Packaging device

Abstract

The present application relates to the field of mechanical engineering, and discloses a packaging device, which comprises a conveying belt, a shelf and a grabbing mechanism, the conveying belt is used for conveying pieces to be packaged; the shelf has a shelf surface, which is located above the conveying belt and is used for stacking a plurality of outer packages in the up-down direction; the grabbing mechanism is arranged laterally to the conveying belt and comprises a rack, a first grabbing component, a second grabbing component, a driving component and a linkage assembly, the driving component is arranged on the rack and drives the first grabbing component and the second grabbing component to act alternately through the linkage assembly, so that the second grabbing component grabs the outer package onto the conveying belt, and the first grabbing component grabs the piece to be packaged into the outer package. The packaging device of the present application can place the piece to be packaged into the previous outer package while the outer package is placed on the conveying belt, thereby improving the packaging efficiency of the piece to be packaged, reducing the single packaging cycle, and further reducing the cost.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, and in particular to a packaging device. Background Technology

[0002] In recent years, with the rapid development of industrial automation technology, fully automatic packaging equipment has been widely used in many fields. However, there are still significant technical bottlenecks, especially in key aspects such as parts positioning and packaging stability, where there are problems such as low efficiency, high error rate, and poor adaptability, which seriously restrict the improvement of production efficiency and automation level. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a packaging device that can simultaneously grasp an outer package and place it on a conveyor belt while placing the item to be packaged into the previous outer package, thereby improving the packaging efficiency of the item to be packaged, reducing the single packaging cycle, and further reducing costs.

[0004] According to an embodiment of the present invention, a packaging apparatus includes: a conveyor belt for conveying items to be packaged; a shelf having a shelf surface located above the conveyor belt and used for stacking multiple outer packages in a vertical direction; and a gripping mechanism disposed on the side of the conveyor belt, comprising a frame, a first gripping component, a second gripping component, a drive component, and a linkage assembly. The drive component is disposed on the frame and drives the first gripping component and the second gripping component to alternately move through the linkage assembly, so that the second gripping component grips the outer package onto the conveyor belt, and the first gripping component grips the item to be packaged into the outer package.

[0005] According to the packaging device of the present invention, the first gripping component and the second gripping component can be driven to move alternately by the driving component to drive the linkage component. At the same time as gripping the outer packaging and placing it on the conveyor belt, the packaged item can be placed into the previous outer packaging. This can speed up the packaging cycle, improve the packaging efficiency of the packaged item, reduce the single packaging cycle, further reduce costs, and reduce the need for manual intervention, thereby achieving production safety and cost-effectiveness.

[0006] In some embodiments of the present invention, the frame includes a frame body and a mounting plate, the mounting plate being vertically connected to the top of the frame body, and the first gripping member and the second gripping member being movably disposed on the mounting plate along the vertical direction and the conveying direction of the conveyor belt.

[0007] In some embodiments of the present invention, the first gripping component includes a first moving member and a first gripping member. The first moving member is linked with the linkage component and is provided with a first sliding post. The first gripping member is disposed on the first moving member. The mounting plate is provided with a first guide groove. The first guide groove is U-shaped, and the U-shaped opening formed by the first guide groove faces downward. The first guide groove is slidably engaged with the first sliding post.

[0008] In some embodiments of the present invention, the first moving member has a straight section, the first gripping member includes a second moving member, the second moving member and the straight section both extend along the conveying direction, the bottom of the second moving member is in close contact with the straight section, and is slidably disposed on the mounting plate along the vertical direction.

[0009] In some embodiments of the present invention, the second gripping component includes a third moving member, a pressing member, a second gripping member, and a fourth moving member. The third moving member is linked with the linkage assembly and is provided with a second sliding column. The second gripping member is mounted on the third moving member through the pressing member. The fourth moving member is movably disposed on the mounting plate along the vertical direction and slides with the third moving member along the conveying direction. The mounting plate is provided with a second guide groove, which is located above the first guide groove and is U-shaped. The U-shaped opening formed by the second guide groove faces downward, and the second guide groove slides with the second sliding column.

[0010] In some embodiments of the present invention, the linkage assembly includes a first swing arm, a second swing arm, and a linkage member. The first swing arm and the second swing arm are rotatably mounted on the mounting plate and located on opposite sides of the mounting plate. The first swing arm is closer to the conveyor belt than the second swing arm. The first swing arm is provided with a first drive groove that extends along the arm length direction of the first swing arm and slides in cooperation with a first sliding post. The second swing arm is provided with a second drive groove that extends along the arm length direction of the second swing arm and slides in cooperation with a second sliding post. The drive member drives the first swing arm and the second swing arm through the linkage member to drive the first swing arm and the second swing arm to swing in opposite directions.

[0011] In some embodiments of the present invention, the first swing arm's shaft is connected to a first pulley, the second swing arm's shaft is connected to a second pulley, the second pulley and the first pulley are located on the side of the mounting plate near the conveyor belt, the linkage includes a third pulley and a transmission belt, the third pulley is disposed on the mounting plate, the inner and outer rings of the transmission belt are both provided with transmission teeth, one end of the inner ring of the transmission belt is sleeved on the first pulley, and the other end is sleeved on the third pulley, the transmission teeth on the outer ring of the transmission belt mesh with the second pulley, and the driving member is connected to the first pulley to drive the first pulley to rotate.

