An automatic case packing apparatus for vertically packing bagged products

Abstract

The application discloses a kind of automatic packing equipment of vertical packing of bagged product, it is related to bagged product packing technical field, including packing box conveying device, bagged product conveying device, pose recognition device, parallel manipulator, grab bagged product arrangement device and packing manipulator, packing manipulator includes: motion platform, it includes sequentially connected X-axis linear module, Z-axis linear module, Y-axis linear module and horizontal rotation module;Rotary drive unit is installed in the horizontal rotation module;Mechanical gripper is installed in the rotary drive unit;Wherein, after mechanical gripper takes out the product in the storage arrangement component, it is rotated around horizontal axis by horizontal rotation module drive, so that the product is erected, and then it is rotated around vertical axis by rotary drive unit drive, so that the product is rotated to target angle and then packing operation is carried out.The scheme improves packing efficiency, realizes posture flexible adjustment and guarantees packing stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bagged product boxing, in particular to an automatic boxing equipment for vertical boxing of bagged products. BACKGROUND

[0002] In the industrialized production process of bagged products, the boxing link as a key node connecting production and logistics directly affects the production capacity and cost of the overall production line. At present, although the automatic boxing system for bagged products has been applied to a certain extent, there are still many technical bottlenecks in actual operation, which is difficult to meet the production demand of high flexibility and high efficiency.

[0003] The boxing mode of the existing automatic boxing system is relatively single, most of which adopts horizontal flat mode or fixed direction vertical stacking mode. When horizontally flat, the bagged products are stacked layer by layer in a horizontal posture. Although this mode is simple to operate, it has a significant problem of space waste. Since the bagged products themselves have a certain thickness, horizontal stacking will lead to low utilization of the longitudinal space inside the packaging box. Especially for bagged products with a longer length, a longer size packaging box is often needed, which directly increases the consumption of packaging materials and the space cost of subsequent storage and transportation. While the fixed direction vertical boxing utilizes the height space of the box to a certain extent, the product posture cannot be adjusted, and when the length of the bagged product does not match the side size of the packaging box, the problem of large gap inside the box will still occur, and the product in the box is easy to shift and fall due to shaking, resulting in damage to the packaging bag or deformation of the product during transportation. Another prominent problem in the process of boxing bagged products is the friction and hooking of flexible packaging bags with the inner wall of the packaging box: since the bagged products are soft, they are easy to contact with the corners or rough surfaces of the box wall when being loaded into the box, which generates a dragging force to cause the product to shift and the stack to be loose, and even get stuck in the box opening and cannot be smoothly loaded, which not only interrupts the boxing process, but also may cause damage to the packaging bag. The existing system lacks targeted limiting structures, which seriously affects the stability of boxing.

[0004] From the efficiency point of view, the traditional system relies on the mode of single bag and single boxing, and lacks efficient sorting and stacking mechanism. Even if some systems introduce simple stacking structure, due to the lack of precise limiting and alignment control in the stacking process, the bagged products are often skewed and stacked irregularly, which not only affects the smoothness of subsequent grabbing and boxing, but also needs to set up an additional manual intervention link, further reducing the production efficiency.

[0005] In addition, in terms of adaptability, the existing equipment is difficult to flexibly meet the switching needs of different specifications of bagged products and packaging boxes. When the product size or boxing requirement changes, complex adjustments need to be made to the mechanical structure, grabbing parameters, etc. of the equipment, which takes a long adjustment period and is high in cost, and cannot meet the flexible production demand of multiple varieties and small batches of modern production lines.

[0006] Therefore, in view of the low space utilization, low efficiency, poor adaptability and other problems existing in the bagged product packaging process, it is urgent to develop an automatic equipment capable of realizing flexible posture adjustment, efficient stacking and precise packaging to improve the intelligentization and flexibility level of the bagged product packaging link. SUMMARY

[0007] The present application aims to overcome the defects of low packaging efficiency, fixed posture and poor stability in the prior art, and provides an automatic packaging equipment for vertical packaging of bagged products to improve packaging efficiency, realize flexible posture adjustment and ensure packaging stability.

[0008] The technical solution adopted by the present application is:

[0009] An automatic packaging equipment for vertical packaging of bagged products, comprising a packaging box conveying device, a bagged product conveying device, a pose recognition device, a parallel manipulator, a bagged product arrangement device and a packaging manipulator; wherein the packaging box conveying device is used to convey the packaging box after opening to the packaging station; the bagged product conveying device is used to convey the bagged products; the pose recognition device comprises an industrial camera, which is arranged above the bagged product conveying device and is used to collect bagged product images to identify the posture and coordinates of the bagged products; the parallel manipulator grasps the bagged products according to the pose data information fed back by the industrial camera; the bagged product arrangement device has at least two receiving and arrangement components for receiving the bagged products grasped by the parallel manipulator and arranging them into stacks; the packaging manipulator comprises a movement platform, a rotary drive unit and a mechanical gripper, the movement platform comprises X-axis linear module, Z-axis linear module, Y-axis linear module and horizontal rotation module connected in sequence, the rotary drive unit is installed on the horizontal rotation module, and the mechanical gripper is installed on the rotary drive unit; wherein after the mechanical gripper takes out the stacked products in the receiving and arrangement component, it drives the stacked products to rotate around the horizontal axis through the horizontal rotation module, so that the stacked products stand up, and then drives the stacked products to rotate around the vertical axis through the rotary drive unit, so that the stacked products are rotated to the target angle and then the packaging operation is performed.

