Package stacking device and method

Abstract

The invention relates to a package stacking device and method, and the device comprises a carton feeding unit which comprises a feeding bin and a material taking robot; the box opening unit comprises a box opening assembly, a first transferring assembly, a bottom sealing assembly, a second transferring assembly, a carton positioning assembly and a third transferring assembly; the product input unit comprises a product conveying line, a code scanning assembly, a product positioning assembly and a boxing robot; the carton output unit comprises a carton conveying line, a cover sealing assembly, a marking and labeling assembly, a detection assembly and a stacking robot. The full-process automation of carton feeding, carton forming, product placing, capping, marking and labeling, detecting and stacking is achieved, and the problems of low efficiency and unstable quality caused by manual operation are solved. The carton forming precision is improved, the attaching tightness of the bottom sealing adhesive tape is enhanced, the product placing position consistency is improved, the detection and stacking operation coherence is optimized, the overall production efficiency is remarkably improved, and the labor cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging, and in particular to a packaging and palletizing device and method. Background Art

[0002] With the continuous development of modern industry, the technology behind automated machinery for packaging and palletizing medicine bottles is constantly innovating. While some highly efficient equipment currently available on the market offers features such as automatic identification, sorting, and palletizing, numerous technical bottlenecks remain in actual production. In particular, existing equipment often struggles to fully automate critical processes such as carton forming, product placement, and overall palletizing. Traditional manual operations require workers to manually complete a series of tedious processes, including carton folding, bottom gluing, product placement, lid sealing, online labeling, inspection, and side labeling. Finally, the finished products must be manually palletized. This labor-intensive and inefficient process is also susceptible to human error, resulting in inconsistent product quality and difficulty improving production efficiency. Furthermore, manual operations face the real pressure of rising labor costs. Existing automated equipment still has significant shortcomings in automated carton forming, precise positioning, product placement, and multi-process collaboration, failing to meet the high efficiency, quality, and cost-effectiveness requirements of modern production. Automating the entire process, from carton forming to finished product palletizing, remains a pressing technical challenge in this field. Summary of the Invention

[0003] To this end, the present invention provides a fully automated packaging and palletizing device and packaging and palletizing method for achieving packaging and palletizing.

[0004] To solve the above technical problems, the present invention provides a packaging and palletizing device for packing products into a carton, wherein the carton includes two opposite side walls and two opposite end walls, wherein one of the side walls is provided with an upper cover on one end facing the box top for folding and snapping the box opening, and the end wall is provided with an upper folding edge on one end facing the box top for folding to the inside of the upper cover, and the side wall and the end wall are both provided with lower folding edges on their ends facing the box bottom for folding to form the box bottom. The packaging and palletizing device comprises: The carton feeding unit includes a feeding bin and a picking robot. The feeding bin is used to accommodate and position multi-layer cartons in a flat state. The picking robot is used to pick up the side wall of the upper layer of the top carton in the feeding bin, drive the carton to rise and fall, drive the bottom of the carton to turn downward, and drive the carton to move horizontally along the positive direction of the horizontal X-axis to above the unpacking station; The unpacking unit comprises an unpacking assembly, a first transfer assembly, a bottom sealing assembly, a second transfer assembly, a carton positioning assembly and a third transfer assembly, wherein the unpacking assembly is provided at the unpacking station and is used for forming the side wall shape of the carton, the upper folding edge and the lower folding edge on the end wall of the folding carton and the lower folding edge of the side wall of the folding carton, the first transfer assembly is used for transferring the carton at the unpacking station to the bottom sealing station along the positive direction of the horizontal X-axis, the bottom sealing assembly is provided at the bottom sealing station and is used for pasting adhesive tape on the lower folding edge of the side wall of the carton at the bottom sealing station, the second transfer assembly is used for transferring the carton at the bottom sealing station to the carton positioning station, the carton positioning assembly is provided at the carton positioning station and is used for positioning the carton at the carton positioning station, and the third transfer assembly is used for transferring the carton at the carton positioning station to the capping station; The product input unit includes a product conveyor line, a code scanning component, a product positioning component, and a boxing robot. The product conveyor line is used to support products and drive them horizontally to the code scanning station and the product positioning station in sequence. The code scanning component is used to scan the products that arrive at the code scanning station. The product positioning component is used to position the products that arrive at the product positioning station. The boxing robot is used to grab the products that arrive at the product positioning station and place them in the cartons on the boxing station. The carton output unit includes a carton conveyor line, a capping assembly, a marking and labeling assembly, a detection assembly and a palletizing robot. The carton conveyor line is used to receive and support the cartons arriving at the capping station and drive the cartons to move in sequence along the positive direction of the horizontal X-axis to the marking and labeling station, the detection station and the unloading station; the capping assembly is used to buckle the upper cover of the carton on the capping station; the marking and labeling assembly is used to mark and label the cartons on the marking and labeling station; the detection assembly is used to detect the cartons at the detection station; the palletizing robot is used to grab the cartons arriving at the unloading station and stack the cartons on the pallet.

[0005] Furthermore, the carton feeding unit includes two feeding bins, and the two feeding bins are switched for use.