[0012] In some embodiments of the present invention, the pressing member is a telescopic member that can extend and retract along the vertical direction, and the pressing member is configured to drive the second gripper to descend a preset height after the second gripper has gripped one of the outer packages.

[0013] In some embodiments of the present invention, both the first gripper and the second gripper are suction cups.

[0014] In some embodiments of the present invention, the first gripper is mounted on the first moving member via a first pressure detection member, the first pressure detection member having a detection sensitivity of millimeter-level accuracy, so as to control the suction force of the first gripper based on the detected contact pressure of the first gripper; the second gripper is mounted on the third moving member via a second pressure detection member, the second pressure detection member having a detection sensitivity of millimeter-level accuracy, so as to control the suction force of the second gripper based on the detected contact pressure of the second gripper.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a three-dimensional structural diagram illustrating the operation of the packaging device provided in some embodiments of the present invention;

[0018] Figure 2 This is a three-dimensional structural schematic diagram of a packaging device provided in some embodiments of the present invention;

[0019] Figure 3 Schematic diagram of the operating state of the packaging device provided in some embodiments of the present invention Figure 1 ;

[0020] Figure 4Schematic diagram of the operating state of the packaging device provided in some embodiments of the present invention Figure 2 ;

[0021] Figure 5 A front view of a partial three-dimensional structure of a gripping mechanism provided in some embodiments of the present invention;

[0022] Figure 6 A rear view illustrating a partial three-dimensional structure of the gripping mechanism provided in some embodiments of the present invention;

[0023] Figure 7 Cross-sectional view of a gripping mechanism provided in some embodiments of the present invention Figure 1 ;

[0024] Figure 8 Cross-sectional view of a gripping mechanism provided in some embodiments of the present invention Figure 2 ;

[0025] Figure 9 for Figure 7 A magnified view of a portion of point I;

[0026] Figure 10 for Figure 8 A magnified view of section II.

[0027] Figure label:

[0028] 100. Packaging equipment;

[0029] 10. Conveyor belt;

[0030] 20. Shelf; 20a. Shelf surface;

[0031] 30. Grasping mechanism;

[0032] 31. Frame; 311. Frame body; 312. Mounting plate; 312a. First guide groove; 312b. Second guide groove; 3121. First slide rail; 3122. Second slide rail; 3123. First limiting protrusion; 3124. Second limiting protrusion;

[0033] 32. First gripping component; 321. First moving component; 3211. First sliding column; 32111. First rolling component; 32112. Third rolling component; 3212. Straight section; 322. First gripping component; 323. Second moving component; 3231. First slider;

[0034] 33. Second gripping component; 331. Third moving component; 3311. Second sliding column; 33111. Second rolling component; 33112. Fourth rolling component; 332. Pressing component; 333. Second gripping component; 334. Fourth moving component; 3341. Second slider;

[0035] 34. Driving components;

[0036] 35. Linkage assembly; 351. First swing arm; 351a. First drive groove; 3511. Third limiting protrusion; 3512. First pulley; 352. Second swing arm; 352a. Second drive groove; 3521. Fourth limiting protrusion; 3522. Second pulley; 353. Linkage component; 3531. Third pulley; 3532. Transmission belt;

[0037] 200. Outer packaging; 300. Items to be packaged. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of the same feature, used to distinguish and describe features, without any order or distinction of importance.

[0041] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] The following is for reference. Figures 1-10 The following describes the packaging device 100 according to an embodiment of the present invention.

[0044] like Figures 1 to 4 As shown, the packaging device 100 of this embodiment includes: a conveyor belt 10, a shelf 20, and a gripping mechanism 30. The conveyor belt 10 is used to transport the packaged item 300. The shelf 20 has a shelf surface 20a, which is located above the conveyor belt 10 and is used to stack multiple outer packages 200 in the vertical direction. The gripping mechanism 30 is located on the side of the conveyor belt 10 and includes a frame 31, a first gripping component 32, a second gripping component 33, a drive component 34, and a linkage component 35. The drive component 34 is located on the frame 31 and drives the first gripping component 32 and the second gripping component 33 to alternately move through the linkage component 35, so that the second gripping component 33 grips the outer package 200 onto the conveyor belt 10 and the first gripping component 32 grips the packaged item 300 into the outer package 200.

[0045] The conveyor belt 10 can refer to the component that transports the items to be packaged 300, and can be, but is not limited to, a belt conveyor, roller conveyor, chain conveyor, screw conveyor, etc. The conveyor belt 10 can hold multiple items to be packaged 300 at intervals, and the number of items to be packaged 300 can be, but is not limited to, two, three, four, five, six, etc.

[0046] Shelf 20 can refer to a component for placing outer packaging 200, and can be mounted on the base of conveyor belt 10 (see...). Figure 1 and Figure 2 It can be placed directly on the ground. The material of the shelf 20 can be, but is not limited to, alloy steel, stainless steel, aluminum alloy, and composite materials, etc. The shelf surface 20a can refer to the flat surface on the shelf 20 used to place the outer packaging 200. Multiple outer packaging 200s can be stacked vertically on the shelf surface 20a. The number and height of the stacked outer packaging 200s can be set as needed. The number of outer packaging 200s can be, but is not limited to, two, three, four, five, six, etc.