[0010] Preferably, the mechanical gripper comprises two gripper jaws, and the two gripper jaws are opened and closed through a synchronous transmission mechanism, wherein the first gripper jaw is provided with at least two stop rods extending towards the second gripper jaw, and the second gripper jaw is provided with guide holes corresponding to the plurality of stop rods; when the mechanical gripper clamps the stacked products in the horizontal direction, the stop rods abut against the stacked products to align the abutted side of the stacked products; when the mechanical gripper performs the packaging operation on the stacked products, the stop rods are located above the stacked products to limit the displacement of the stacked products.

[0011] Preferably, the rotating driving unit is provided with a mounting seat, the mounting seat is provided with a sliding rail and a first sliding block and a second sliding block slidingly fitted on the sliding rail, the first clamping jaw is fixed to the first sliding block, and the second clamping jaw is fixed to the second sliding block; the synchronous transmission mechanism comprises a driving motor, a driving wheel connected with the driving motor, a driven wheel, and a synchronous belt surrounding the driving wheel and the driven wheel, and the first sliding block and the second sliding block are fixed on two sides of the synchronous belt.

[0012] Preferably, the rotating driving unit comprises a rotating cylinder fixed to the horizontal rotating module and a rotating platform mounted on the rotating cylinder, and the mounting seat is fixed to the rotating platform.

[0013] Preferably, at least one clamping jaw is provided with a pressure sensor for detecting and controlling the clamping force of the mechanical gripper on the stacked products.

[0014] Preferably, each of the storage and arrangement assemblies comprises a tray provided with a plurality of limiting columns, the plurality of limiting columns form a stacking cavity on the tray, the plurality of limiting columns comprise first limiting columns and second limiting columns, the first limiting columns and the second limiting columns are driven by a lifting cylinder to form a liftable avoiding mechanism, and the mechanical gripper takes the stacked products in the stacking cavity through the first limiting columns and the second limiting columns; after the mechanical gripper takes the stacked products, the lifting cylinder drives the first limiting columns and the second limiting columns to move downward, so that the mechanical gripper takes out the stacked products from the stacking cavity.

[0015] Preferably, the plurality of limiting columns further comprise third limiting columns, and the top of the third limiting columns is provided with a height detection unit for detecting and feeding back the stacking height of the stacked products.

[0016] Preferably, the pose recognition device comprises a light shielding box body provided with a light source, the industrial camera is installed in the light shielding box body, and the bottom of the light shielding box body is open; when the bagged product conveying device conveys the bagged products to the area corresponding to the bottom opening of the light shielding box body, the industrial camera collects images.

[0017] Preferably, the packaging box conveying device is provided with positioning clamping plates with adjustable spacing on both sides of the boxing station, for clamping and positioning the packaging box at the boxing station.

[0018] Preferably, the end of the parallel manipulator is provided with a negative pressure suction cup, and a pressure sensor is arranged in the suction cup pipeline of the negative pressure suction cup to realize suction state detection.

[0019] Through the above technical solutions, at least the following technical effects can be achieved:

[0020] 1. By setting a packaging box conveying device, a bagged product conveying device, a pose recognition device, a parallel manipulator, a bagged product arrangement device, and a boxing manipulator with multi-axis motion and rotation function, a complete automatic boxing process is formed. The pose recognition device combines with an industrial camera to realize accurate recognition of the posture and coordinates of the bagged product, providing data support for the parallel manipulator to grasp; the parallel manipulator quickly arranges the bagged products into a stack in the storage and arrangement assembly, improving the material arrangement efficiency; the boxing manipulator realizes the conversion of the stack product from horizontal to vertical posture, and then rotates to the target angle, realizes the optimal boxing angle of the stack product for boxing, solves the problems of low efficiency and fixed posture of traditional boxing, meets the flexible boxing demand, and adapts to different box space layout.

[0021] 2. The double clamping jaws of the mechanical gripper realize stable opening and closing with the synchronous transmission mechanism. The stop rod of the first clamping jaw has a dual function: aligning the side of the stack product when horizontally clamping, ensuring the regular stacking of the stack product, and avoiding unstable clamping caused by skewing; the stop rod is located above the stack product during boxing to form a limit, effectively preventing displacement or falling out caused by product friction with the box wall, improving the stability of boxing, and avoiding boxing failure or box space waste caused by product skewing.

[0022] 3. The slide rail and slide block of the mounting seat cooperate to make the clamping jaw move stably along a straight line. The driving motor, driving wheel, driven wheel, and synchronous belt of the synchronous transmission mechanism realize the synchronization of the opening and closing of the clamping jaw, avoiding the scattering of the stack product caused by inconsistent clamping action, and improving the accuracy and reliability of the clamping action.

[0023] 4. The rotary cylinder drives the rotary platform to rotate the mounting seat, enabling the mechanical gripper to stably adjust the angle around the vertical axis, ensuring that the stack product is loaded into the packaging box at the target angle. The structure is simple and the driving force is stable, and it can also adapt to different boxing angle requirements.

[0024] 5. The pressure sensor on the clamping jaw can detect the clamping force in real time, avoiding damage to the packaging bag or deformation of the product caused by excessive clamping force, or product falling caused by insufficient clamping force, achieving precise control of the clamping force, protecting the product and improving the safety of clamping.