[0006] Furthermore, the unpacking station includes a first unpacking area and a second unpacking area, and the picking robot drives the cartons to move in sequence along the positive direction of the horizontal X-axis to above the first unpacking area and the second unpacking area; The unpacking components include: A side wall pull-down mechanism is provided in the first carton opening area and includes a suction cup and a suction cup lifting and driving device. The suction cup is used to suck the side wall of the lower layer of the carton. The suction cup lifting and driving device is used to drive the side wall and end wall of the carton to deform to be perpendicular to each other. An end wall guide plate mechanism is provided in the first unpacking area and includes two end wall guide plates spaced apart along the horizontal X-axis direction, with an end wall guide groove formed between the two end wall guide plates. The width of the end wall guide groove gradually increases in a direction away from the groove bottom. The end wall guide plates are used to guide the end wall of the carton downward; A folding plate mechanism, provided in the first unpacking area, comprising a folding plate and a rotary drive device, wherein the folding plate is used to push the lower and upper folding edges connected to the end walls of the cartons at the first unpacking station to fold inward, and the rotary drive device is used to drive the folding plate to rotate in a vertical direction; The folding guide mechanism is arranged in the second unpacking area, and includes two folding guides arranged at a distance along the horizontal Y-axis direction. A folding guide groove is formed between the two folding guides. The groove width of the folding guide groove gradually increases in the direction away from the bottom of the groove. The folding guide is used to guide the lower folding edge connected to the side wall of the carton to fold inward.

[0007] Furthermore, an inserting edge is connected to one end of the upper cover away from the side wall, and the inserting edge includes an inner inserting edge portion located in the middle and outer inserting edge portions located on both sides, and the inner inserting edge portion is disconnected from the outer inserting edge portion; The cover assembly comprises: The folding support mechanism includes a support rod and a support rod translation drive device, wherein the support rod is used to support the lower side of the upper cover of the carton when folding the inserting edge, and the support rod translation drive device is used to drive the support rod to move along the horizontal X-axis direction to a position where it supports the lower side of the upper cover of the carton; Upper cover side pushing mechanism, side push rod and side push rod translation drive device, the side push rod is used to push the upper cover of the carton to a position close to the support rod when folding and inserting the edge, and the side push rod translation drive device is used to drive the side push rod to move along the horizontal Y-axis direction; The folding pressing mechanism includes a first pressing rod and a first pressing rod lifting and lowering driving device, wherein the first pressing rod is used to press down and fold the inserting edge of the carton to a position perpendicular to the upper cover of the carton during inserting and folding, and the first pressing rod lifting and lowering driving device is used to drive the first pressing rod to rise and fall in the vertical direction; The side inserting guide mechanism includes a side inserting guide, a guide plate lifting drive device, and a guide plate translation drive device. The upper end of the side inserting guide is inclined toward the side of the carton, and is used to guide the outer side of the inserting edge to form an obtuse angle with the upper cover of the carton and to be fastened to the outer side of the side wall of the carton when the side inserting edge is fastened. The guide plate lifting drive device is used to drive the side inserting guide to move in the vertical direction to the box opening position of the carton. The guide plate translation drive device is used to drive the side inserting guide to approach the side wall of the carton along the horizontal Y-axis direction; The side inserting and pressing mechanism includes a second pressing rod and a second pressing rod lifting and driving device. The second pressing rod is used to press the side inserting and fastening the carton to the inner side of the side wall of the carton when the side inserting and fastening are performed. The second pressing rod lifting and driving device is used to drive the second pressing rod to lift and lower in the vertical direction.

[0008] Furthermore, the detection component is a visual detection component.

[0009] Furthermore, the first transfer assembly is a push plate assembly for pushing the end wall of the carton; The second transfer assembly is a side transmission assembly, which is used to frictionally transmit the side wall of the carton; The third transfer assembly is a support transmission assembly, which is used to support and drive the carton to move.

[0010] Furthermore, the second transfer assembly, the third transfer assembly and the carton conveyor line are all belt assemblies.

[0011] The present invention also provides a packaging and palletizing method, comprising the following steps: S1. Provide the packaging and palletizing device; S2, the picking robot picks up the side wall of the uppermost carton in the feeding bin and moves to the top of the unpacking station; S3, the shape of the side walls of the carton formed by the unpacking assembly, the upper and lower folding edges on the end walls of the folding carton, and the lower folding edges on the side walls of the folding carton; S4, the first transfer component transfers the carton to the bottom sealing station; S5, the bottom cover assembly affixes the tape to the lower folded edge of the side wall of the carton; S6. The second transfer assembly transfers the carton to the carton positioning station; S7, the carton positioning component positions the carton; S8, the packing robot grabs the product on the product positioning station and packs the product into the carton on the carton positioning station; S9, the third transfer assembly transfers the carton to the carton conveyor line; S10, the carton conveyor line drives the cartons to the capping station; S11, the cover assembly fastens the upper cover of the carton; S12, the carton conveyor line drives the cartons to the labeling station; S13, the labeling component labels the carton; S14, the carton conveyor line drives the carton to the inspection station; S15, the detection component detects the carton; S16, the carton conveyor line transfers the carton to the unloading station; S17: The palletizing robot grabs the carton and transfers the carton to a pallet.

[0012] Furthermore, step S3 includes the following sub-steps: S3-1, the side wall pulling-down mechanism sucks the side wall of the lower layer of the carton and drives the lower layer of the side wall downward. During this process, the end wall guide mechanism guides the end wall of the carton downward; S3-2, the folding plate mechanism folds the lower folding edge connected to the end wall of the carton inward 90 degrees; S3-3, the retrieving robot transfers the carton to above the second unpacking area; S3-4, the retrieving robot rotates the bottom of the carton to a downward direction; S3-5, the retrieving robot drives the carton downward, during which the folding guide mechanism guides the carton's side wall to be folded 90 degrees inwardly into the lower folding box; S3-6. The picking robot releases the carton.

[0013] Furthermore, step S11 includes the following sub-steps: S11-1, the support rod translation driving device drives the support rod to translate to a position supporting the upper cover of the carton; S11-2, the side push rod translation driving device drives the side push rod to move along the horizontal Y-axis direction to push the upper cover of the carton to a position where it is in contact with the inner surface of the upper cover of the carton; S11-3, the first lower pressure rod lifting and driving device drives the first lower pressure rod to descend, pressing the inserting edge of the carton down to a position perpendicular to the upper cover; S11-4, the support rod translation driving device drives the support rod to leave the position of supporting the upper cover of the carton; S11-5, the guide plate lifting drive device drives the edge inserting guide plate upward to the box opening position of the carton; S11-6, the guide plate translation driving device drives the edge inserting guide plate to a position close to the side wall of the carton; S11-7, the second down-pressing rod lifting and lowering driving device drives the second down-pressing rod to descend, and the inner inserting edge of the inserting edge is fastened to the inner side of the side wall of the carton, and the outer inserting edge of the inserting edge remains on the outer side of the side wall of the carton under the guidance of the inserting edge guide plate.

