Six-surface winding automatic packing machine

Abstract

The invention discloses a six-surface winding automatic packaging machine which solves the problem of six-surface equal-thickness winding packaging of cubic goods in regular geometrical shapes. The horizontal rotating assembly is composed of two horizontal rotating modules which are symmetrically arranged in the vertical direction and installed on the equipment frame, goods are clamped and horizontally rotated through vertical movement of the two horizontal rotating modules, and continuous winding of the four side faces of the first dimension of the goods is completed in the horizontal rotating process. Winding is stopped after being in place, and the center penetrating line of the cubic goods is overlapped with the axis of the diagonal overturning assembly; the diagonal turnover assembly is composed of two diagonal turnover modules and used for clamping the two farthest vertexes of the goods, and the horizontal rotating assembly loosens the goods and is driven by the two diagonal turnover assemblies to turn over the goods. According to the packaging machine, three-dimensional and six-face equal-thickness winding is completed through the basic actions of horizontal winding, overturning, continuous horizontal winding, overturning, three-time horizontal winding and the like.

Description

Technical Field

[0001] The invention relates to the technical field of stretch film packaging and packaging equipment, and is a specialized packaging mechanical equipment. Background Art

[0002] Stretch film packaging involves unwinding the film from a roll and wrapping it evenly and tightly around the pallet (which is rotating horizontally). This process creates a uniform, multi-layered film covering the pallet's surface, protecting it from dust, moisture, oil, and minor scratches. Currently, specialized packaging equipment is used.

[0003] Special packaging equipment is mainly divided into the following categories according to the degree of automation and application scenarios: manual wrapping machines, turntable wrapping machines, and rotary arm wrapping machines. Among them, manual wrapping machines: that is, workers hold the wrapping film roll and walk around the pallet goods to wrap it. During this process, the goods are in a stationary state, and workers are required to operate around the goods constantly. Turntable wrapping machines: that is, the pallet goods are placed on a rotatable turntable, the turntable rotates (generally driven by a motor), and the film frame fixed on the column (which can move up and down) releases the film for wrapping. The patent document that can be referenced is: CN222769634U. This structure saves labor compared to manual hand-held wrapping. Rotary arm wrapping machines: that is, the pallet goods are fixed, and the rotating arm with the film frame rotates around the goods and lifts and lowers at the same time for wrapping. The patent document that can be referenced is: CN223014971U. The above three types of wrapping machines all wrap within a fixed plane, that is, the wrapping can only meet the needs of wrapping on four sides of the goods. Figure 1 In the first step, the top and bottom of the goods cannot be automatically wrapped, resulting in packaging defects. That is, during the placement process, all six sides cannot be evenly wrapped. Currently, there is no automated equipment to fully wrap all six sides of the goods. The method used is to manually flip the goods 90 degrees and then wrap them, or to add protective plates on the top and bottom to avoid partial top and bottom wrapping.

[0004] Based on the current state of the art, the present invention proposes a six-sided wrapping automatic packaging machine for cubic goods, which is used to solve the problem of six-sided automatic wrapping of cubic goods with regular shapes. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a six-sided winding automatic packaging machine. This technology is initially designed for cubic goods with regular geometric shapes, and is used to solve the problem of automated and integrated winding of the six sides of cubic goods with regular geometric shapes, and provides a special automated equipment to change the current situation in the market where there is a lack of special six-sided one-time winding molding special equipment.

[0006] The technical solution adopted by the present invention to solve its technical problem is: The six-sided automatic wrapping machine is used to wrap and pack the six sides of goods with a cubic geometric structure. It includes a six-sided wrapping assembly and a wrapping film supply assembly. It is characterized in that the six-sided wrapping assembly includes an equipment frame, a horizontal rotation assembly and a diagonal flip assembly. The horizontal rotation assembly is composed of two horizontal rotation modules that are symmetrically arranged in an upper and lower position. The upper horizontal rotation module is arranged from top to bottom, and the lower horizontal rotation module is arranged from bottom to top, and is installed on the equipment frame by a bolt assembly. The rotating platforms in the two horizontal rotation modules have an up and down movement driven by the cylinder to clamp the goods and are driven by the second motor to rotate horizontally and drive the rotation of the goods. During the rotation process, the wrapping film is passively stretched and wrapped around the goods. The four sides of the first dimension of the goods are continuously wrapped during the horizontal rotation process. According to the set number of winding turns, for example 20 turns, the horizontal rotation module stops rotating after the winding is in place. In the stopped state, the center line of the (cubic) goods overlaps with the axis of the diagonal flip assembly, waiting for the flipping action; the diagonal flip assembly is composed of two diagonal flip modules, and the two diagonal flip modules are tilted and symmetrically arranged. On the equipment frame, the manipulator in the diagonal flip assembly is driven by the long cylinder to clamp the two farthest vertices of the cargo at the same time, the horizontal rotation assembly releases the cargo, and driven by the first motors of the two diagonal flip assemblies, the cargo is flipped along the geometric body through the center line at a certain angle, and the top and side surfaces of the cargo are converted by the flip. After the conversion is completed, the horizontal rotation assembly clamps the cargo again and the diagonal flip assembly releases the cargo, and the horizontal rotation assembly rotates horizontally. During the horizontal rotation, the four sides of the second dimension of the cargo are continuously wound, for example, 20 turns of winding. After being wound into place, the rotation stops. In the stopped state, the centerline of the cubic cargo overlaps with the axis of the diagonal flip assembly. The diagonal flip module then clamps the two farthest vertices of the cargo. The horizontal rotation assembly releases the cargo. Driven by the two diagonal flip assemblies, the cargo flips along the centerline of the geometric body. The top and side surfaces of the cargo are converted through this flipping. After the conversion is completed, the horizontal rotation assembly clamps the cargo again and the diagonal flip assembly releases the cargo. The horizontal rotation assembly rotates horizontally. During this horizontal rotation, the stretch film is continuously wrapped around the four sides of the cargo in the third dimension. The stretch film supply assembly continuously supplies stretch film for the goods.