[0025] 6. The tray of the storage and arrangement assembly is surrounded by limiting columns to form a stacking cavity, which limits the bagged product in the circumferential direction and ensures the regular stacking. The lifting avoidance mechanism of the first and second limiting columns solves the problem of material taking path conflict. After the mechanical gripper clamps the stack product, the first and second limiting columns are driven downward by the lifting cylinder to form a temporary passage on the side of the stacking cavity, so that the mechanical gripper can move out the stack product horizontally without lifting, eliminating the risk of interference between the mechanical gripper and the limiting column, greatly shortening the material taking time. After clamping is completed, the first and second limiting columns are reset by the lifting cylinder to continue to play a limiting role, improving the efficiency of the connection between the material arrangement and clamping links.

[0026] 7. The height detection unit at the top of the third limit post can provide real-time feedback on the stacking height of the stacked products, which helps the control system determine whether the preset stacking quantity has been reached. This avoids difficulties in picking up too many products or affecting packing efficiency if too few are stacked, thus achieving intelligent control of the material handling process.

[0027] 8. The light-shielding box of the pose recognition device, together with the built-in light source, provides a stable and uniform lighting environment for the industrial camera, reduces image acquisition deviation caused by external light interference, improves the accuracy of posture and coordinate recognition of bagged products, and lays the foundation for accurate grasping by parallel robotic arms.

[0028] 9. The positioning clamping plates of the packaging box conveying device can adjust the spacing according to the size of the packaging box to form a stable clamp on the packaging box at the packing station, avoid the box body shifting during the packing process and cause product loading deviation, and ensure accurate packing position. In addition, by adjusting the spacing of the positioning clamping plates, it can also be adapted to packaging boxes of different specifications.

[0029] 10. The pressure sensor of the negative pressure suction cup at the end of the parallel robot can detect the suction status and determine in real time whether the bagged product has been successfully grabbed, avoiding material handling interruptions caused by empty grabs or missed grabs, improving the reliability of the grabbing process, and ensuring the continuity of the overall packing process. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0031] Figure 1 This is a schematic diagram of the structure of the automatic boxing equipment for vertical packing of bagged products provided in the embodiments of this application. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the structure of the automatic boxing equipment for vertical packing of bagged products provided in the embodiments of this application. Figure 2 ;

[0033] Figure 3 This is a schematic diagram of the packaging box conveying device provided in the embodiments of this application;

[0034] Figure 4 This is a schematic diagram of the positioning clamping plate provided in the embodiments of this application for realizing spacing adjustment;

[0035] Figure 5 This is an assembly diagram of the bagged product conveying device and the posture recognition device provided in the embodiments of this application;

[0036] Figure 6 for Figure 5Enlarged view at A;

[0037] Figure 7 Structure schematic diagram of parallel manipulator provided by the embodiment of the present application;

[0038] Figure 8 Structure schematic diagram of boxing manipulator provided by the embodiment of the present application Figure 1 ;

[0039] Figure 9 Structure schematic diagram of boxing manipulator provided by the embodiment of the present application Figure 2 , which shows the state after hiding the X-axis linear module;

[0040] Figure 10 Structure schematic diagram of boxing manipulator provided by the embodiment of the present application Figure 3 , which shows the state after hiding the X-axis linear module;

[0041] Figure 11 Structure schematic diagram of boxing manipulator provided by the embodiment of the present application Figure 4 , which shows the state after hiding the motion platform;

[0042] Figure 12 Structure schematic diagram of bagged product arrangement device provided by the embodiment of the present application.

[0043] Component and figure mark list:

[0044] 1 packaging box conveying device, 11 roller conveyor, 12 positioning clamping plate, 13 sliding rail sliding block mechanism, 14 first synchronous belt, 15 first driving wheel, 16 first driven wheel, 17 first driving motor;

[0045] 2 bagged product conveying device;

[0046] 3 pose recognition device, 31 industrial camera, 32 light source, 33 light shielding box;

[0047] 4 parallel manipulator, 41 negative pressure suction cup;

[0048] 5 bagged product arrangement device, 51 limiting column, 511 first limiting column, 512 second limiting column, 513 third limiting column, 52 tray, 53 lifting cylinder, 54 height detection unit;

[0049] 6 packing manipulator, 611 X-axis linear module, 612 Z-axis linear module, 613 Y-axis linear module, 614 horizontal rotation module, 62 mechanical gripper, 621 first gripper, 6211 stop lever, 622 second gripper, 6221 guide hole, 6222 pressure sensor, 63 mounting seat, 641 slide rail, 642 first sliding block, 643 second sliding block, 651 driving motor, 652 driving wheel, 653 driven wheel, 654 synchronous belt, 66 rotary cylinder, 67 rotary platform. DETAILED DESCRIPTION

[0050] In order to more clearly illustrate the overall concept of the present application, the following will be described in detail with reference to the accompanying drawings.

[0051] In the following description, a lot of specific details are set forth in order to facilitate a thorough understanding of the application, but the application can also be implemented in other ways different from those described herein, therefore, the protection scope of the application is not limited by the specific embodiments disclosed below.

[0052] In addition, in the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation of the present application.