[0047] The gripping mechanism 30 can refer to a component used to grip the outer packaging 200 and the item to be packaged 300, and includes a frame 31, a first gripping component 32, a second gripping component 33, a drive component 34, and a linkage assembly 35. The frame 31 can refer to a component that provides an installation base for other components; the frame 31 can be a frame structure, a base, a column, etc. The first gripping component 32 can refer to a component that grips the item to be packaged 300 into the outer packaging 200, and the second gripping component 33 can refer to a component that grips the outer packaging 200 onto the conveyor belt 10. The first gripping component 32 and the second gripping component 33 can be, but are not limited to, mechanical grippers, vacuum suction cups, magnetic suction cups, and special tooling, etc. The drive component 34 can refer to a component that drives the first gripping component 32 and the second gripping component 33, and can be, but is not limited to, a motor, a reducer, a hydraulic cylinder, a hydraulic motor, an electric push rod, an electric cylinder, etc. The linkage assembly 35 can refer to a component that connects the drive component 34, the first gripping component 32, and the second gripping component 33.

[0048] The packaging device 100 of the present invention can be used for packaging diagnostic window components in nuclear fusion devices. Diagnostic window components refer to components within the diagnostic system of a nuclear fusion device; that is, the item to be packaged 300 is a diagnostic window component, and the outer packaging 200 can be a casing. Furthermore, the packaging device 100 of the present invention can also be extended to the field of packaging mobile phones; that is, the item to be packaged 300 is a mobile phone, and the outer packaging 200 is a mobile phone case.

[0049] In the above technical solution, when the packaging device 100 is working, refer to Figure 3 The second gripping component 33 grips one of the multiple outer packages 200 stacked on the shelf 20 and places it onto the conveyor belt 10, while the first gripping component 32 moves toward the package to be packaged 300. Figure 4 The first gripping component 32 grips the item to be packaged 300 into the outer packaging 200 that has already been placed on the conveyor belt 10. At the same time, the second gripping component 33 moves towards the outer packaging 200 and continues to grip and place another of the multiple outer packagings 200 stacked on the platform 20 onto the conveyor belt 10. Through the above scheme, the drive component 34 can realize the alternating action of the first gripping component 32 and the second gripping component 33 through the linkage component 35. Thus, while gripping the item to be packaged 300 and placing it into the outer packaging 200, the next outer packaging 200 can be gripped onto the conveyor belt 10 to realize the packaging of the next item to be packaged 300. In this way, the packaging of the item to be packaged 300 and the gripping and placing of the outer packaging 200 can be completed in one packaging process, which can improve the working cycle.

[0050] It is understood that the packaging device 100 can integrate multiple emergency braking mechanisms (such as photoelectric emergency stop and overload protection) to ensure reduced response time and significantly reduce the risk of failure. Furthermore, by optimizing the mechanical transmission structure, the single packaging cycle can be shortened from 8 seconds to less than 3 seconds. Compared to the existing packaging methods using robotic arms and robots, the packaging device 100 of this invention, being highly specialized, can eliminate significant robotic arm movements, shorten action time, and accelerate the packaging cycle, thereby improving packaging efficiency. Moreover, traditional robotic arms or robots, due to their wide range of applications and need to meet different usage scenarios, have poor adaptability to single packaging operations. In contrast, the packaging device 100 of this invention can be specifically used for packaging operations. It only requires pre-stacking the outer packaging 200 on the platform 20 and arranging the items to be packaged 300 on the conveyor belt 10 at equal intervals, thereby improving packaging accuracy and providing strong adaptability to packaging various components.

[0051] According to the packaging device 100 of the present invention, the first gripping component 32 and the second gripping component 33 can be driven to alternately move by the driving component 34 driving the linkage component 35. At the same time as gripping the outer packaging 200 and placing it on the conveyor belt 10, the packaged item 300 can be placed into the previous outer packaging 200. This can speed up the packaging cycle, improve the packaging efficiency of the packaged item 300, reduce the single packaging cycle, further reduce costs, and reduce the need for manual intervention, thereby achieving production safety and cost-effectiveness.

[0052] In some embodiments of the present invention, reference is made to Figures 1 to 4 The frame 31 includes a frame body 311 and a mounting plate 312. The mounting plate 312 is vertically connected to the top of the frame body 311. The first gripping component 32 and the second gripping component 33 are movably mounted on the mounting plate 312 along the vertical direction and the conveying direction of the conveyor belt 10.

[0053] In the above technical solution, the frame 31 is composed of two parts. The frame body 311 can be stably supported on the ground, while the mounting plate 312 provides a unified and robust mounting reference surface for the first gripping component 32 and the second gripping component 33, ensuring that all movements of the first gripping component 32 and the second gripping component 33 are based on the same coordinate system, avoiding cumulative errors caused by inaccurate positioning of multiple independent mounting points, and improving the reliability of the packaging device 100.

[0054] In some embodiments of the present invention, reference is made to Figure 5The first gripping component 32 includes a first moving component 321 and a first gripping component 322. The first moving component 321 is linked with the linkage component 35 and is provided with a first sliding post 3211. The first gripping component 322 is provided on the first moving component 321. The mounting plate 312 is provided with a first guide groove 312a. The first guide groove 312a is U-shaped, and the U-shaped opening formed by the first guide groove 312a faces downward. The first guide groove 312a slides in cooperation with the first sliding post 3211.