[0007] Furthermore, the diagonal flip module includes a mounting base, a sleeve, a long shaft, a long cylinder, a movable joint, a manipulator, a worm, a first motor and a travel switch, wherein the mounting base is fixed on the frame of the device in an inclined state, and a sleeve is installed at the circular hole of the mounting base for rotation through a bearing assembly, the outer side of the sleeve has a worm gear, and the inner side is fixed by an elastic card. This mounting method allows the sleeve to have only rotational freedom, and the worm gear is connected to the worm mounted on the outer side of the mounting base for worm gear mechanical transmission, and the worm is driven by the first motor, and a travel switch and an iron sheet are arranged between the mounting base and the worm gear, and the first motor The driving sleeve rotates a certain angle within the area defined by the limit switch, and the long shaft is slidably installed in the sleeve, and a linear sliding protrusion and groove are provided between the long shaft and the sleeve, and the inner end of the long shaft has a neck section and a threaded section, and a movable joint is movably installed at the neck section, and the movable joint and the mounting base plate are mechanically connected by a long cylinder, and the long cylinder drives the long shaft to move axially relative to the sleeve, and a manipulator is fixedly installed on the threaded section, and the manipulator has a triangular groove that matches the triangular face vertex structure at the vertex of the cargo to be grasped. Therefore, the long cylinder drives the telescopic movement of the long shaft, and the first motor drives the rotation movement of the long shaft.

[0008] Furthermore, the movable joint has a circular ring portion and a hinge portion, wherein the hinge portion is four hinge points arranged around the circular ring portion. The movable joint can be freely rotatably installed on the axial diameter section of the long shaft and is constrained in the axial direction under the constraint of the retaining ring nut. The retaining ring nut and the long shaft are threaded together. The retaining ring nut limits the position of the movable joint so that the movable joint only has the freedom of rotation. Four hinge connection points are provided on the mounting base plate, and a long cylinder is provided between the hinge portion and the hinge connection point. In this way, axial control of the long shaft is achieved through four long cylinders.

[0009] Furthermore, the manipulator includes a mounting portion and a claw, the mounting portion has a threaded hole, the threaded hole is mechanically connected to the threaded section of the long axis, three claws are installed in the mounting portion, the three claws form a triangular groove, and the three groove surfaces in the triangular groove are arranged perpendicularly at 90 degrees to each other, which is convenient for grasping the vertex position of the cargo in the cube.

[0010] Furthermore, the clamping claw is clamped in the mounting groove of the mounting portion and mechanically fixed using screws, and a hollow structure is provided on the clamping claw.

[0011] Furthermore, the horizontal rotation module includes a mounting plate, a linear sliding bearing assembly, a cylinder, a lifting plate, an auxiliary plate, a rotating platform and a second motor that drives the rotating platform to rotate, wherein the lifting plate is installed above the mounting plate through two groups of cylinders and four groups of linear sliding bearing assemblies, the cylinder drives the lifting plate to have a lifting action, the auxiliary plate is located above the lifting plate and is fixedly connected to the lifting plate, the second motor is installed on the lifting plate, and the motor shaft of the second motor is mechanically connected to the rotating platform, wherein the second motor drives the rotating platform to have a rotating action, and the horizontal rotation module has a lifting action in the height direction and a rotating action with free rotation, thereby realizing clamping and wrapping of the goods.

[0012] Furthermore, a cross mark is provided on the surface of the rotating platform, and the cross mark serves as an auxiliary line to assist in centering the position of the packaging box. In the initial state of the packaging box, the diagonal line of the packaging box coincides with the cross mark.

[0013] Furthermore, the stretch film supply assembly includes a frame and a mounting plate, a third motor, a linear screw assembly, a linear slide assembly and a film roll mounting plate. A mounting plate is fixedly installed at the top and bottom ends of the frame respectively, and a pair of linear slide assemblies are installed on the side of the frame. A group of linear screw assemblies is installed between the two mounting plates. The film roll mounting plate is connected by a screw transmission with the linear screw assembly. At the same time, the edge position of the film roll mounting plate is mechanically assembled with the slider in the linear slide assembly. The stretch film roll and the steering roller are installed between the two film roll mounting plates. The lower end of the linear screw assembly is driven by the third motor through a synchronous belt drive to realize the up and down movement of the stretch film roll, which is of positive significance for the case where the stretch film is wide and the cargo height is small.