[0014] The above technical solution of the present invention has the following advantages over the prior art: The packaging and palletizing device and method of the present invention, by providing a carton feeding unit, a carton unpacking unit, a product input unit, and a carton output unit, automates the entire process from carton feeding, carton forming, product placement, capping, labeling, inspection, and palletizing, eliminating the inefficiencies and inconsistent quality caused by manual operations. This improves carton forming accuracy, enhances the tightness of the back cover tape, improves the consistency of product placement, and optimizes the continuity of inspection and palletizing operations, significantly increasing overall production efficiency and significantly reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the carton in the present invention when it is in a flat state; Figure 2 This is an overall axial view of the packaging and palletizing device of the present invention; Figure 3 This is an axial view of the carton feeding unit of the present invention; Figure 4 This is an axial view of the unpacking unit, product input unit, and carton output unit of the present invention; Figure 5 for Figure 4 A partial enlarged view of Figure 6 This is a front view of the unpacking unit, product input unit, and carton output unit of the present invention; Figure 7 for Figure 6 A partial enlarged view of Figure 8 is a three-dimensional diagram of the cover assembly of the present invention; Figure 9 It is a side view of the cover assembly of the present invention.

[0017] Description of the accompanying drawings: a, product; b, carton; b1, side wall; b2, end wall; b3, upper cover; b4, upper folding edge; b5, lower folding edge; b6, inserting edge; 1. Carton feeding unit; 11. Feeding bin; 12. Retrieving robot; 2. Carton unpacking unit; 21. Carton unpacking assembly; 211. Side wall pull-down mechanism; 2111. Suction cup; 2112. Suction cup lifting drive device; 212. End wall guide mechanism; 2121. End wall guide; 213. Folding plate mechanism; 2131. Folding plate; 2132. Rotation drive device; 214. Folding guide mechanism; 2141. Folding guide; 22. Bottom cover assembly; 23. Second transfer assembly; 24. Carton positioning assembly; 25. Third transfer assembly; 3. Product input unit; 31. Product conveyor line; 32. Code scanning component; 33. Product positioning component; 34. Packing robot; 4. Carton output unit; 41. Carton conveyor line; 42. Capping assembly; 421. Folding support mechanism; 4211. Support rod; 4212. Support rod translation drive device; 422. Upper cover side push mechanism; 4221. Side push rod; 4222. Side push rod translation drive device; 423. Folding pressing mechanism; 4231. First pressing rod; 4232. First pressing rod lifting drive device; 424. Side guide mechanism; 4241. Side guide; 4242. Guide lifting drive device; 4243. Guide translation drive device; 425. Side pressing mechanism; 4251. Second pressing rod; 4252. Second pressing rod lifting drive device; 43. Labeling and labeling assembly; 44. Inspection assembly; 45. Palletizing robot. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0019] Example 1: See Figures 1 to 9 FIG. 1 shows an embodiment of a packaging and palletizing device provided by the present invention.

[0020] The above-mentioned packaging and palletizing device is used to load product a into a carton b. The above-mentioned carton b includes two opposite side walls b1 and two opposite end walls b2. One of the above-mentioned side walls b1 is provided with an upper cover b3 on the end facing the top of the box for folding and snapping the box opening. The end of the above-mentioned end wall b2 is provided with an upper folding edge b4 on the end facing the top of the box for folding to the inner side of the above-mentioned upper cover. The ends of the above-mentioned side wall b1 and the above-mentioned end wall b2 facing the bottom of the box are both provided with lower folding edges b5 on the ends facing the bottom of the box for folding to form the bottom of the box.

[0021] In the above, carton b has a planar state and a three-dimensional state. When carton b is in a planar state, one of the side walls b1 and one of the end walls b2 and the upper folding edge b4 and the lower folding edge b5 connected to them are located in the upper layer, and the other side wall b1 and the other end wall b2 and the upper cover b3, the upper folding edge b4 and the lower folding edge b5 connected to them are located in the lower layer; when carton b is in a three-dimensional state, the side wall b1 and the end wall b2 and the lower folding edge b5 are perpendicular to each other, the upper cover b3 and the lower folding edge b5 are parallel, and the carton b is in the shape of a rectangular parallelepiped.