[0055] In the above technical solution, the first sliding column 3211 and the first guide groove 312a cooperate to make the first moving member 321 form a "U"-shaped movement trajectory, realizing the movement of the first gripper 322 in the horizontal and vertical directions. The first sliding column 3211 and the left side of the U-shape cooperate to drive the first moving member 321 to drive the first gripper 322 to grip the packaged item 300 downwards. The first sliding column 3211 and the middle section of the U-shape cooperate to drive the first moving member 321 to drive the first gripper 322 to move to the right. When the first moving part 321 moves to the top of the outer packaging 200, the U-shaped right side section of the first sliding column 3211 and the first guide groove 312a engage, and the first moving part 321 can drive the first gripping part 322 downward to put the packaged item 300 into the outer packaging 200, thereby completing the packaging action of the packaged item 300. At the same time, the sliding engagement of the first guide groove 312a and the first sliding column 3211 can provide guidance for the movement of the first moving part 321, improve the accuracy of the first gripping part 322 in gripping the packaged item 300, and further improve the reliability of the first gripping part 32.

[0056] In some embodiments of the present invention, reference is made to Figure 5 The first moving part 321 has a straight section 3212, and the first gripping part 32 includes a second moving part 323. Both the second moving part 323 and the straight section 3212 extend along the conveying direction. The bottom of the second moving part 323 is in close contact with the straight section 3212 and is slidably disposed on the mounting plate 312 in the up-down direction.

[0057] In the above technical solution, the bottom of the second moving part 323 is in close contact with the straight section 3212, which can ensure that the straight section 3212 is always parallel to the conveying direction, thereby ensuring the stability of the first gripper 322 in the horizontal and vertical directions and improving the reliability of the first gripper 322 in gripping the packaged item 300.

[0058] Optionally, the first moving member 321 and the second moving member 323 in the above embodiments can be, but are not limited to, plate structures, beam structures, or block structures, etc., and no specific limitations are imposed here. Optionally, the first gripping member 32 can be, but is not limited to, a mechanical gripper, a suction cup, or other components capable of gripping.

[0059] In some embodiments of the present invention, reference is made to Figure 5The second moving part 323 has a first slider 3231 at both ends, and the mounting plate 312 has a first slide rail 3121 at the position corresponding to the first slider 3231. The first slide rail 3121 extends in the vertical direction and slides in cooperation with the corresponding first slider 3231.

[0060] In the above technical solution, the first slide rail 3121 extends in the vertical direction and slides in cooperation with the corresponding first slider 3231, which enables the second moving part 323 to slide in the vertical direction. This ensures that the first moving part 321 remains in close contact with the straight section 3212 during its vertical and horizontal movements, thus guaranteeing the stability of the first moving part 321's movement and improving the reliability of the second moving part 323. Furthermore, the second moving part 323 maintains the stability of the first moving part 321 by engaging with the straight section 3212, making full use of gravity. The structure is simple, which simplifies the overall structure and reduces costs.

[0061] In some embodiments of the present invention, while the second moving member 323 and the straight section 3212 are in contact with each other, the second moving member 323 and the straight section 3212 can also slide along the conveying direction, thereby further improving the support stability of the second moving member 323 on the straight section 3212. Optionally, one of the second moving member 323 and the straight section 3212 may be provided with a guide groove, and the other may be provided with a guide protrusion, with the guide groove and the guide protrusion extending along the conveying direction.

[0062] In some embodiments of the present invention, reference is made to Figure 6 The second gripping component 33 includes a third moving component 331, a pressing component 332, a second gripping component 333, and a fourth moving component 334. The third moving component 331 is linked with the linkage assembly 35 and is provided with a second sliding column 3311. The second gripping component 333 is mounted on the third moving component 331 through the pressing component 332. The fourth moving component 334 is movably disposed on the mounting plate 312 in the vertical direction and slides with the third moving component 331 in the conveying direction. The mounting plate 312 is provided with a second guide groove 312b. The second guide groove 312b is located above the first guide groove 312a and is U-shaped. The U-shaped opening formed by the second guide groove 312b faces downward. The second guide groove 312b slides with the second sliding column 3311.

[0063] In the above technical solution, through the sliding engagement of the second sliding column 3311 and the second guide groove 312b, the third moving member 331 can form a "U"-shaped motion trajectory, realizing the movement of the second gripper 333 in the horizontal and vertical directions. With the U-shaped left side sections of the second sliding column 3311 and the second guide groove 312b engaged, the third moving member 331 can drive the second gripper 333 to grip the outer packaging 200 downwards. With the U-shaped middle sections of the second sliding column 3311 and the second guide groove 312b engaged, the third moving member 331 can drive the second gripper 333... Moving to the right and reaching above the conveyor belt 10, the second sliding column 3311 and the U-shaped right side section of the second guide groove 312b engage, allowing the third moving member 331 to drive the second gripping member 333 downwards to place the outer packaging 200 onto the conveyor belt 10, thus completing the placement of the outer packaging 200. Simultaneously, the sliding engagement of the second guide groove 312b and the second sliding column 3311 provides guidance for the movement of the third moving member 331, improving the accuracy of the second gripping member 333 in grasping the outer packaging 200 and further enhancing the reliability of the second gripping member 33. Furthermore, the simple structural design of the second gripping member 33 allows for a simpler movement trajectory, reducing the difficulty of grasping the outer packaging 200 and improving the reliability of the packaging device 100. The fourth moving part 334 and the third moving part 331 slide together along the conveying direction, and the fourth moving part 334 is movably mounted on the mounting plate 312 in the vertical direction. Thus, the fourth moving part 334 can ensure the movement stability of the third moving part 331 in the vertical and horizontal directions, and improve the working reliability of the second gripping component 33.