[0014] Furthermore, travel switches for high and low points are set between the film roll mounting plate and the frame, and the high and low point travels of the wrapping film roll are limited by setting the two travel switches, thereby realizing the travel control of spiral winding.

[0015] Furthermore, the goods are packing boxes or packaging cases.

[0016] The beneficial effects of the present invention are: This baler is specially developed to solve the problem of automatic wrapping of six sides of cubic goods with regular geometric shapes. It includes several basic actions such as horizontal wrapping, flipping, continued horizontal wrapping, flipping, and three-times horizontal wrapping. Through this process, three-dimensional, six-sided wrapping is completed. Moreover, this process is based on the automation of the equipment. Only manual assistance is required in the loading and unloading of goods. It is a relatively automated equipment. The following will explain the specific working principle, working process and technical effect of the baler in combination with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Demonstration of the six-sided wrapping process for a cube packaging box.

[0018] Figure 2 This is a three-dimensional image of the six-sided wrapping automatic baler, showing the front and side perspective.

[0019] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0020] Figure 4 for Figure 2 The main view shows the basic layout of the front of the device.

[0021] Figure 5 This is a three-dimensional image of the six-sided wrapping automatic baler, showing the side and rear views.

[0022] Figure 6 The spatial relationship between the horizontal rotation assembly and the diagonal flip assembly and the packaging box is demonstrated.

[0023] Figure 7 The spatial relationship between the diagonal flip assembly and the packaging box is shown.

[0024] Figure 8 The spatial relationship between the horizontal rotating assembly and the packaging box is shown.

[0025] Figure 9 The diagonal flip assembly is used to clamp a box while flipping it, showing the process of the box's front side transitioning to the top.

[0026] Figure 10 This is the process of flipping the packaging box while the diagonal flip assembly is clamping it.

[0027] Figure 11 This is the horizontal rotation process of the packaging box clamped by the horizontal rotating assembly.

[0028] Figure 12 A perspective view of the horizontally rotated modules shows one of them.

[0029] Figure 13 A perspective view of the modules flipped diagonally shows one of them.

[0030] Figure 14 A stereogram with the long axis.

[0031] Figure 15 A cross-sectional view of the long axis.

[0032] Figure 16 A three-dimensional diagram of the sleeve.

[0033] Figure 17 A three-dimensional diagram of a flexible joint.

[0034] Figure 18 The three-sided surface of the diagonally flipped module gripping area on the packaging box is displayed.

[0035] Figure 19 It is the three-dimensional structure of the robot.

[0036] Figure 20 This is the main view of the robot.

[0037] Figure 21 This is a three-dimensional diagram of the installation part of the robot.

[0038] Figure 22 This is a three-dimensional diagram of the robot's claw.

[0039] Figure 23 A perspective view of an equipment rack.

[0040] Figure 24 This is the structural diagram of the stretch film supply module.

[0041] In the picture: 100, packaging box; 110, triangular face apex structure; 200, equipment frame; 210, crossbeam; 300, horizontal rotation module; 310, mounting plate; 320, linear sliding bearing assembly; 330, cylinder; 340, lifting plate; 350, auxiliary plate; 360, rotating platform; 361, cross mark; 370, second motor; 400, diagonal flip module; 410, mounting base plate; 411, hinged connection point; 412, oblique rod; 420, bushing; 421, worm; 422, first motor; 423, travel switch; 424, worm gear; 425, elastic card; 426, iron sheet; 427, groove; 430, long shaft; 431, protrusion; 432, journal section; 433, threaded section; 440, long cylinder; 450, flexible joint; 451, annular section; 452, hinged section; 460, retaining ring nut; 461, jackscrew; 470, manipulator; 471, mounting section; 4711, threaded hole; 4712, jackscrew; 4713 , mounting groove; 4714, screw; 472, claw; 4721, hollow structure; 473, triangular groove; 500, stretch film supply assembly; 510, frame; 511, ground beam; 520, mounting plate; 530, third motor; 540, linear screw assembly; 550, linear slide rail assembly; 560, film roll mounting plate; 570, stretch film roll; 571, stretch film; 580, steering roller. DETAILED DESCRIPTION

[0042] Six-sided automatic packaging, as the name suggests, is the process of wrapping the six sides of the packaging box with stretch film 571 and completing the packaging. Figure 1 As shown, in this process, reference Figure 1 The cube in the figure has three-dimensional winding, that is, in the XYZ coordinate system, it is wound around the Z axis (first dimension), the Y axis (second dimension) and the X axis (third dimension) respectively. Through the three-dimensional winding, an overlapping winding effect is formed. In this overlapping winding situation, the stretch film 571 can exert the best winding performance and provide more friendly protection to the internal packaging box.