[0022] The above-mentioned packaging and palletizing device includes: The carton feeding unit 1 includes a feeding bin 11 and a picking robot 12. The feeding bin 11 is used to accommodate and position multi-layer flat cartons b. The picking robot 12 is used to pick up the side wall of the upper layer of the top carton b in the feeding bin 11, drive the carton b to rise and fall, drive the bottom of the carton b to turn downward, and drive the carton b to move horizontally along the positive direction of the horizontal X-axis to above the unpacking station; The unpacking unit 2 is provided at the unpacking station, and includes an unpacking assembly 21, a first transfer assembly (not shown in the figure), a bottom sealing assembly 22, a second transfer assembly 23, a carton positioning assembly 24 and a third transfer assembly 25. The unpacking assembly 21 is used to shape the side wall of the carton b, fold the upper and lower folding edges on the end wall of the carton b, and fold the lower folding edge of the side wall of the carton b. The first transfer assembly is used to transfer the carton b at the unpacking station along the positive direction of the horizontal X axis to the bottom of the carton b. Bottom sealing station, the bottom sealing assembly 22 is provided at the bottom sealing station, and is used to stick tape on the lower folded edge of the side wall of the carton b at the bottom sealing station. The second transfer assembly 23 is used to transfer the carton b at the bottom sealing station to the carton positioning station. The carton positioning assembly 24 is provided at the carton positioning station, and is used to position the carton b at the carton positioning station. The third transfer assembly 25 is used to transfer the carton at the carton positioning station to the capping station. The product input unit 3 includes a product conveyor line 31, a code scanning component 32, a product positioning component 33, and a boxing robot 34. The product conveyor line 31 is used to support product a and drive product a horizontally to the code scanning station and the product positioning station in sequence. The code scanning component 32 is used to scan product a that arrives at the code scanning station. The product positioning component 33 is used to position product a that arrives at the product positioning station. The boxing robot 34 is used to grab product a that arrives at the product positioning station and place product a into the carton b on the boxing station. The carton output unit 4 includes a carton conveyor line 41, a capping assembly 42, a marking and labeling assembly 43, a detection assembly 44 and a palletizing robot 45. The carton conveyor line 41 is used to receive and support the carton b arriving at the capping station and drive the carton b to move in sequence along the positive direction of the horizontal X-axis to the marking and labeling station, the detection station and the unloading station; the capping assembly 42 is used to buckle the upper cover of the carton b on the capping station; the marking and labeling assembly 43 is used to mark and label the carton b on the marking and labeling station; the detection assembly 44 is used to detect the carton b at the detection station; the palletizing robot 45 is used to grab the carton b arriving at the unloading station and stack the carton b on the pallet.

[0023] In the above illustration, feed silo 11 is used to stack and store flat cartons (b). Retrieving robot 12 is an intelligent device that uses automation to grasp, transport, and sort materials. Its core function is to replace manual labor in accurately retrieving materials from designated locations (such as shelves, assembly lines, feed silos, etc.) and placing them at the target location as needed.

[0024] The unpacking assembly 21 forms the walls and bottom of carton b. The first, second, and third transfer assemblies 23 and 25 transfer the carton. The bottom sealing assembly 22 cuts and applies the tape to the lower hem where the side walls meet. The carton positioning assembly 24 abuts carton b, restricting its horizontal movement and positioning it in a predetermined position to facilitate accurate loading of product a into carton b.

[0025] The product conveyor line 31 is an automated equipment system that uses a mechanical device with continuous or intermittent motion to transport finished product a along a set path. The code scanning component 32 is a software module or tool that integrates code scanning functionality. It is typically used to quickly identify various barcode information such as QR codes and barcodes, and pass the recognition results to the application for subsequent processing. The product positioning component 33 is used to abut product a and limit the horizontal movement of product a, thereby positioning product a in a preset position to facilitate the subsequent accurate packaging of product a into carton b. The boxing robot 34 is an intelligent device that uses automation technology to perform cargo boxing operations. It is mainly used to replace manual labor to complete repetitive and high-intensity boxing tasks.

[0026] The carton conveyor line 41 is an automated conveying device specifically designed for transporting cartons, paper boxes, and other packaging containers. Its core function is to continuously or intermittently convey cartons along a predetermined path through a mechanical transmission system, achieving efficient material flow through production, packaging, and warehousing. The capping assembly 42 is an automated mechanical device specifically designed for carton packaging. Its primary function is to fold and secure the carton lids (top and side covers) in a predetermined manner, replacing manual sealing operations. The labeling assembly 43 is a core functional unit in an automated packaging or labeling system. It is used to apply identification information to cartons b. It includes labeling and direct marking functions, and can be used individually or in combination. The inspection assembly 44 is used to inspect the lid fastening and labeling of cartons b. The palletizing robot 45 uses a robotic arm to automatically stack cartons b.

[0027] Specifically, the packaging and palletizing method of the packaging and palletizing device includes the following steps: S1. Provide the above-mentioned packaging and palletizing device; S2, the picking robot 12 picks up the side wall of the uppermost carton b in the feeding bin 11 and moves to the top of the unpacking station; S3, the above-mentioned unpacking assembly 21 forms the shape of the side wall of the carton b, the upper and lower folding edges on the end wall of the folding carton b, and the lower folding edge on the side wall of the folding carton b; S4, the first transfer assembly transfers carton b to the bottom sealing station; S5, the bottom cover assembly 22 affixes the adhesive tape to the lower folded edge of the side wall of the carton b; S6, the second transfer assembly 23 transfers the carton to the carton positioning station; S7, the carton positioning component 24 positions the carton; S8, the packing robot 34 grabs the product a on the product positioning station and packs the product into the carton b on the carton positioning station; S9, the third transfer assembly 25 transfers the carton b to the carton conveyor line 41; S10, the carton conveyor line 41 drives the carton b to the capping station; S11, the cover assembly 42 fastens the upper cover of the carton b; S12, the carton conveyor line 41 drives the carton b to the labeling station; S13, the labeling component 43 labels the carton b; S14, the carton conveyor line 41 drives the carton b to the inspection station; S15, the detection component 44 detects the carton b; S16, the carton conveyor line 41 transfers the carton b to the unloading station; S17, the palletizing robot 45 grabs the carton and transfers it to the pallet.

[0028] The above technical solution, through the installation of carton feeding unit 1, unpacking unit 2, product input unit 3, and carton output unit 4, realizes the automation of the entire process of carton feeding, carton forming, product placement, capping, labeling, inspection, and palletizing, eliminating the inefficiency and inconsistent quality caused by manual operations. The carton forming accuracy is improved, the adhesion of the bottom sealing tape is enhanced, the consistency of product placement is improved, and the continuity of inspection and palletizing operations is optimized, which significantly improves overall production efficiency and significantly reduces labor costs.

[0029] In this embodiment, the carton feeding unit 1 includes two feeding bins 11 , and the two feeding bins 11 are used in a switchable manner.