[0064] In some embodiments of the present invention, reference is made to Figure 6 The fourth moving part 334 has second sliders 3341 at both ends, and the mounting plate 312 has second slide rails 3122 at the positions corresponding to the second sliders 3341. The second slide rails 3122 extend in the vertical direction and slide in cooperation with the corresponding second sliders 3341.

[0065] In the above technical solution, the second slide rail 3122 extends in the vertical direction and slides in cooperation with the corresponding second slider 3341, which enables the fourth moving member 334 to slide in the vertical direction. This ensures that the third moving member 331 remains horizontal during its vertical and horizontal movements, thereby improving the movement stability of the third moving member 331. Furthermore, the second moving member 323 maintains the stability of the first moving member 321 by fitting with the straight section 3212. The structure is simple and can reduce costs.

[0066] Optionally, the third moving member 331 and the fourth moving member 334 in the above embodiments can be, but are not limited to, plate structures, beam structures, or block structures, etc., and no specific limitations are imposed here. Optionally, the second gripping member 33 can be, but is not limited to, a mechanical gripper, a suction cup, or other components capable of gripping.

[0067] In some embodiments of the present invention, reference is made to Figures 7 to 10 The first sliding column 3211 is mounted on the first guide groove 312a via the first rolling element 32111; the second sliding column 3311 is mounted on the second guide groove 312b via the second rolling element 33111.

[0068] The first rolling element 32111 and the second rolling element 33111 can be, but are not limited to, bearings and rollers, etc.

[0069] In the above technical solution, the design of the first rolling element 32111 and the second rolling element 33111 can reduce the friction of the first sliding column 3211 and the second sliding column 3311, improve the smoothness of the movement of the first sliding column 3211 and the second sliding column 3311, avoid the "shaking" or "jamming" phenomenon caused by gaps and friction fluctuations in the sliding cooperation of the first sliding column 3211 or the second sliding column 3311, and make the gripping action of the first gripping component 32 and the second gripping component 33 smoother and more precise.

[0070] In some embodiments of the present invention, reference is made to Figures 7 to 10 The first guide groove 312a is provided with a first limiting protrusion 3123, which extends along the trajectory direction of the first guide groove 312a, and the side of the first rolling element 32111 abuts against the first limiting protrusion 3123; the second guide groove 312b is provided with a second limiting protrusion 3124, which extends along the trajectory direction of the second guide groove 312b, and the side of the second rolling element 33111 abuts against the second limiting protrusion 3124.

[0071] In the above technical solution, the design of the first limiting protrusion 3123 and the second limiting protrusion 3124 can limit the first rolling element 32111 and the second rolling element 33111 in the front-back direction, ensuring the smoothness and accuracy of the movement of the first rolling element 32111 and the second rolling element 33111, thereby improving the stability of the first moving element 321 and the third moving element 331, improving the grasping accuracy of the first gripping component 32 and the second gripping component 33, and further improving the reliability of the packaging device 100.

[0072] In some embodiments of the present invention, reference is made to Figure 5The linkage component 35 includes a first swing arm 351, a second swing arm 352, and a linkage member 353. The first swing arm 351 and the second swing arm 352 are rotatably mounted on the mounting plate 312 and located on opposite sides of the mounting plate 312. The first swing arm 351 is closer to the conveyor belt 10 than the second swing arm 352. The first swing arm 351 is provided with a first drive groove 351a, which extends along the arm length direction of the first swing arm 351 and slides in cooperation with a first sliding column 3211. The second swing arm 352 is provided with a second drive groove 352a, which extends along the arm length direction of the second swing arm 352 and slides in cooperation with a second sliding column 3311. The drive member 34 drives the first swing arm 351 and the second swing arm 352 through the linkage member 353 to drive the first swing arm 351 and the second swing arm 352 to swing in opposite directions.

[0073] In the above technical solution, the driving component 34 drives the first swing arm 351 and the second swing arm 352 through the linkage component 353 to drive the first swing arm 351 and the second swing arm 352 to swing in opposite directions. The first swing arm 351 cooperates with the first moving component 321 through the first driving groove 351a and the first sliding column 3211, so that the first swing arm 351 and the first moving component 321 as a whole form a crank-slider structure. The second swing arm 352 cooperates with the third moving component 331 through the second driving groove 352a and the second sliding column 3311, so that the second swing arm 352 and the third moving component 331 as a whole also form a crank-slider structure. Thus, the first gripping component 32 and the second gripping component 33 can be alternately operated. With this solution, the structure of the first gripping component 32 and the second gripping component 33 to achieve the alternate operation is relatively simple and has high reliability. It can reduce costs and improve the stability of the mechanism operation.