[0043] Ideally, the six sides of the packaging box 100 should have the same thickness of the stretch film 571 .

[0044] This equipment is a first-generation product. Unless otherwise specified, the packaging box in this embodiment is a type of packaging goods, that is, goods with a cubic three-dimensional structure. As for the six-sided wrapping of non-cubic rectangular parallelepipeds, it is still under research and development and is not within the scope of implementation of this technology.

[0045] The packaging box (box) of this embodiment corresponds to a cubic paper box packaging box 100, that is, the six faces of the packaging box 100 are equal, and the twelve edges are also equal. For the convenience of description, the cubic packaging box 100 is defined as follows: an edge refers to the edge position where the six faces intersect. A face is a plane composed of four adjacent edges. A diagonal line refers to a straight line passing through two opposite vertices in a face. A through-line refers to a straight line passing through the geometric center of the cube and having both ends passing through two non-adjacent vertices of the cube. It is also the longest of all straight lines passing through the geometric center. Figure 1 The straight line from R1 to R2 in FIG. 1 is more important in this embodiment, so it is emphasized here.

[0046] In this embodiment, to ensure clear logical expression, separate coordinate systems are established for the packaging box 100 and the baler. The coordinate system of the packaging box 100 is represented by uppercase XYZ and is the inherent coordinate system of the packaging box 100. This coordinate system rotates with the rotation of the packaging box 100. The coordinate system of the baler is represented by lowercase xyz and is the free coordinate system of the entire marking machine. Both coordinate systems have value in their respective reference objects.

[0047] This embodiment discloses a dedicated device for six-sided wrapping of cubic packaging boxes. The device comprises two main components: a six-sided wrapping assembly and a wrap film supply assembly 500. The wrap film supply assembly 500 provides a continuous supply of wrap film 571. The six-sided wrapping assembly completes several basic operations on the packaging box 100, including horizontal wrapping, flipping, secondary horizontal wrapping, flipping, and tertiary horizontal wrapping, to form a fully wrapped package. By ensuring the number of layers in the three horizontal wrapping stages is equal, the optimal number of wrap film layers on all six sides can be achieved, resulting in a more protective package.

[0048] This embodiment will be combined with the appendix of the specification Figure 2 To the attached Figure 24 The structure and working process of this equipment are described in detail.

[0049] The six-sided winding assembly is the core component, which includes a horizontal rotation assembly and a diagonal flip assembly fixedly mounted on the equipment frame 200. The horizontal rotation assembly is formed by combining two horizontal rotation modules 300 that are symmetrically arranged in an upper and lower position, and has a clamping action and a rotation action. The upper horizontal rotation module 300 is arranged from top to bottom, and the lower horizontal rotation module 300 is arranged from bottom to top, and is mounted on the equipment frame 200 by a bolt assembly. The action of the cylinder 330 in the two horizontal rotation modules 300 is used to clamp the packaging box 100, and under the premise of maintaining the clamping action, the second motor inside the module is used to drive the rotating platform to rotate horizontally. During the horizontal rotation process, the four sides of the packaging box 100 are continuously wound. The diagonal flip assembly consists of two diagonal flip modules 400, and the two diagonal flip modules 400 are arranged at an angle. During flipping, the two diagonal flip modules 400 are symmetrically arranged, and the two farthest vertices of the packaging box 100 are clamped at the same time. Driven by the two diagonal flip assemblies, the packaging box 100 is flipped along the through-line (R1R2). Through the flipping, the top and side surfaces of the packaging box 100 are finally transformed. The transformation process realizes the orientation of the packaging box 100 in the baler coordinate system and realizes the transformation of the winding surface.

[0050] The equipment frame 200 is a rectangular parallelepiped frame structure composed of alloy profiles in the xyz directions, and is provided with oblique supports to improve the mechanical stability of the equipment frame 200. The equipment frame 200 is also the mounting rack 510 of the above-mentioned four modules.

[0051] A series of crossbeams 210 are installed at the top and bottom of the equipment frame 200 to mount the horizontal rotation module 300, which is secured with bolts. Mounting points for the diagonal flip module 400 are located on the side of the equipment frame 200, allowing the diagonal flip module 400 to be fixed to the side of the equipment frame 200 in an inclined position. After installation, the axes of the horizontal rotation module 300 and the diagonal flip module 400 lie within the xz vertical plane of the equipment.