[0030] In the above, the two feeding bins 11 refer to two independently arranged carton storage containers. Each feeding bin 11 has a cavity structure that can accommodate multiple layers of flat cartons (b). The two feeding bins 11 are arranged horizontally in parallel and share the operating range of the same retrieving robot 12, avoiding feeding interruptions caused by insufficient capacity of a single feeding bin. Switching operation refers to the two feeding bins 11 alternately entering the feeding operation state under the control of the control system. When one feeding bin 11 is in the carton grabbing operation stage, the other feeding bin synchronously performs carton replenishment or pre-positioning operations.

[0031] Through the above technical solution, two feeding bins 11 are set up to achieve seamless operation of the carton feeding unit 1, avoiding production line stagnation caused by replenishing cartons, so that subsequent carton forming, product placement and palletizing can continue to operate, significantly improving the overall production efficiency and automation level of the packaging and palletizing device.

[0032] In this embodiment, the above-mentioned unpacking station includes a first unpacking area and a second unpacking area. The above-mentioned material-retrieving robot 12 drives the carton b to move in sequence along the positive direction of the horizontal X-axis to above the first unpacking area and the second unpacking area; The unpacking assembly 21 includes: The side wall pulling-down mechanism 211 is provided in the first unpacking area and includes a suction cup 2111 and a suction cup lifting and driving device 2112. The suction cup 2111 is used to suck the side wall of the lower layer of carton b, and the suction cup lifting and driving device 2112 is used to drive the side wall and end wall of carton b to deform to be perpendicular to each other. The end wall guide plate mechanism 212 is provided in the first unpacking area and includes two end wall guide plates 2121 spaced apart along the horizontal X-axis. An end wall guide groove is formed between the two end wall guide plates 2121. The width of the end wall guide groove gradually increases away from the groove bottom. The end wall guide plates 2121 are used to guide the end wall of the carton b downward. The folding plate mechanism 213 is provided in the first unpacking area and includes a folding plate 2131 and a rotary drive device 2132. The folding plate 2131 is used to push the lower and upper folding edges connected to the end walls of the carton B at the first unpacking station to fold inward. The rotary drive device 2132 is used to drive the folding plate 2131 to rotate in a vertical direction. The folding guide mechanism 214 is arranged in the above-mentioned second unpacking area, and includes two folding guide plates 2141 arranged at a distance along the horizontal Y-axis direction. A folding guide groove is formed between the above-mentioned two folding guide plates 2141. The groove width of the above-mentioned folding guide groove gradually increases in the direction away from the bottom of the groove. The above-mentioned folding guide plate 2141 is used to guide the lower folding edge connected to the side wall of the carton b to fold inward.

[0033] The two side walls b1 and two end walls b2 of carton b are respectively arranged at the four sides of a parallelogram. When the side wall pull-down mechanism 211 drives the lower side wall of side wall b1 downward, the distance between the side walls b1 increases, thereby causing the end walls b2 of carton 1 to deform, ultimately stretching the flat parallelogram into a rectangle. The end wall guide mechanism 212 has an end wall guide groove that extends along the horizontal Y-axis. Carton b enters the end wall guide groove from top to bottom, positioning the deformed carton body in the end wall guide groove. The folding plate mechanism 213 pushes the lower folded edge connected to the end walls of carton b inward to a horizontal state. The folding edge guide mechanism 214 has a folding edge guide groove that extends along the positive direction of the horizontal X-axis. Carton b enters the folding edge guide groove from top to bottom. When carton b descends, the lower folded edge connected to the side walls folds inward due to the reaction force of the folding edge guide groove. After carton b descends to a predetermined position, the rotary drive device 2132 drives the corresponding folding plate 2131 to rotate about a vertical axis. During this rotation, the folding plate 2131 contacts the lower and upper hems connected to the end walls of carton b, applying a uniform horizontal thrust, forcing the lower and upper hems connected to the end walls of carton b to fold inward along a predetermined path. After folding, the lower and upper hems connected to the end walls of carton b are perpendicular to the horizontal Y-axis.

[0034] Specifically, the above step S3 includes the following sub-steps: S3-1. The side wall pulling-down mechanism 211 sucks the side wall of the lower layer of carton b and drives the lower layer of the side wall downward. During this process, the end wall guide mechanism 212 guides the end wall of carton b downward. S3-2, the folding plate mechanism 213 folds the lower folding edge connected to the end wall of the carton b inward 90 degrees; S3-3, the retrieving robot 12 transfers the carton b to the upper part of the second unpacking area; S3-4, the retrieving robot 12 rotates the bottom of the carton b to face downward; S3-5. The retrieving robot 12 drives the carton b downward. During this process, the folding guide mechanism 214 guides the side wall of the carton b to be folded 90 degrees inwardly in the lower folding box. S3-6. The above-mentioned material-retrieving robot 12 releases the carton b.

[0035] Through the above technical solution, the side wall pull-down mechanism 211, the end wall guide mechanism 212, the folding plate mechanism 213 and the folding guide mechanism 214 are provided to realize the forming of the carton.