[0053] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection, or communication; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0055] In the embodiments of the present application, referring to Figures 1 to 12 , an automatic cartoning equipment for vertical cartoning of bagged products is provided. For the convenience of illustration and understanding, the following description provided by the present application is based on the illustration of the product structure. Of course, those skilled in the art can understand that the above structure is only a specific example and illustrative description, and cannot constitute a specific limitation on the technical solutions provided by the present application.

[0056] As shown in Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 8 and Figure 9 , the automatic cartoning equipment for vertical cartoning of bagged products comprises a packaging box conveying device 1, a bagged product conveying device 2, a pose recognition device 3, a parallel manipulator 4, a bagged product arranging device 5 and a cartoning manipulator 6; wherein the packaging box conveying device 1 is used to convey the packaging box after opening to the cartoning station; the bagged product conveying device 2 is used to convey the bagged products; the pose recognition device 3 comprises an industrial camera 31, which is arranged above the bagged product conveying device 2, and is used to collect bagged product images to identify the bagged product pose and coordinates; the parallel manipulator 4 grasps the bagged products according to the pose data information fed back by the industrial camera 31; the bagged product arranging device 5 has at least two receiving and arranging components, which are used to receive the bagged products grasped by the parallel manipulator 4 and arrange them into a stack; the cartoning manipulator 6 comprises a motion platform, a rotary driving unit and a mechanical gripper 62, the motion platform comprises X-axis linear module 611, Z-axis linear module 612, Y-axis linear module 613 and horizontal rotary module 614 connected in sequence, the rotary driving unit is installed on the horizontal rotary module 614, and the mechanical gripper 62 is installed on the rotary driving unit; wherein after the mechanical gripper 62 takes out the stacked products in the receiving and arranging component, it drives the stacked products to rotate around the horizontal shaft through the horizontal rotary module 614, so that the stacked products stand up, and then drives the stacked products to rotate around the vertical shaft through the rotary driving unit, so that the stacked products are rotated to a target angle and then the cartoning operation is performed.

[0057] For the automatic boxing equipment of the present application, a set of housing components (for clearer display of the internal structure of the device, the housing components are not shown in the drawings) can also be provided, which surrounds the whole device or surrounds part of the area of the device, especially surrounds important areas such as the parallel manipulator 4, the bagged product arranging device 5 and the boxing manipulator 6, and the parallel manipulator 4 can also be hoisted at the top of the housing components.

[0058] The packaging box conveying device 1 can accurately convey the unpacked packaging box to the boxing station to provide a stable basis for subsequent boxing. The conveying structure of the packaging box conveying device 1 is not specifically limited by the present application, which can adopt existing mature technologies, for example, the roller conveyor 11 shown in Figure 3 , which is composed of a plurality of parallel rollers and drives the packaging box forward through the rotation of the rollers. The roller conveyor 11 has strong carrying capacity, high stability when conveying heavy cartons or in batches, and simple structure and convenient maintenance, and can also be well adapted in scenarios where the turning and shunting of packaging boxes need to be realized. In addition, in other embodiments, the packaging box conveying device 1 can also use belt conveyors, chain conveyors, etc. The input end of the packaging box conveying device 1 can be matched with an unpacking machine, and the unpacking machine can directly input the unpacked packaging box into the packaging box conveying device 1; the output end of the packaging box conveying device 1 can be matched with a sealing machine, and the sealing machine can seal the boxed packaging box.

[0059] In the preferred embodiment, as shown in Figure 3 , the packaging box conveying device 1 is provided with spacing-adjustable positioning clamping plates 12 on both sides of the boxing station, which are used to clamp and position the packaging box at the boxing station. In actual use, the spacing can be adjusted according to packaging boxes of different sizes to form stable clamping of the box body and avoid product loading deviation caused by displacement of the box body during boxing. For example, when replacing cartons of different specifications, it is not necessary to replace the device components, but only to adjust the spacing of the clamping plates to adapt, which improves the adaptability of the device to different packaging specifications, reduces the changeover adjustment time, and enhances the flexibility of the production line. As for the structure for realizing the spacing-adjustable positioning clamping plates 12, the present application does not make specific limitations, and preferably, as shown in Figure 4 , the positioning clamping plates 12 can be respectively fixed on the sliders of the slide rail slider mechanisms 13 on both sides of the boxing station, the first synchronous belt 14 is wrapped around the first driving wheel 15 and the first driven wheel 16, and the sliders on both sides are respectively fixed on both sides of the first synchronous belt 14. When the first driving motor 17 drives the first driving wheel 15 to rotate, the first synchronous belt 14 drives the sliders on both sides and the positioning clamping plates 12 to move synchronously and reversely along the slide rails 641, thereby realizing accurate adjustment of the spacing. In other embodiments, the two positioning clamping plates 12 can also realize spacing adjustment through a screw-nut transmission structure or a cylinder driving structure.

[0060] The bagged product conveying device 2 continuously conveys the bagged products, ensuring the continuity of the raw material supply. The conveying structure of the bagged product conveying device 2 is not specifically limited in the present application, and can adopt existing mature technologies, such as a belt conveyor, which realizes the continuous conveying of the bagged products by driving the belt to circulate through a motor. The belt surface is flat and the friction is moderate, which can stably convey the bagged products, avoid large shaking or deviation of the products during the conveying process, and can adjust the conveying speed according to the needs to match the pace of the subsequent pose recognition device 3, parallel manipulator 4 and other equipment, which is suitable for the conveying of most bagged products (such as snack bags, seasoning bags, etc.). In addition, in other embodiments, the bagged product conveying device 2 can also adopt a chain plate conveyor, a roller conveyor, etc.