[0052] The horizontal rotation module 300 includes a mounting plate 310, a linear sliding bearing assembly 320, a cylinder 330, a lifting plate 340, an auxiliary plate 350, a rotating platform 360, a second motor 370 for driving the rotating platform, a coupling, and bearings. Figure 12 The mounting plate 310 is a rectangular steel plate bolted to the crossbeam 210 of the equipment frame 200. A lifting plate 340 is mounted above the mounting plate 310 via two sets of air cylinders 330 and four sets of linear bearing assemblies 320. Driven by the lifting action of the two sets of air cylinders 330, the lifting plate 340 changes its position in the vertical direction. Because the mounting plate 310 and the equipment frame 200 are mechanically fixed in a horizontal position, the lifting plate 340 can move up and down in the vertical direction. The auxiliary plate 350 is located above the jacking plate 340 and is fixedly installed with the jacking plate 340 at a fixed distance connected to the connecting column to form an integral body. A circular hole is set at the center of gravity of the jacking plate 340 and the auxiliary plate 350. The second motor 370 is installed on the jacking plate 340, and a bearing is installed in the circular hole of the auxiliary plate 350. The motor shaft of the second motor 370 is connected to a vertical shaft through a coupling. A stable rotatable connection is formed between the vertical shaft and the auxiliary plate 350 through the bearing, and the stability of the rotating platform 360 is achieved through this structure. The rotating platform 360 is connected to the outer end of the vertical shaft by a flange structure. It is easy to understand that the second motor 370 can drive the rotating platform 360 to rotate at any angle within a 360-degree range. Therefore, the horizontal rotation module 300 has a jacking action in the height direction and a rotating action with free rotation. In this embodiment, the two horizontal rotation modules 300 are symmetrically arranged one above and one below. The up and down movements realize the upper and lower clamping of the packaging box 100, and the rotation movement realizes the rotation of the packaging box 100. The dynamic clamping and rotation can stretch and wrap the wrapping film 571 around the packaging box 100, which is easy to understand.

[0053] In an exemplary embodiment, in a top-down state, the rotation direction of the horizontal rotation module 300 is clockwise, referring to Figure 8 Driven by the up and down horizontal rotation module 300 , the wrapping film 571 is continuously wrapped around the four side positions of the packaging box 100 .

[0054] For ease of understanding, the rotation in this embodiment is located in the xy plane of the baler coordinate system, and the lifting is along the z-axis direction.

[0055] Furthermore, a cross mark 361 is provided on the surface of the rotating platform 360 to assist in centering the packaging box 100, i.e., placing the packaging box 100 at the cross mark 361. In the initial state of the packaging box 100, the diagonal of the packaging box 100 is aligned with the cross mark 361. That is, in the initial state, the packaging box 100 is tilted at a 45-degree angle in the xy coordinate system, thereby improving the efficiency of placing the packaging box 100.

[0056] During the wrapping process of the wrapping film 571 , the number of rotations of the rotating platform 360 is an integer multiple, such as ten, corresponding to the number of winding turns.

[0057] Furthermore, the rotation axes of the two rotating platforms 360 are collinear and are marked as C-axes.

[0058] The diagonal flip module 400 includes a mounting base 410, a sleeve 420, a long shaft 430, a long cylinder 440, a flexible joint 450, a retaining ring nut 460, a manipulator 470, a worm 421, a first motor 422 and a travel switch 423. The mounting base 410 is a rectangular steel plate, which is welded to the device frame 200 by an oblique rod 412, specifically, the side of the device frame 200 and is set in the center. Figure 5 、 Figure 23. A smooth circular hole is provided at the center of gravity of the mounting base plate 410 and a shaft sleeve 420 is installed. Furthermore, a bearing is provided between the circular hole and the shaft sleeve 420 to improve the flexibility of rotation. The outer side of the shaft sleeve 420 is a worm gear 424. The worm gear 424 is a part of the shaft sleeve 420 and is directly formed by local machining on the shaft sleeve 420. It has worm teeth. The inner side of the shaft sleeve 420 is limited by an elastic clip 425. After the limit, the two sides of the shaft sleeve 420 are respectively fixed by the worm gear 424 and the elastic clip 425. Therefore, the shaft sleeve 420 only has the freedom of rotation. The worm gear 424 has worm teeth and is mechanically connected to the worm 421 installed on the outer side of the mounting base plate 410 by worm gear 424 and worm 421. The transmission has a large reduction ratio and reverse self-locking performance, which meets the requirements of stable drive. Furthermore, the worm 421 is mechanically connected to the motor mounted on the outside of the mounting base 410 via a coupling, and two travel switches 423 are provided on the outside of the mounting base 410 near the worm gear 424. Correspondingly, an extended iron sheet 426 is provided on the worm gear 424. The corresponding travel switches 423 are magnetic travel switches. When the iron sheet 426 approaches the travel switch 423, the travel switch 423 generates a magnetic induction signal and works in conjunction with the electronic control system to control the rotation angle of the rotating drum. It is easy to understand that the first motor 422 drives the above-mentioned sleeve 420 to rotate a certain angle within the area defined by the two travel switches 423, that is, drives the sleeve 420 to rotate back and forth within a certain angle range to achieve the flipping action of the packaging box 100. A long shaft 430 is slidably mounted within the sleeve 420. A linear sliding protrusion 431 and a groove 427 are provided between the long shaft 430 and the sleeve 420. For example, the groove 427 is provided within the sleeve 420, and the protrusion 431 is provided on the outer surface of the long shaft 430 to constrain the rotation of both. The inner end of the long shaft 430 has a journal section 432 and a threaded section 433. A flexible joint 450 is mounted on the journal section 432, which provides rotational freedom. The movable joint 450 has a circular portion 451 and a hinged portion 452, wherein the hinged portion 452 is four hinged connection points 411 arranged around the circular portion 451, and correspondingly, four hinged connection points 411 are arranged on the mounting base plate 410, and four long cylinders 440 are arranged between the four hinged connection points 411 of the movable joint 450 and the mounting base plate 410. The driving of the above-mentioned long shaft 430 is achieved through the telescopic action of the four long cylinders 440, that is, the long cylinder 440 extends and drives the long shaft 430 to move axially relative to the sleeve 420, and vice versa.The above-mentioned flexible joint 450 can be freely rotatably installed on the axial diameter section of the long shaft 430, has the freedom of rotation, and is constrained in the axial direction under the constraint of the retaining ring nut 460. The retaining ring nut 460 and the long shaft 430 are threadedly matched and are locked in position under the action of the tightening screw 461. After locking, the retaining ring nut 460 limits the position of the flexible joint 450, so that the flexible joint 450 only has the freedom of rotation. And on the other side of the retaining ring nut 460, that is, the inner end of the long axis 430, a manipulator 470 is fixedly installed. The manipulator 470 is designed with a special structure, including a mounting portion 471 and a claw 472. Specifically, the mounting portion 471 has a threaded hole 4711, and the threaded hole 4711 is used to mechanically connect with the threaded section 433 at the inner end of the long axis 430, and is fastened with a top screw 4712. Three claws 472 are installed in the mounting portion 471, and the three claws 472 form a triangular groove 473, which cooperates with the triangular surface vertex structure 110 at the vertex of the packaging box 100 to be grasped, for reference. Figure 10 and Figure 18 .