[0036] In this embodiment, an inserting edge b6 is connected to one end of the upper cover b3 away from the side wall b1. The inserting edge b6 includes an inner inserting edge b61 located in the middle and outer inserting edges b62 located on both sides. The inner inserting edge b61 is disconnected from the outer inserting edge b62. The cover assembly 42 includes: The folding support mechanism 421 includes a support rod 4211 and a support rod translation drive device 4212. The support rod 4211 is used to support the lower side of the upper cover of the carton b during folding and inserting. The support rod translation drive device 4212 is used to drive the support rod 4211 to move along the horizontal X-axis direction to a position where it supports the lower side of the upper cover of the carton b; The upper cover side pushing mechanism 422, the side pushing rod 4221 and the side pushing rod translation driving device 4222, the side pushing rod 4221 is used to push the upper cover of the carton b to a position in contact with the support rod 4211 when folding and inserting the edge, and the side pushing rod translation driving device 4222 is used to drive the side pushing rod 4221 to move along the horizontal Y-axis direction; The folding pressing mechanism 423 includes a first pressing rod 4231 and a first pressing rod lifting and lowering driving device 4232. The first pressing rod 4231 is used to press down and fold the inserting edge of the carton B to a position perpendicular to the upper cover of the carton B during inserting and folding. The first pressing rod lifting and lowering driving device 4232 is used to drive the first pressing rod 4231 to rise and fall in the vertical direction. The side inserting guide mechanism 424 includes a side inserting guide 4241, a guide plate lifting drive device 4242, and a guide plate translation drive device 4243. The upper end of the side inserting guide 4241 is inclined toward the side of the carton b, and is used to guide the outer side inserting portion b62 of the side inserting b6 to form an obtuse angle with the upper cover b3 of the carton b and to be fastened to the outer side of the side wall b1 of the carton b when the side inserting is fastened. The guide plate lifting drive device 4242 is used to drive the side inserting guide 4241 to move in the vertical direction to the box opening position of the carton b. The guide plate translation drive device 4243 is used to drive the side inserting guide 4241 to approach the side wall of the carton b along the horizontal Y-axis direction; The side inserting pressing mechanism 425 includes a second pressing rod 4251 and a second pressing rod lifting drive device 4252. The second pressing rod 4251 is used to press the side inserting of carton b down and fasten it to the inner side of the side wall of carton b when the side inserting is fastened. The second pressing rod lifting drive device 4252 is used to drive the second pressing rod 4251 to rise and fall in the vertical direction.

[0037] In the above, the support rod 4211 is placed horizontally on the lower side of the upper cover of carton b to form a support plane to prevent the upper cover from deforming or displacing during folding. Before the inserting edge is folded, the support rod 4211 is translated to the bottom of the upper cover of the carton to provide stable support (equivalent to a mold) for subsequent side pushing and downward pressing actions. The side push rod 4221 is a push rod perpendicular to the side wall of the carton, which is used to fold the side edge of the upper cover inward and fit it to the surface of the support rod 4211. When the support rod 4211 is in place, the side push rod 4221 pushes the upper cover from the outside of the carton to the inside, so that the side edge of the upper cover fits the support rod 4211, preparing for the subsequent inserting edge and pressing down. The first downward pressing rod 4231 is a horizontal long rod body located above the upper cover of the carton, which is used to press the inserting edge downward. After the side of the upper cover is folded, the first downward pressure rod 4231 descends and presses the insert edge (such as a tongue-shaped insert edge) of the carton upper cover down to a position perpendicular to the upper cover, forming an L"-shaped fold and providing guidance for the insert edge fastening. The upper end of the insert edge guide 4241 is a metal plate inclined toward the inside of the carton. The inclination angle is designed to guide the insert edge to form an obtuse angle (such as 120°) to facilitate fastening to the outside of the carton side wall. The insert edge guide 4241 first rises to the box opening and then moves horizontally toward the carton side wall. Its inclined surface pushes the outer insert edge portion b62 of the insert edge to bend outward, forming an obtuse angle with the upper cover, and finally fastening to the outside of the carton side wall to achieve preliminary fixation. The second downward pressure rod 4251 cooperates with the first downward pressure rod to further press the insert edge down to the inside of the carton side wall. After the insert edge guide guides the fastening, the second downward pressure rod 4251 Lower it and press the inner edge against the inner side wall of the carton to ensure that the inner edge fits tightly against the side wall, completing the sealing and preventing it from loosening during transportation.

[0038] Specifically, step S11 includes the following sub-steps: S11-1. The support rod translation driving device drives the support rod to translate to a position supporting the upper cover of the carton; S11-2, the side push rod translation drive device drives the side push rod to move along the horizontal Y-axis direction to push the upper cover of the carton to a position where it is in contact with the inner surface of the upper cover of the carton; S11-3, the first lower pressure rod lifting and driving device drives the first lower pressure rod to descend, pressing the inserting edge of the carton down to a position perpendicular to the upper cover; S11-4, the support rod translation driving device drives the support rod to leave the position of supporting the upper cover of the carton; S11-5, the guide plate lifting drive device drives the edge inserting guide plate upward to the box opening position of the carton; S11-6, the guide plate translation drive device drives the edge inserting guide plate to a position close to the side wall of the carton; S11-7. The second lower pressure rod lifting and driving device drives the second lower pressure rod to descend, and the inner inserting edge of the inserting edge is fastened to the inner side of the side wall of the carton, and the outer inserting edge of the inserting edge remains on the outer side of the side wall of the carton under the guidance of the above-mentioned inserting edge guide plate.

[0039] Through the above technical solution, a folding support mechanism 421, an upper cover side pushing mechanism 422, a folding pressing mechanism 423, an inserting edge guide mechanism 424, and an inserting edge pressing mechanism 425 are provided to achieve the special-shaped snapping of the inner inserting edge while ensuring the accuracy of the snapping.

[0040] In this embodiment, the detection component 44 is a visual detection component.

[0041] In the above text, the visual inspection component is an automated inspection device based on machine vision technology. By simulating the human visual system, it uses optical imaging, image processing and algorithm analysis to perform real-time inspection and judgment on the appearance, size, defects or position of the target object.

[0042] Specifically, the visual inspection component is used to detect whether the entire carton and labeling are qualified.

[0043] Through the above technical solution, a visual inspection component is set up to accurately inspect cartons.

[0044] In this embodiment, the first transfer assembly is a push plate assembly, which is used to push the end wall of carton b; The second transfer assembly 23 is a side transmission assembly, which is used to frictionally transmit the side wall of the carton b; The third transfer assembly 25 is a support and transmission assembly, which is used to support and drive the carton b to move.