[0061] The industrial camera 31 of the pose recognition device 3 can accurately recognize the posture and coordinates of the bagged product by collecting the image of the bagged product, and provide data support for the grabbing of the parallel manipulator 4, so as to avoid the errors caused by blind grabbing. In the preferred embodiment, the principle of the industrial camera 31 collecting the image of the bagged product and assisting the parallel manipulator 4 to accurately grab can be based on the cooperative action of machine vision and motion control, and can be disassembled into the following processes according to the actual operation logic of the device: first, since the industrial camera 31 is installed above the bagged product conveying device 2, when the bagged product is conveyed to the specified area (such as directly below the industrial camera 31), the industrial camera 31 collects the image of the product to obtain a clear image containing the product contour, edge, feature point (such as the bag opening, printed mark, etc.); then, the image processing system analyzes the collected image: the contour boundary of the bagged product is recognized by the edge detection algorithm to determine its position coordinates in the image coordinate system; the posture of the product (such as the inclination angle, front and back facing, etc.) is recognized by feature matching or angle calculation, and these posture and coordinate data are converted into parameters in the device coordinate system (based on the fixed reference point in the device), forming the pose instruction recognizable by the parallel manipulator 4. When the industrial camera 31 collects the image, it will record the coordinates (including position and posture) of the bagged product at that moment based on the preset reference coordinate system of the device (such as taking the center of the opening at the bottom of the light shielding box 33 or a fixed point of the conveying device as the origin). At the same time, the system will synchronously record the real-time conveying speed and motion direction of the conveying device. Since the conveying device is uniformly and stably operated, its motion parameters can be accurately calculated, so that when the product moves with the conveying device, the system can update the position of the product in the reference coordinate system in real time through the dynamic calculation of the initial coordinates, conveying speed and time, to ensure that the parallel manipulator 4 receives the accurate coordinates of the product when it reaches the grabbing position; after receiving the pose data, the parallel manipulator 4 calculates the motion parameters of each joint based on its kinematic model: through the multiple degrees of freedom (such as stretching and rotating) of the driving manipulator, the end effector is accurately moved to the grabbing position of the bagged product. In short, this process converts visual information into mechanical action instructions through the closed-loop process of “image collection-feature recognition-coordinate conversion-motion control”, so that the parallel manipulator 4 has the ability of dynamic recognition and accurate grabbing of the bagged product, and provides reliable raw material supply for the subsequent stacking process.

[0062] In the preferred embodiment, as Figure 2 , Figure 5 and Figure 6As shown, the pose recognition device 3 comprises a light-shielded box body 33 with a light source 32 built-in, and an industrial camera 31 is installed in the light-shielded box body 33. The light-shielded box body 33 is open at the bottom, and the bagged product conveying device 2 conveys the bagged products to the area corresponding to the bottom opening of the light-shielded box body 33, and the industrial camera 31 collects images. The light-shielded box body 33 cooperates with the built-in light source 32 to provide a stable and uniform light environment for the industrial camera 31. In actual use, the interference of external light (such as workshop light and natural light) can be eliminated, ensuring that the bagged product images collected by the industrial camera 31 are clear and improving the accuracy of pose and coordinate recognition. When the bagged products are conveyed to the area of the bottom opening of the light-shielded box body 33, the light source 32 focuses on the products, and the image details (such as the bag opening and the edge) are clearer, providing reliable data for the accurate grabbing of the parallel manipulator 4, reducing grabbing errors caused by recognition errors, and ensuring the smoothness of the sorting link.

[0063] The parallel manipulator 4 efficiently grabs the bagged products according to the pose data, and cooperates with the storage and arrangement assembly of the bagged product arrangement device 5 to arrange the bagged products into a stack, changing the traditional inefficient mode of single-bag packaging one by one, and greatly improving the sorting efficiency. The structure of the parallel manipulator 4 is not specifically described in the present application, which can adopt mature technology in the prior art, and the position and attitude of the end effector can be flexibly adjusted through multi-axis linkage to adapt to the dynamic grabbing requirements of the bagged products.

[0064] The type of the end effector of the parallel manipulator 4 is various, such as pneumatic clamps, electric clamps, magnetic type actuators, etc. In the preferred embodiment, as shown in Figure 7 The end effector of the parallel manipulator 4 is provided with a negative pressure suction cup 41, and a pressure sensor is arranged in the suction cup pipeline of the negative pressure suction cup 41 to realize suction state detection. The negative pressure suction cup 41 detects the suction state through the pressure sensor in the pipeline, and in actual use, it can be judged in real time whether the bagged product is successfully grabbed: if the pressure value is lower than the threshold value, it means that the suction cup does not suck the product, and the system can send a signal in time. Since the grabbing action is easy to cause the coordinate change of the bagged product, the bagged product that is not successfully grabbed should be abandoned and output by the bagged product conveying device 2.