[0074] In some embodiments of the present invention, reference is made to Figure 5 , Figure 9 and Figure 10 The first sliding column 3211 is mounted on the first drive groove 351a via the third rolling element 32112; the second sliding column 3311 is mounted on the second drive groove 352a via the fourth rolling element 33112.

[0075] The third rolling element 32112 and the fourth rolling element 33112 can be, but are not limited to, bearings and rollers, etc.

[0076] In the above technical solution, the design of the third rolling element 32112 and the fourth rolling element 33112 can reduce the friction of the first sliding column 3211 and the second sliding column 3311, improve the smoothness of the movement of the first sliding column 3211 and the second sliding column 3311, avoid the "shaking" or "jamming" phenomenon caused by gaps and friction fluctuations in the sliding fit of the first sliding column 3211 or the second sliding column 3311, and make the gripping action of the first gripping component 32 and the second gripping component 33 smoother and more precise.

[0077] In some embodiments of the present invention, reference is made to Figure 9 and Figure 10 The first drive groove 351a is provided with a third limiting protrusion 3511, which extends along the trajectory direction of the first drive groove 351a, and the side of the third rolling element 32112 abuts against the third limiting protrusion 3511; the second drive groove 352a is provided with a fourth limiting protrusion 3521, which extends along the trajectory direction of the second drive groove 352a, and the side of the fourth rolling element 33112 abuts against the fourth limiting protrusion 3521.

[0078] In the above technical solution, the design of the third limiting protrusion 3511 and the fourth limiting protrusion 3521 can limit the third rolling element 32112 and the fourth rolling element 33112, ensuring the smoothness and accuracy of the movement of the third rolling element 32112 and the fourth rolling element 33112, improving the grasping accuracy of the first gripping component 32 and the second gripping component 33, and further improving the reliability of the packaging device 100.

[0079] In some embodiments of the present invention, reference is made to Figure 5 and Figure 6 The first swing arm 351 has a shaft connected to a first pulley 3512, and the second swing arm 352 has a shaft connected to a second pulley 3522. The second pulley 3522 and the first pulley 3512 are located on the side of the mounting plate 312 near the conveyor belt 10. The linkage 353 includes a third pulley 3531 and a transmission belt 3532. The third pulley 3531 is located on the mounting plate 312. The inner and outer rings of the transmission belt 3532 are provided with transmission teeth. One end of the inner ring of the transmission belt 3532 is sleeved on the first pulley 3512, and the other end is sleeved on the third pulley 3531. The transmission teeth on the outer ring of the transmission belt 3532 mesh with the second pulley 3522. The driving member 34 is connected to the first pulley 3512 to drive the first pulley 3512 to rotate.

[0080] It is understandable that the transmission belt 3532 is a double toothed belt structure with teeth on both the inner and outer rings. The shape of the transmission teeth on the inner and outer rings of the transmission belt 3532 can be the same or different.

[0081] In the above technical solution, the driving component 34 drives the first pulley 3512 to rotate, thereby moving the first gripping component 32. The first pulley 3512 and the third pulley 3531 are linked by the transmission belt 3532. The transmission teeth on the outer ring of the transmission belt 3532 mesh with the second pulley 3522, causing the second pulley 3522 to rotate and thus moving the second gripping component 33. Simultaneously, the transmission teeth on the inner and outer rings of the first pulley 3512 and the second pulley 3522, respectively, ensure that the first swing arm 351 and the second swing arm 352 rotate in opposite directions, thereby ensuring that the first gripping component 32 and the second gripping component 33 operate alternately, improving the reliability of the packaging device 100. Furthermore, the driving component 34 is only connected to the first pulley 3512, reducing the number of driving devices, lowering costs, and reducing the size and weight of the packaging device 100.

[0082] In some embodiments of the present invention, reference is made to Figures 1 to 6 The pressing member 332 is a telescopic member that can extend and retract in the vertical direction, and the pressing member 332 is configured to drive the second gripper 333 to descend a preset height after the second gripper 333 grips an outer package 200.

[0083] The pressing component 332 can be, but is not limited to, a hydraulic cylinder, a hydraulic rod, an electric actuator, an electric cylinder, a lead screw, etc.

[0084] In the above technical solution, the pressing member 332 is a telescopic member that can extend and retract in the vertical direction, which can avoid interference between the mounting plate 312 and the third moving member 331. The pressing member 332 is configured to drive the second gripper 333 to descend a preset height after the second gripper 333 has gripped an outer package 200, which can ensure that the second gripper 333 can grip the outer package 200 and improve the reliability of the second gripper 33. That is to say, the pressing member 332 can be an electrically controlled telescopic member. After the second gripper 333 grips an outer package 200, the height of the multiple outer packages 200 stacked on the shelf 20 will decrease by the height of one outer package 200. At this time, the pressing member 332 can drive the second gripper 333 to descend by the height of one outer package 200 as needed, thereby ensuring that the second gripper 333 can successfully grip an outer package 200 when it is next transported above the shelf 20.

[0085] In some embodiments of the present invention, reference is made to Figures 1 to 6 Both the first gripper 322 and the second gripper 333 are suction cups.

[0086] In the above technical solution, both the first gripper 322 and the second gripper 333 are suction cups, which have a simple structure, can reduce costs, and can also improve the gripping reliability of the first gripper 322 and the second gripper 333.