[0045] In the preceding illustration, the push plate assembly uses a mechanical push plate to push the carton end walls horizontally, enabling linear transport or positional adjustment. The side transport assembly uses friction to act on the carton side walls, enabling continuous or intermittent transport. The bottom sealing station also features a support assembly with a central gap to expose the bottom of the carton for tape application. This support transport assembly supports the carton's weight and provides the power for movement.

[0046] In this embodiment, the second transfer assembly 23, the third transfer assembly 25 and the carton conveyor line 41 are all belt assemblies.

[0047] As mentioned above, a belt assembly is a mechanical device that utilizes the continuous transmission properties of a belt to convey materials or transmit power. It is widely used in automated production lines, logistics equipment, industrial machinery, and other fields. Its core operating principle is to achieve smooth material transfer or efficient power transmission through friction between the belt and the drive and driven pulleys.

[0048] Through the above technical solution, when the second transfer assembly, the third transfer assembly and the carton conveyor line all adopt belt drive, the entire system realizes efficient transfer of cartons through flexible transmission.

[0049] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A packaging and palletizing device for packing products into a carton, the carton comprising two opposing side walls and two opposing end walls, wherein one of the side walls has an upper cover on its end facing the top of the carton for folding and snapping onto the carton opening, the end of the end wall facing the top of the carton has an upper hem on its end facing the top of the carton for folding into the inner side of the upper cover, and the ends of the side wall and the end wall facing the bottom of the carton each have a lower hem on their ends facing the bottom of the carton for folding to form the bottom of the carton; It is characterized in that The packaging and palletizing device comprises: The carton feeding unit includes a feeding bin and a picking robot. The feeding bin is used to accommodate and position multi-layer cartons in a flat state. The picking robot is used to pick up the side wall of the upper layer of the top carton in the feeding bin, drive the carton to rise and fall, drive the bottom of the carton to turn downward, and drive the carton to move horizontally along the positive direction of the horizontal X-axis to above the unpacking station; The unpacking unit comprises an unpacking assembly, a first transfer assembly, a bottom sealing assembly, a second transfer assembly, a carton positioning assembly and a third transfer assembly, wherein the unpacking assembly is provided at the unpacking station and is used for forming the side wall shape of the carton, the upper folding edge and the lower folding edge on the end wall of the folding carton and the lower folding edge of the side wall of the folding carton, the first transfer assembly is used for transferring the carton at the unpacking station to the bottom sealing station along the positive direction of the horizontal X-axis, the bottom sealing assembly is provided at the bottom sealing station and is used for pasting adhesive tape on the lower folding edge of the side wall of the carton at the bottom sealing station, the second transfer assembly is used for transferring the carton at the bottom sealing station to the carton positioning station, the carton positioning assembly is provided at the carton positioning station and is used for positioning the carton at the carton positioning station, and the third transfer assembly is used for transferring the carton at the carton positioning station to the capping station; The product input unit includes a product conveyor line, a code scanning component, a product positioning component, and a boxing robot. The product conveyor line is used to support products and drive them horizontally to the code scanning station and the product positioning station in sequence. The code scanning component is used to scan the products that arrive at the code scanning station. The product positioning component is used to position the products that arrive at the product positioning station. The boxing robot is used to grab the products that arrive at the product positioning station and place them in the cartons on the boxing station. The carton output unit includes a carton conveyor line, a capping assembly, a marking and labeling assembly, a detection assembly and a palletizing robot. The carton conveyor line is used to receive and support the cartons arriving at the capping station and drive the cartons to move in sequence along the positive direction of the horizontal X-axis to the marking and labeling station, the detection station and the unloading station; the capping assembly is used to buckle the upper cover of the carton on the capping station; the marking and labeling assembly is used to mark and label the cartons on the marking and labeling station; the detection assembly is used to detect the cartons at the detection station; the palletizing robot is used to grab the cartons arriving at the unloading station and stack the cartons on the pallet.

2. The packaging and palletizing device according to claim 1, characterized in that: The carton feeding unit includes two feeding bins, which are switched for use.

3. The packaging and palletizing device according to claim 1, characterized in that: The unpacking station includes a first unpacking area and a second unpacking area, and the picking robot drives the cartons to move in sequence along the positive direction of the horizontal X-axis to above the first unpacking area and the second unpacking area; The unpacking components include: A side wall pull-down mechanism is provided in the first carton opening area and includes a suction cup and a suction cup lifting and driving device. The suction cup is used to suck the side wall of the lower layer of the carton. The suction cup lifting and driving device is used to drive the side wall and end wall of the carton to deform to be perpendicular to each other. An end wall guide plate mechanism is provided in the first unpacking area and includes two end wall guide plates spaced apart along the horizontal X-axis direction, with an end wall guide groove formed between the two end wall guide plates. The width of the end wall guide groove gradually increases in a direction away from the groove bottom. The end wall guide plates are used to guide the end wall of the carton downward; A folding plate mechanism, provided in the first unpacking area, comprising a folding plate and a rotary drive device, wherein the folding plate is used to push the lower and upper folding edges connected to the end walls of the cartons at the first unpacking station to fold inward, and the rotary drive device is used to drive the folding plate to rotate in a vertical direction; The folding guide mechanism is arranged in the second unpacking area, and includes two folding guides arranged at a distance along the horizontal Y-axis direction. A folding guide groove is formed between the two folding guides. The groove width of the folding guide groove gradually increases in the direction away from the bottom of the groove. The folding guide is used to guide the lower folding edge connected to the side wall of the carton to fold inward.