[0065] The motion platform of the boxing manipulator 6 realizes multi-directional movement through the X-axis linear module 611, the Z-axis linear module 612, and the Y-axis linear module 613, and cooperates with the horizontal rotation module 614 to convert the stacked products from a horizontal state to a vertical attitude, reducing the horizontal occupation area of the products in the box, as shown in Figure 8 The boxing manipulator 6 can execute the preparation attitude of clamping the stacked products, as shown in Figure 10As shown, the horizontal rotation module 614 rotates to make the mechanical gripper 62 downward, in this state, the bagged products clamped in the vertical posture, at this time, further through the rotation driving unit to drive the stacked products to rotate around the vertical axis to the target angle (such as along the diagonal direction of the packaging box), make full use of the longest space dimension of the box, avoid the waste of space caused by the mismatch between the product length and the box side, reduce the packaging cost. Specifically, the X-axis linear module 611, the Z-axis linear module 612, and the Y-axis linear module 613 can all use various proven mature solutions in the existing industrial field, such as linear slide module.

[0066] As a preferred embodiment of the present application, as shown in Figure 11 The mechanical gripper 62 includes two clamping jaws, and the two clamping jaws are opened and closed through a synchronous transmission mechanism. The first clamping jaw 621 is provided with at least two stop rods 6211 extending towards the second clamping jaw 622, and the second clamping jaw 622 is provided with guide holes 6221 corresponding to the plurality of stop rods 6211. When the mechanical gripper 62 clamps the stacked products in the horizontal direction (clamps the stacked products in the posture shown in Figure 8 ), the stop rods 6211 abut against the stacked products to align the abutted side of the stacked products. When the mechanical gripper 62 performs the boxing operation on the stacked products, the stop rods 6211 are located above the stacked products to limit the displacement of the stacked products. The double clamping jaws of the mechanical gripper 62 are stably opened and closed through the synchronous transmission mechanism to ensure reliable clamping of the stacked products. The stop rods 6211 of the first clamping jaw 621 are provided to align the abutted side of the products when clamping the stacked products in the horizontal direction, thereby ensuring the regularity of the stacked products and avoiding the influence of skew on subsequent boxing. The key is that the stop rods 6211 are located above the stacked products to form effective limiting during the boxing operation. In actual boxing, when the stacked products enter the packaging box, if they are hooked by friction with the box wall, the stop rods 6211 can limit the upward or lateral displacement of the products to ensure that they smoothly fall into the box along the preset path, thereby solving the problems of jamming and damage to the packaging bag caused by friction in traditional boxing. This structural design not only improves the regularity of clamping but also specifically solves the displacement risk in the boxing process, thereby ensuring smooth boxing and reducing the rate of defective products. It should be noted that the stop rods 6211 and the guide holes 6221 are not strictly in a sliding fit state. Whether they are in a sliding fit state or not is related to the distance between the two clamping jaws. When the distance between the two clamping jaws is greater than or equal to the length of the stop rods 6211, the stop rods 6211 and the guide holes 6221 are in a disengaged state. When the distance between the two clamping jaws is less than the length of the stop rods 6211, the stop rods 6211 and the guide holes 6221 are in a sliding fit state. Whether the stop rods 6211 and the guide holes 6221 are in a sliding fit state or not does not affect the function of the stop rods 6211.

[0067] As a preferred embodiment of the present application, as shown in Figure 11As shown, the rotary driving unit is provided with a mounting seat 63, the mounting seat 63 is provided with a sliding rail 641 and a first sliding block 642 and a second sliding block 643 slidingly fitted on the sliding rail 641, the first clamping jaw 621 is fixed to the first sliding block 642, and the second clamping jaw 622 is fixed to the second sliding block 643; the synchronous transmission mechanism includes a driving motor 651, a driving wheel 652 connected with the driving motor 651, a driven wheel 653, and a synchronous belt 654 surrounding the driving wheel 652 and the driven wheel 653, and the first sliding block 642 and the second sliding block 643 are fixed on both sides of the synchronous belt 654. The sliding rail 641 of the mounting seat 63 cooperates with the first sliding block 642 and the second sliding block 643 to make the first clamping jaw 621 and the second clamping jaw 622 move stably along a straight line, ensuring the precise opening and closing action of the clamping jaw. In the synchronous transmission mechanism, the driving motor 651 drives the synchronous belt 654 to move through the driving wheel 652 and the driven wheel 653, and the first sliding block 642 and the second sliding block 643 are fixed on both sides of the synchronous belt 654. When the driving motor 651 is driven, the synchronous reverse movement of the clamping jaw is realized, and the clamping force is uniformly applied to both sides of the stacked products. In actual use, this structure avoids the product tilting and scattering caused by inconsistent clamping jaw action, improves the stability and reliability of clamping, and is especially suitable for clamping of stacked flexible bagged products, reducing production interruptions caused by unstable clamping.

[0068] Further, as shown in Figure 11 The rotary driving unit includes a rotary cylinder 66 fixed to the horizontal rotary module 614 and a rotary platform 67 mounted on the rotary cylinder 66, and the mounting seat 63 is fixed to the rotary platform 67. The rotary cylinder 66 of the rotary driving unit drives the rotary platform 67 to rotate, and then drives the mounting seat 63 and the mechanical gripper 62 to rotate around the vertical axis, which is simple in structure and stable in driving force. In practical application, the rotation angle of the stacked products can be accurately controlled to ensure that they are loaded along the diagonal direction of the packaging box, and the space matching with the box body is more accurate, improving the space utilization. At the same time, the rotary action responds quickly to meet the rhythm demand of high-speed packaging, ensuring the efficiency of the production line.