[0059] Furthermore, the above-mentioned claw 472 is clamped in the installation groove 4713 of the installation portion 471 and mechanically fixed using screws 4714, and a hollow structure 4721 is provided on the claw 472 to improve the gripping force with the packaging box 100.

[0060] There are two diagonal flip modules 400, one arranged along an angle from the upper right to the lower left, and the other arranged along an angle from the lower left to the upper right. The axes B of the long axes 430 of the two diagonal flip modules 400 overlap, i.e., are collinear. This allows for a relative opening and closing motion along the length of the long axes 430, which enables grasping of the vertices of the packaging box 100. In this embodiment, in the initial state of the grasping action, the axes B of the long axes 430 of the two diagonal flip modules 400 coincide with the throughline R1R2 of the cube to be grasped, i.e., the three lines merge into one and are collinear.

[0061] Correspondingly, the rotation axes C in the two horizontal rotation modules 300 are also collinear.

[0062] The wrapping film supply assembly 500 includes a frame 510 and a mounting plate 520, a third motor 530, a linear screw assembly 540, a linear slide rail assembly 550, and a film roll mounting plate 560, and its function is to provide continuous film for the wrapping action.

[0063] The frame 510 is a vertical metal frame structure that is an extension of the equipment frame 200 and maintains an appropriate distance from the equipment winding point. A mounting plate 520 is fixedly installed at the top and bottom ends of the frame 510, which can be welded or anchored. A pair of linear guide rail assemblies 550 are installed on the side of the frame 510, and a set of linear screw assemblies 540 are installed between the two mounting plates 520. The film roll mounting plate 560 is connected to the linear screw assembly 540 through a screw transmission. At the same time, the edge position of the film roll mounting plate 560 is mechanically assembled with the slider in the linear guide rail assembly 550. In this way, when the linear screw assembly 540 rotates, the wound film roll 570 installed between the two film roll mounting plates 560 has an up and down movement. The lower end of the linear screw assembly 540 is driven by the third motor 530 through a synchronous belt drive, that is, the third motor 530 drives the movement of the linear screw assembly 540, and ultimately drives the position change of the wrapping film roll 570 in the height direction. This position change is used to realize the spiral winding of the wrapping film 571 on the packaging box 100, which has positive significance when the width of the wrapping film 571 is smaller than the height of the packaging box 100.

[0064] Furthermore, a travel switch 423 for the high and low points is set between the above-mentioned film roll mounting plate 560 and the frame 510, and by setting the two travel switches 423, the high and low point travels of the wrapping film roll 570 are limited, thereby realizing the travel control of spiral winding.

[0065] Furthermore, a steering roller 580 is installed between the two film roll mounting plates 560 for controlling and adjusting the steering of the unfolded wrapping film 571 .

[0066] Furthermore, the frame 510 in the stretch film supply assembly 500 is mechanically fixedly connected to the equipment frame 200 of the equipment via a ground beam 511 to form an integral body, so that the position of the stretch film roll 570 is relatively stable.

[0067] In the wrapping working state, the packaging box 100 rotates stably under the clamping and rotation drive of the upper and lower horizontal rotation modules 300, and the wrapping film 571 is pulled during the rotation process. The power of the wrapping comes from the second motor 370 in the horizontal rotation module 300.

