rod (86) of the discharge driver (85) is connected to a discharge plate (87); and a discharge guide structure (88) is provided between the discharge plate (87) and the discharge fixing frame (84).

10. The case packing machine according to any one of claims 1 to 5, characterized in that: The feeding end of the belt-type feeding conveyor device (2) is provided with a feeding conveyor belt, and a high-speed four-axis material adjustment robot (107) is provided on one side of the feeding conveyor belt. The high-speed four-axis material adjustment robot (107) comprises a four-axis frame (108), and a robot mounting seat (109) is provided on the four-axis frame (108). An X-axis moving mechanism (110) is provided between the robot mounting seat (109) and the four-axis frame (108). An adsorbent (111) is provided on the robot mounting seat (109), and the adsorbent (111) is connected to the robot mounting seat (109) in sequence through an adsorbent rotation component (112) and a Z-axis lifting mechanism (113). A Y-axis shifting mechanism (114) is provided between the Z-axis lifting mechanism (113) and the robot mounting seat (109) and can be used to adjust the position of the material (12) in the width direction of the feeding conveyor belt after the adsorbent (111) adsorbs the material (12).

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