[0069] As a preferred embodiment of this embodiment, as shown in Figure 11 A pressure sensor 6222 is provided on at least one clamping jaw Figure 11A pressure sensor 6222 is arranged on the second clamping jaw 622 (as shown in the middle of FIG. 6) to detect and control the clamping force of the mechanical gripper 62 on the stacked products. The pressure sensor 6222 on the second clamping jaw 622 can detect the clamping force on the stacked products in real time. In actual use, the clamping force can be adjusted by the control system according to the material and thickness of the bagged products, so as to avoid damage to the packaging bag and deformation of the product due to excessive clamping force, or scattering of the stacked products during transportation due to insufficient clamping force. This precise control not only protects the product, but also ensures the reliability of clamping, especially for bagged products with different hardness and easy to break (such as puffed food, sauce bags, etc.), which improves the adaptability and safety of the equipment.

[0070] As a preferred embodiment of the present application, as shown in Figure 12 Each storage and arrangement assembly includes a tray 52 with a plurality of limiting columns 51 surrounding a stacking cavity on the tray 52, and the plurality of limiting columns 51 include first limiting columns 511 and second limiting columns 512. The first limiting columns 511 and the second limiting columns 512 are driven by a lifting cylinder 53 to form a liftable avoiding mechanism, and the mechanical gripper 62 clamps the stacked products in the stacking cavity between the first limiting columns 511 and the second limiting columns 512. After the mechanical gripper 62 clamps the stacked products, the lifting cylinder 53 drives the first limiting columns 511 and the second limiting columns 512 to move downward, so that the mechanical gripper 62 can take out the stacked products from the stacking cavity. In the drawings, four storage and arrangement assemblies are arranged at intervals along the conveying direction of the bagged product conveying device 2. Specifically, two of the storage and arrangement assemblies are used to place the right bagged products, and the other two storage and arrangement assemblies are used to place the left bagged products. The tray 52 of the storage and arrangement assembly surrounds the stacking cavity by the plurality of limiting columns 51 to form circumferential limiting for the bagged products, so as to prevent the products from deviating during stacking. The first limiting columns 511 and the second limiting columns 512 are lifted by the lifting cylinder 53. In actual use, the space reserved when the two columns are lifted can be used for the mechanical gripper 62 to extend in to clamp the stacked products. After clamping, the lifting cylinder 53 drives the two columns to move downward to form a horizontal passage on the side of the stacking cavity, so that the mechanical gripper 62 can directly move out horizontally without lifting, thereby avoiding interference with the limiting columns 51 and other components above the limiting columns 51. This design greatly shortens the material taking time (eliminates the redundant action of lifting and lowering of the mechanical gripper 62), and improves the material taking efficiency. After the material taking is completed, the two columns are quickly reset to continue to limit the subsequent products, thereby ensuring the continuity of the material arrangement. In an actual production line, this structure makes the arrangement and clamping links more smooth, reduces the waiting time, and improves the overall boxing efficiency.

[0071] Further, as shown in Figure 12As shown, the plurality of limiting columns 51 further comprises a third limiting column 513, the top of which is provided with a height detection unit 54 for detecting and feeding back the stacking height of the stacked products. The height detection unit 54 at the top of the third limiting column 513 can detect the stacking height of the stacked products in real time, and in actual use, can accurately feed back the stacking quantity (e.g. stop stacking when reaching the preset height), avoiding the difficulty of grabbing due to too many stacks or affecting the efficiency of boxing due to too few stacks. At the same time, abnormalities in the stacking process (such as abnormal height indicating product skewing) can be found in time, facilitating timely adjustment of the system, ensuring the quality of the stack, reducing the manual inspection link, and improving the degree of automation. Specifically, the height detection unit 54 can be selected from a laser displacement sensor or an infrared distance measuring sensor. Taking the laser displacement sensor as an example, the top of the stacked products is irradiated by emitting a laser beam, the reflected signal is received and the laser propagation time is calculated, thereby accurately measuring the stacking height of the products.

[0072] The device can adopt the following working process: the packaging box is conveyed to the boxing station by the packaging box conveying device 1, and the positioning and clamping plate 12 adjusts the spacing to fix the packaging box; the bagged products are sent to the lower side of the light shielding box body 33 by the bagged product conveying device 2, the industrial camera 31 collects images and recognizes the pose, and the parallel manipulator 4 grasps the single-bag product through the negative pressure suction cup 41 according to the pose data, and puts it into the stacking cavity of the storage and arrangement assembly, the limiting column 51 limits the stacking position, and the height detection unit 54 monitors the stacking height; when the stacking reaches the preset quantity, the mechanical gripper 62 moves by using the motion platform, and opens and closes the clamping jaw by using the synchronous transmission mechanism, so that the stop rod 6211 makes the product side flush, the pressure sensor 6222 controls the clamping force, and the stacked products are clamped; then the first limiting column 511 and the second limiting column 512 are driven to move downward by the lifting cylinder 53, the motion platform drives the mechanical gripper 62 to move to the upper side of the packaging box, the horizontal rotation module 614 drives the stacked products to stand up by rotating around the horizontal shaft, and the rotary drive unit drives the stacked products to rotate around the vertical shaft by a target angle, and finally the products are put into the box, and the boxing is completed.