[0068] The process of wrapping the cube packaging box 100 on six sides using this equipment is as follows: Step 1: Prepare and move a packaging box 100 with a cubic geometric structure to the rotating platform 360 of the horizontal rotation module 300, and make the diagonal of the packaging box 100 coincide with the cross mark 361, that is, in the initial state, the packaging box 100 is in the xy coordinate system and is at a 45-degree angle to the x-axis. The transportation process can be carried out with the help of machinery or other transportation tools.

[0069] In step 2, the four cylinders 330 of the two horizontal rotation modules 300 push the upper and lower rotating platforms 360 to clamp the packaging box 100 tightly. At the same time, the second motor 370 is activated and rotates horizontally. During the horizontal rotation process, the four sides of the first dimension of the packaging box 100 are continuously wound. After the number of winding turns is set and the winding is completed, the horizontal rotation module 300 stops rotating. In the stopped state, the center line of the cubic packaging box 100 overlaps with the axis of the diagonal flip assembly, and then waits for step 3. In step three, the two diagonal flipping modules 400 simultaneously clamp the two farthest vertices of the packaging box 100. After clamping, the two rotating platforms 360 in the horizontal rotation assembly release the packaging box 100, and under the drive of the two diagonal flipping assemblies, the packaging box 100 is flipped along the geometric through-line. The top and side surfaces of the packaging box 100 are finally converted through the flipping. During the conversion process, the wrapping film 571 completes the conversion of the wrapping surface on the packaging box 100. After the conversion is completed, the horizontal rotation assembly clamps the packaging box 100 again, and the manipulator 470 in the diagonal flipping module 400 releases the packaging box 100, and the horizontal rotation assembly rotates horizontally again. During the horizontal rotation process, the four sides of the second dimension of the packaging box 100 are continuously wound. After the winding is in place, the horizontal rotation assembly stops rotating. In the stopped state, the through-line of the cubic packaging box 100 overlaps with the axis of the diagonal flipping assembly, and waits for step four. In step four, the two diagonal flipping modules 400 clamp the two farthest vertices of the packaging box 100 again, the horizontal rotation assembly releases the packaging box 100, and under the drive of the two diagonal flipping assemblies, the packaging box 100 flips along the center line of the geometric body, and the flipping of the packaging box 100 is finally realized through the flipping. Then, the horizontal rotation assembly clamps the packaging box 100 again, the diagonal flipping module 400 releases the packaging box 100 again, and the horizontal rotation platform rotates horizontally again. During the horizontal rotation process, the four sides of the third dimension of the packaging box 100 are continuously wound, and finally the clamping of the packaging box 100 by the horizontal rotation assembly is released.

[0070] Step 5. After the above steps are completed, the wrapping film 571 is cut and the packaged box 100 is taken away. The protective layer formed by this packaging method has the same number of layers of wrapping film 571 on the six sides, which has a better protection effect.

Claims

1. Six-sided wrapping automatic packaging machine, which wraps and packages the six sides of goods with a cubic geometric structure, includes a six-sided wrapping component and a stretch film supply assembly, and is characterized by: The six-sided winding assembly includes an equipment frame (200), a horizontal rotation assembly and a diagonal flip assembly. The horizontal rotation assembly consists of two horizontal rotation modules (300) that are symmetrically arranged in an upper and lower position, wherein the upper horizontal rotation module (300) is arranged from top to bottom, and the lower horizontal rotation module (300) is arranged from bottom to top, and is installed on the equipment frame (200) through fasteners. The rotating platforms (360) of the two horizontal rotation modules (300) lift up and down to clamp the goods and drive the clamped goods to rotate horizontally through the rotation of the rotating platforms (360) in the clamped state. During the horizontal rotation process, the wrapping film is continuously wound on the four sides of the first dimension of the goods. After the winding is in place, the horizontal rotation module (300) stops, and the threading line of the goods in the stopped state overlaps with the axis of the diagonal flip assembly; the diagonal flip assembly consists of two diagonal flip modules (400), and the two diagonal flip modules (400) are tilted and symmetrically arranged on the equipment frame. The manipulator (470) of the module (400) clamps the two farthest vertices of the cargo, the horizontal rotation assembly releases the cargo, and under the drive of the two diagonal flip assemblies, the cargo flips along the through-line, and the top and side surfaces of the cargo are converted by the flipping, the horizontal rotation assembly clamps the cargo again, and at the same time the diagonal flip assembly releases the cargo, the horizontal rotation assembly rotates horizontally, and during the horizontal rotation process, the continuous winding of the four sides of the second dimension of the cargo is completed; after the winding is in place, the horizontal rotation stops, and the through-line of the cargo in the stopped state overlaps with the axis of the diagonal flip assembly, the manipulator in the diagonal flip module (400) clamps the two farthest vertices of the cargo again, the horizontal rotation assembly releases the cargo, and under the drive of the two diagonal flip assemblies, the cargo flips along the through-line, then the horizontal rotation assembly clamps the cargo again, and at the same time the diagonal flip assembly releases the cargo, the horizontal rotation assembly rotates horizontally, and during the horizontal rotation process, the continuous winding of the four sides of the third dimension of the cargo is completed; The stretch film supply assembly continuously supplies stretch film to the goods.