4. The packaging and palletizing device according to claim 1, characterized in that: An inserting edge is connected to one end of the upper cover away from the side wall, and the inserting edge includes an inner inserting edge portion located in the middle and outer inserting edge portions located on both sides, and the inner inserting edge portion is disconnected from the outer inserting edge portion; The cover assembly comprises: The folding support mechanism includes a support rod and a support rod translation drive device, wherein the support rod is used to support the lower side of the upper cover of the carton when folding the inserting edge, and the support rod translation drive device is used to drive the support rod to move along the horizontal X-axis direction to a position where it supports the lower side of the upper cover of the carton; Upper cover side pushing mechanism, side push rod and side push rod translation drive device, the side push rod is used to push the upper cover of the carton to a position close to the support rod when folding and inserting the edge, and the side push rod translation drive device is used to drive the side push rod to move along the horizontal Y-axis direction; The folding pressing mechanism includes a first pressing rod and a first pressing rod lifting and lowering driving device, wherein the first pressing rod is used to press down and fold the inserting edge of the carton to a position perpendicular to the upper cover of the carton during inserting and folding, and the first pressing rod lifting and lowering driving device is used to drive the first pressing rod to rise and fall in the vertical direction; The side inserting guide mechanism includes a side inserting guide, a guide plate lifting drive device, and a guide plate translation drive device. The upper end of the side inserting guide is inclined toward the side of the carton, and is used to guide the outer side of the inserting edge to form an obtuse angle with the upper cover of the carton and to be fastened to the outer side of the side wall of the carton when the side inserting edge is fastened. The guide plate lifting drive device is used to drive the side inserting guide to move in the vertical direction to the box opening position of the carton. The guide plate translation drive device is used to drive the side inserting guide to approach the side wall of the carton along the horizontal Y-axis direction; The side inserting and pressing mechanism includes a second pressing rod and a second pressing rod lifting and driving device. The second pressing rod is used to press the side inserting and fastening the carton to the inner side of the side wall of the carton when the side inserting and fastening are performed. The second pressing rod lifting and driving device is used to drive the second pressing rod to lift and lower in the vertical direction.

5. The packaging and palletizing device according to claim 1, characterized in that: The detection component is a visual detection component.

6. The packaging and palletizing device according to claim 1, characterized in that: The first transfer assembly is a push plate assembly for pushing the end wall of the carton; The second transfer assembly is a side transmission assembly, which is used to frictionally transmit the side wall of the carton; The third transfer assembly is a support transmission assembly, which is used to support and drive the carton to move.

7. The packaging and palletizing device according to claim 1, characterized in that: The second transfer assembly, the third transfer assembly and the carton conveyor line are all belt assemblies.

8. A packaging and palletizing method, characterized in that: The steps include: S1. Provide the packaging and palletizing device according to any one of claims 1 to 7; S2, the picking robot picks up the side wall of the uppermost carton in the feeding bin and moves to the top of the unpacking station; S3, the shape of the side walls of the carton formed by the unpacking assembly, the upper and lower folding edges on the end walls of the folding carton, and the lower folding edges on the side walls of the folding carton; S4, the first transfer component transfers the carton to the bottom sealing station; S5, the bottom cover assembly affixes the tape to the lower folded edge of the side wall of the carton; S6. The second transfer assembly transfers the carton to the carton positioning station; S7, the carton positioning component positions the carton; S8, the packing robot grabs the product on the product positioning station and packs the product into the carton on the carton positioning station; S9, the third transfer assembly transfers the carton to the carton conveyor line; S10, the carton conveyor line drives the cartons to the capping station; S11, the cover assembly fastens the upper cover of the carton; S12, the carton conveyor line drives the cartons to the labeling station; S13, the labeling component labels the carton; S14, the carton conveyor line drives the carton to the inspection station; S15, the detection component detects the carton; S16, the carton conveyor line transfers the carton to the unloading station; S17: The palletizing robot grabs the carton and transfers the carton to a pallet.

9. The packaging and palletizing method according to claim 8, characterized in that: Step S3 is implemented by the packaging and palletizing device according to claim 3, and step S3 includes the following sub-steps: S3-1, the side wall pulling-down mechanism sucks the side wall of the lower layer of the carton and drives the lower layer of the side wall downward. During this process, the end wall guide mechanism guides the end wall of the carton downward; S3-2, the folding plate mechanism folds the lower folding edge connected to the end wall of the carton inward 90 degrees; S3-3, the retrieving robot transfers the carton to above the second unpacking area; S3-4, the retrieving robot rotates the bottom of the carton to a downward direction; S3-5, the retrieving robot drives the carton downward, during which the folding guide mechanism guides the carton's side wall to be folded 90 degrees inwardly into the lower folding box; S3-6. The picking robot releases the carton.

10. The packaging and palletizing method according to claim 8, characterized in that: Step S11 is implemented by the packaging and palletizing device according to claim 4, and step S11 includes the following sub-steps: S11-1, the support rod translation driving device drives the support rod to translate to a position supporting the upper cover of the carton; S11-2, the side push rod translation driving device drives the side push rod to move along the horizontal Y-axis direction to push the upper cover of the carton to a position where it is in contact with the inner surface of the upper cover of the carton; S11-3, the first lower pressure rod lifting and driving device drives the first lower pressure rod to descend, pressing the inserting edge of the carton down to a position perpendicular to the upper cover; S11-4, the support rod translation driving device drives the support rod to leave the position of supporting the upper cover of the carton; S11-5, the guide plate lifting drive device drives the edge inserting guide plate upward to the box opening position of the carton; S11-6, the guide plate translation driving device drives the edge inserting guide plate to a position close to the side wall of the carton; S11-7, the second down-pressing rod lifting and lowering driving device drives the second down-pressing rod to descend, and the inner inserting edge of the inserting edge is fastened to the inner side of the side wall of the carton, and the outer inserting edge of the inserting edge remains on the outer side of the side wall of the carton under the guidance of the inserting edge guide plate.

Images