[0073] Therefore, the device integrates the packaging box conveying device 1, the bagged product conveying device 2, the pose recognition device 3, the parallel manipulator 4, the bagged product arranging device 5, and the boxing manipulator 6 with multi-axis movement and rotation function, and constructs an automatic bagged product vertical boxing system: the pose recognition device 3 accurately identifies the posture and coordinates of the single bag product in combination with the industrial camera 31, provides data support for efficient grabbing of the parallel manipulator 4, and ensures that the single bag product is accurately transferred to the bagged product arranging device 5; the parallel manipulator 4 quickly arranges the single bag product into a stack, solves the problem of low efficiency of traditional single bag boxing, and greatly improves the pre-material sorting speed. The movement platform of the boxing manipulator 6 realizes flexible movement in multiple dimensions through the X-axis linear module 611, the Z-axis linear module 612, the Y-axis linear module 613, and the horizontal rotation module 614, cooperates with the rotation driving unit and the mechanical gripper 62, and can first convert the stacked product from a horizontal state to a vertical posture through the horizontal rotation module 614, reduce the occupied area of the product in the box, and at the same time, utilize the stability of the vertical state to reduce the shaking risk in the transportation process; further, the stacked product is rotated around the vertical axis to the target angle through the rotation driving unit, especially can be loaded along the diagonal direction of the square packaging box, fully utilizes the longest space dimension of the diagonal line of the box, avoids the size redundancy of the box caused by the mismatch between the length of the bagged product and the side of the box, significantly improves the space utilization and reduces the packaging cost.

[0074] The places not mentioned in the present application can be realized by using or referring to the existing technology.

[0075] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment mainly describes the difference from other embodiments.

[0076] The above only describes the embodiments of the present application and is not used to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. An automatic case packing apparatus for vertical packing of bagged products, characterized by, The package conveying device is used for conveying the opened package to the packaging station. The bagged product conveying device is used for conveying the bagged products. The pose recognition device includes an industrial camera arranged above the bagged product conveying device, which is used for collecting bagged product images to identify the bagged product pose and coordinates. The parallel manipulator is used for grabbing the bagged product according to the pose data information fed back by the industrial camera. The bagged product arrangement device has at least two receiving arrangement components, which are used for receiving the bagged product grabbed by the parallel manipulator and arranging the bagged product into a stack. The packaging manipulator includes: The motion platform includes an X-axis linear module, a Z-axis linear module, a Y-axis linear module and a horizontal rotation module connected in sequence. The rotation driving unit is installed on the horizontal rotation module. The mechanical gripper is installed on the rotation driving unit, and the mechanical gripper includes two gripper jaws, and the two gripper jaws are opened and closed through a synchronous transmission mechanism. The first gripper jaw is provided with at least two blocking rods extending towards the second gripper jaw, and the second gripper jaw is provided with guide holes corresponding to the blocking rods. After the mechanical gripper takes out the stacked product in the receiving arrangement component, the horizontal rotation module is driven to rotate around the horizontal axis to make the stacked product stand, and then the rotation driving unit is driven to rotate around the vertical axis to make the stacked product rotate to a target angle for packaging operation.

2. The apparatus of claim 1, wherein, When the mechanical gripper clamps the stacked product in the horizontal direction, the blocking rods abut against the stacked product to align the abutted side of the stacked product. When the mechanical gripper performs packaging operation on the stacked product, the blocking rods are located above the stacked product to limit the displacement of the stacked product.

3. The apparatus of claim 2, wherein, The rotation driving unit is provided with a mounting seat, and the mounting seat is provided with a sliding rail and first and second sliding blocks slidingly fitted on the sliding rail.

4. The apparatus of claim 1, wherein, The synchronous transmission mechanism includes a driving motor, a driving wheel connected with the driving motor, a driven wheel and a synchronous belt surrounding the driving wheel and the driven wheel.

5. The apparatus of claim 1, wherein, The rotation driving unit includes a rotation cylinder fixed to the horizontal rotation module and a rotation platform installed on the rotation cylinder, and the mounting seat is fixed to the rotation platform. At least one gripper is provided with a pressure sensor for detecting and controlling the clamping force of the mechanical gripper on the stacked product. Each receiving arrangement component includes a tray with a plurality of limiting columns surrounding a stacking cavity on the tray. The first limiting column and the second limiting column form a liftable avoiding mechanism driven by a lifting cylinder, and the mechanical gripper clamps the stacked product in the stacking cavity between the first limiting column and the second limiting column. After the mechanical gripper clamps the stacked product, the lifting cylinder drives the first limiting column and the second limiting column to move downward to take out the stacked product from the stacking cavity.

6. The apparatus of claim 5, wherein, The plurality of limiting columns further include a third limiting column, and a height detection unit for detecting and feeding back the stacking height of the stacked products is mounted on the top of the third limiting column.

7. The apparatus of claim 1, wherein, The pose recognition device comprises a light-shielded box body with a built-in light source, the industrial camera is installed in the light-shielded box body, and the bottom of the light-shielded box body is open.

8. The apparatus of claim 1, wherein, The packaging box conveying device is provided with spacing-adjustable positioning and clamping plates on both sides of the boxing station, which are used for clamping and positioning the packaging box at the boxing station.

9. The apparatus of claim 1, wherein, The parallel manipulator end is provided with a negative pressure suction cup, and a pressure sensor is arranged in the suction cup pipeline of the negative pressure suction cup to realize suction state detection.

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