2. The six-sided wrapping automatic baler according to claim 1, characterized in that: The diagonal flip module (400) includes a mounting base (410), a shaft sleeve (420), a long shaft (430), a long cylinder (440), a movable joint (450), a manipulator (470), a worm (421), a first motor (422) and a travel switch (423), wherein the mounting base (410) is fixed on the equipment frame (200) in an inclined state, the shaft sleeve (420) is movably mounted on the mounting base (410), a worm gear (424) is arranged on the outside of the shaft sleeve (420), and the worm gear (424) is connected to the worm (421) mounted on the outside of the mounting base (410) through a worm gear mechanical transmission, and the worm (421) is driven by the first motor (422), the inner side of the shaft sleeve is fixed by an elastic card (425), and the shaft sleeve (420) has only a degree of freedom of rotation, and between the mounting base (410) and the worm gear (424), a worm gear (424) is provided. 4) is provided between a travel switch (423) and an iron sheet (426), a first motor (422) drives the sleeve (420) to rotate within the range defined by the travel switch (423), the long shaft (430) and the sleeve (420) are slidably matched, and a linear sliding protrusion and a groove are provided between the long shaft (430) and the sleeve (420), the inner end of the long shaft (430) has a shaft neck section (432) and a threaded section (433), and a movable joint (450) is movably installed at the shaft neck section (432), the movable joint and the mounting base plate are mechanically connected via a long cylinder, the long cylinder (440) drives the long shaft (430) to move axially relative to the sleeve (420), and a manipulator (470) is fixedly installed on the threaded section, the manipulator having a triangular groove (473) matched with the triangular face vertex structure (110) at the vertex of the goods to be grasped.

3. The six-sided wrapping automatic baler according to claim 2, characterized in that: The movable joint (450) has a circular ring portion (451) and a hinge portion (452). The movable joint (450) is constrained in the axial direction under the constraint of a retaining ring nut (460). The movable joint (450) only has the freedom of rotation. The retaining ring nut (460) and the long shaft (430) are threadedly engaged. Four hinge connection points (411) are provided on the mounting base plate (410), and a long cylinder (440) is installed between the hinge portion (452) and the hinge connection points (411).

4. The six-sided wrapping automatic baler according to claim 3, characterized in that: The manipulator (470) comprises a mounting portion and a clamping claw, wherein the mounting portion has a threaded hole, the threaded hole is mechanically connected to the threaded section of the long axis, and three clamping claws are installed in the mounting portion, and the three clamping claws form a triangular groove.

5. The six-sided wrapping automatic baler according to claim 4, characterized in that: The clamping claw is clamped in the mounting groove of the mounting portion and mechanically fixed using screws, and a hollow structure is provided on the clamping claw.

6. The six-sided wrapping automatic baler according to claim 1 or 2, characterized in that: The horizontal rotation module (300) comprises a mounting plate (310), a linear sliding bearing assembly (320), a cylinder (330), a lifting plate (340), an auxiliary plate (350), a rotating platform (360) and a second motor (370), wherein the lifting plate (340) is mounted above the mounting plate (310) via two groups of cylinders (330) and four groups of linear sliding bearing assemblies (320), the cylinder (330) drives the lifting plate (340) to have a lifting action, the auxiliary plate (350) is located above the lifting plate (340) and is fixedly connected to the lifting plate (340), the second motor is mounted on the lifting plate (340), and the motor shaft of the second motor (370) is mechanically connected to the rotating platform (360), and the second motor (370) drives the rotating platform (360) to have a rotating action.

7. The six-sided wrapping automatic baler according to claim 6, characterized in that: A cross mark is provided on the surface of the rotating platform (360) to assist in centering the position of the packaging box, so that the diagonal line of the packaging box coincides with the cross mark in the initial state of the packaging box.

8. The six-sided wrapping automatic baler according to claim 1 or 2, characterized in that: The wrapping film supply assembly (500) includes a frame (510) and a mounting plate (520), a third motor (530), a linear screw assembly (540), a linear slide assembly (550) and a film roll mounting plate (560), wherein the mounting plate (520) is arranged at the top and bottom ends of the frame (510), a pair of linear slide assemblies (550) are installed on the side of the frame (510), a set of linear screw assemblies (540) is installed between the two mounting plates (520), the film roll mounting plate (560) is connected to the linear screw assembly (540) by a screw transmission, and the film roll mounting plate (560) is mechanically assembled with a slider in the linear slide assembly (550), a wrapping film roll and a steering roller are installed between the two film roll mounting plates (560), and the lower end of the linear screw assembly (540) is driven by the third motor (530) through a synchronous belt transmission to realize the up and down movement of the wrapping film roll (570).

9. The six-sided wrapping automatic baler according to claim 1, characterized in that: Travel switches for high and low points are provided between the film roll mounting plate (560) and the frame (510), and by setting the two travel switches, the high and low point travels of the wrapping film roll (570) are limited, thereby achieving winding travel control.

10. The six-sided wrapping automatic baler according to claim 1, characterized in that: The goods are packing boxes or packaging cases.

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