[0087] In some embodiments of the present invention, the first gripper 322 is mounted on the first moving member 321 via a first pressure detection member, the first pressure detection member having a detection sensitivity of millimeter-level accuracy, so as to control the suction force of the first gripper 322 according to the detected contact pressure of the first gripper 322; the second gripper 333 is mounted on the third moving member 331 via a second pressure detection member, the second pressure detection member having a detection sensitivity of millimeter-level accuracy, so as to control the suction force of the second gripper 333 according to the detected contact pressure of the second gripper 333.

[0088] The first pressure detection element and the second pressure detection element can be, but are not limited to, pressure sensors, and the detection sensitivity of the first pressure detection element and the second pressure detection element is at the millimeter level. Thus, both the first pressure detection element and the second pressure detection element are highly sensitive detection elements, which is beneficial for the first gripper 322 and the second gripper 333 to achieve precise gripping and release.

[0089] In the above technical solution, through the design of the first and second pressure detection components, when the first gripper 322 and the second gripper 333 move downwards, once they contact the surfaces of the item to be packaged 300 and the outer packaging 200, the first and second pressure detection components will immediately detect the contact force. This pressure signal is quickly transmitted to the control system, which then issues a command to immediately activate or adjust the suction force of the first gripper 322 and the second gripper 333 to grip the item to be packaged 300 and the outer packaging 200. Simultaneously, the detection sensitivity of the first and second pressure detection components is at the millimeter level, ensuring that the first gripper 322 and the second gripper 333 will hardly cause over-pressure or squeezing when they contact the item to be packaged 300 and the outer packaging 200, thus avoiding damage to the item to be packaged 300 and the outer packaging 200 and improving the reliability of the packaging device 100.

[0090] The following is combined Figures 1 to 10 This describes a specific embodiment of the packaging device 100 of the present invention.

[0091] The packaging device 100 includes a conveyor belt 10, a shelf 20, and a gripping mechanism 30.

[0092] Conveyor belt 10 is used to transport the packaged item 300.

[0093] The shelf 20 has a shelf surface 20a located above the conveyor belt 10 and is used to stack multiple outer packages 200 in the vertical direction.

[0094] The gripping mechanism 30 includes a frame 31, a first gripping component 32, a second gripping component 33, a drive component 34, and a linkage assembly 35.

[0095] The frame 31 includes a frame body 311 and a mounting plate 312. The mounting plate 312 is provided with a first guide groove 312a and a second guide groove 312b. The first guide groove 312a is U-shaped, and the U-shaped opening of the first guide groove 312a faces downward. The first guide groove 312a is slidably engaged with the first sliding column 3211. The second guide groove 312b is located above the first guide groove 312a and is U-shaped. The U-shaped opening of the second guide groove 312b faces downward. The second guide groove 312b is slidably engaged with the second sliding column 3311.

[0096] The first gripping component 32 includes a first moving part 321, a first gripping part 322, and a second moving part 323. The first moving part 321 is linked to the linkage assembly 35 and is provided with a first sliding column 3211. The first gripping part 322 is disposed on the first moving part 321. The first moving part 321 has a straight section 3212. The second moving part 323 and the straight section 3212 both extend along the conveying direction. The bottom of the second moving part 323 is in close contact with the straight section 3212 and is slidably disposed on the mounting plate 312 along the vertical direction. The first gripping part 322 is a suction cup and is mounted on the first moving part 321 via a first pressure detection element. The detection sensitivity of the first pressure detection element is at the millimeter level to control the suction force of the first gripping part 322 based on the detected contact pressure of the first gripping part 322.

[0097] The second gripping component 33 includes a third moving part 331, a pressing part 332, a second gripping part 333, and a fourth moving part 334. The third moving part 331 is linked with the linkage assembly 35 and is provided with a second sliding column 3311. The second gripping part 333 is mounted on the third moving part 331 via the pressing part 332. The fourth moving part 334 is movably disposed on the mounting plate 312 along the vertical direction and slides with the third moving part 331 along the conveying direction. The pressing part 332 is a telescopic member that can extend and retract along the vertical direction, and the pressing part 332 is configured to drive the second gripping part 333 to descend a preset height after the second gripping part 333 grips one of the outer packages 200. The second gripper 333 is a suction cup and is mounted on the third moving part 331 via the second pressure detection element. The detection sensitivity of the second pressure detection element is at the millimeter level, so as to control the suction force of the second gripper 333 according to the detected contact pressure of the second gripper 333.

[0098] The linkage assembly 35 includes a first swing arm 351, a second swing arm 352, and a linkage member 353. The first swing arm 351 and the second swing arm 352 are rotatably mounted on the mounting plate 312 and located on opposite sides of the mounting plate 312. The first swing arm 351 is closer to the conveyor belt 10 than the second swing arm 352. The first swing arm 351 has a first drive groove 351a, which extends along the arm length direction of the first swing arm 351 and slides in cooperation with the first sliding column 3211. The second swing arm 352 has a second drive groove 352a, which extends along the arm length direction of the second swing arm 352 and slides in cooperation with the second sliding column 3311. The drive member 34 drives the first swing arm 351 and the second swing arm 352 through the linkage member 353 to drive the first swing arm 351 and the second swing arm 352 to swing in opposite directions. The first swing arm 351 has a shaft connected to a first pulley 3512, and the second swing arm 352 has a shaft connected to a second pulley 3522. The second pulley 3522 and the first pulley 3512 are located on the side of the mounting plate 312 near the conveyor belt 10. The linkage 353 includes a third pulley 3531 and a transmission belt 3532. The third pulley 3531 is located on the mounting plate 312. The inner and outer rings of the transmission belt 3532 are provided with transmission teeth. One end of the inner ring of the transmission belt 3532 is sleeved on the first pulley 3512, and the other end is sleeved on the third pulley 3531. The transmission teeth on the outer ring of the transmission belt 3532 mesh with the second pulley 3522. The driving member 34 is connected to the first pulley 3512 to drive the first pulley 3512 to rotate.

[0099] The drive unit 34 is mounted on the frame 31 and drives the first gripping component 32 and the second gripping component 33 to alternately move through the linkage component 35, so that the second gripping component 33 grips the outer packaging 200 onto the conveyor belt 10, and the first gripping component 32 grips the package to be packaged 300 into the outer packaging 200.

[0100] In the description of this specification, references to terms such as "some embodiments," "optionally," "furthermore," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0101] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A packaging device, characterized in that, include: Conveyor belts are used to transport items to be packaged. A shelf having a shelf surface located above the conveyor belt and used for stacking multiple outer packages in a vertical direction; A gripping mechanism is provided on the side of the conveyor belt and includes a frame, a first gripping component, a second gripping component, a drive component, and a linkage assembly. The drive component is provided on the frame and drives the first gripping component and the second gripping component to move alternately through the linkage assembly, so that the second gripping component grips the outer packaging onto the conveyor belt and the first gripping component grips the item to be packaged into the outer packaging. The frame includes a frame body and a mounting plate. The mounting plate is vertically connected to the top of the frame body. The first gripping component and the second gripping component are movably mounted on the mounting plate along the vertical direction and the conveying direction of the conveyor belt. The first gripping component includes a first moving part and a first gripping part. The first moving part is linked with the linkage component and is provided with a first sliding column. The first gripping part is disposed on the first moving part. The mounting plate is provided with a first guide groove. The first guide groove is U-shaped, and the U-shaped opening formed by the first guide groove faces downward. The first guide groove is slidably engaged with the first sliding column. The second gripping component includes a third moving member, a pressing member, a second gripping member, and a fourth moving member. The third moving member is linked to the linkage assembly and is provided with a second sliding column. The second gripping member is mounted on the third moving member via the pressing member. The fourth moving member is movably disposed on the mounting plate along the vertical direction and slides with the third moving member along the conveying direction. The mounting plate is provided with a second guide groove, which is located above the first guide groove and is U-shaped. The U-shaped opening formed by the second guide groove faces downward, and the second guide groove slides with the second sliding column. The linkage assembly includes a first swing arm, a second swing arm, and a linkage member. The first swing arm and the second swing arm are rotatably mounted on the mounting plate and located on opposite sides of the mounting plate. The first swing arm is closer to the conveyor belt than the second swing arm. The first swing arm has a first drive groove that extends along the arm length direction of the first swing arm and slides in cooperation with a first sliding post. The second swing arm has a second drive groove that extends along the arm length direction of the second swing arm and slides in cooperation with a second sliding post. The drive member drives the first swing arm and the second swing arm through the linkage member to drive the first swing arm and the second swing arm to swing in opposite directions.

2. The packaging apparatus according to claim 1, characterized in that, The first moving member has a straight section, and the first gripping component includes a second moving member. Both the second moving member and the straight section extend along the conveying direction. The bottom of the second moving member is in close contact with the straight section and is slidably disposed on the mounting plate along the vertical direction.

3. The packaging apparatus according to claim 1, characterized in that, The first swing arm's shaft is connected to a first pulley, and the second swing arm's shaft is connected to a second pulley. The second pulley and the first pulley are located on the mounting plate near the conveyor belt. The linkage includes a third pulley and a transmission belt. The third pulley is located on the mounting plate. Both the inner and outer rings of the transmission belt are provided with transmission teeth. One end of the inner ring of the transmission belt is fitted onto the first pulley, and the other end is fitted onto the third pulley. The transmission teeth on the outer ring of the transmission belt mesh with the second pulley. The driving component is connected to the first pulley to drive the first pulley to rotate.

4. The packaging apparatus according to claim 1, characterized in that, The pressing member is a telescopic member that can extend and retract along the vertical direction, and the pressing member is configured to drive the second gripper to descend a preset height after the second gripper has gripped one of the outer packages.

5. The packaging apparatus according to any one of claims 1 to 4, characterized in that, Both the first gripper and the second gripper are suction cups.

6. The packaging apparatus according to claim 5, characterized in that, The first gripper is mounted on the first moving member via a first pressure detection element. The first pressure detection element has a detection sensitivity of millimeter-level accuracy to control the suction force of the first gripper based on the detected contact pressure of the first gripper. The second gripper is mounted on the third moving member via a second pressure detection element. The second pressure detection element has a detection sensitivity of millimeter-level accuracy to control the suction force of the second gripper based on the detected contact pressure of the second gripper.

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