Bagged tea boxing equipment

Abstract

The invention discloses bagged tea boxing equipment which comprises a grabbing manipulator, a stacking box, a stacking platform and a discharging assembly. A discharging opening is formed in the stacking platform, a packaging box is arranged below the discharging opening, and the discharging opening is aligned with an opening of the packaging box; the material stacking box is rotationally arranged on the material stacking platform, a feeding port and a discharging port are formed in the material stacking box, when the material stacking box is in a vertical state, the feeding port is located in the top of the material stacking box, and the discharging port is located in one side of the material stacking box; the material grabbing manipulator is used for grabbing the front surfaces of the bagged tea leaves, so that the bagged tea leaves are flatly stacked and placed into the material stacking box from the feeding opening; and after the bagged tea is placed, the material stacking box is rotated to be in a horizontal state, the discharging opening and the discharging opening are aligned up and down, the side faces of the bagged tea face upwards, then the discharging assembly pushes all the tea in the material stacking box into a packaging box, and full-automatic efficient boxing with the side faces of the tea bags facing upwards is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tea leaf boxing, and particularly relates to a bagged tea leaf boxing equipment. BACKGROUND

[0002] Tea leaf boxing generally refers to neatly arranging and packing a plurality of tea leaves packaged in a bag into a paper box or a gift box. This packaging method combines the advantages of bagging and boxing, is convenient to carry, and can improve product grade and gift feeling. Boxing increases the overall quality and protection effect of the product, and also makes the product more beautiful, suitable for being used as a gift.

[0003] Part of the packaging design is to pack the bagged tea leaves in a lying state into the packaging box. The top surface of the lying tea bag is the largest front surface, and the automatic mechanical hand is easy to grab the front surface of the bagged tea leaves, so that most of the existing automatic boxing equipment can only be used for this boxing design.

[0004] Another part of the high-end packaging design adopts a unique internal arrangement method: each bagged tea leaf is not packed in a lying state, but is placed in the packaging box with the narrow side facing up to form a neat three-dimensional array in the packaging box. However, since the side surface of the tea bag is narrow, the existing mechanical hand is difficult to grab the side surface of the tea bag to place the tea bag into the packaging box with the side surface facing up. Moreover, the tea bag has air inside, and the total length of the tea bag after arrangement in a natural relaxed state is longer than the length of the internal cavity of the packaging box, which greatly reduces the possibility of direct side-standing packing. Therefore, at present, the implementation of this fine boxing operation still completely relies on manual work, resulting in low production efficiency, high labor cost, great influence of packaging consistency by human factors, and difficulty in adapting to large-scale production demand. SUMMARY

[0005] The purpose of the present application is to provide a bagged tea leaf boxing equipment, which realizes fully automatic and efficient boxing of tea bags with the side surface facing up, improves production efficiency, and reduces labor cost.

[0006] To achieve the above purpose, the present application provides a bagged tea leaf boxing equipment, which comprises a grabbing mechanical hand, a stacking box, a stacking platform, and a stacking assembly. The stacking platform is provided with a stacking port, and a packaging box is arranged below the stacking port, and the stacking port is aligned with the opening of the packaging box. The stacking box is rotatably arranged on the stacking platform to switch between a standing state and a lying state. The stacking box is provided with an inlet and an outlet. When the stacking box is in the standing state, the inlet is located at the top of the stacking box, and the outlet is located at one side of the stacking box. The grabbing manipulator is used for grabbing the front surface of the bagged tea to lay and stack a plurality of bagged teas in the feeding box from the feeding port; after the bagged teas are laid and stacked, the feeding box is rotated to the laying state, so that the discharging port and the discharging port are aligned up and down, and the side surface of the bagged tea faces upward; the discharging assembly is used for pushing all the bagged teas in the feeding box into the packaging box.

[0007] Further, the grabbing manipulator is a spider robot, an output end of the spider robot is provided with a rotationally arranged connecting arm, a vacuum chuck for adsorbing the bagged tea is mounted on the connecting arm, one end of the bagged tea is a flat head end which is packaged and flattened, and the other end is a thickness end which has obvious thickness due to the aggregation of the tea; when the bagged teas are laid and stacked in the feeding box in sequence, the output end of the spider robot drives the connecting arm to rotate to different angles, so that adjacent bagged teas are laid and stacked in the feeding box in opposite directions in sequence, and then the flat head end and the thickness end of the adjacent bagged teas in the feeding box are aligned and attached.

[0008] Further, one side of the feeding box is provided with a side door, the side door opens and closes the discharging port through a magnetic attraction element, a plurality of through holes are arranged on the other side of the feeding box opposite to the discharging port; the discharging assembly includes a plurality of discharging rods which are arranged above the feeding box in a lifting manner and a push rod, the push rod is located outside the plurality of discharging rods, and the push rod and the discharging rods are lowered to extend into the feeding box through the through holes to respectively open the side door of the feeding box and push all the laid bagged teas into the packaging box.

[0009] Further, the top of the feeding box is provided with a pressing plate, the pressing plate is mounted on the top of the feeding box through a driving device, and the driving device is used for driving the pressing plate to rotate and lift; after the bagged teas are laid and stacked in the feeding box, the pressing plate is rotated to above the feeding port of the feeding box, and then is lowered to press the bagged teas.

[0010] Further, the through holes on the feeding box include first through holes and second through holes, a plurality of first through holes are arranged in an array to be passed through by the discharging rods, and four second through holes are arranged, two of the four second through holes are arranged on both sides of the array of the first through holes, and are close to the top and the bottom of the feeding box, and the second through holes are used for being passed through by the push rod; the bottom of the feeding box is provided with a bottom plate, both ends of the bottom plate and the pressing plate are provided with through holes which are aligned with the second through holes, and the side door covers all the through holes; after the feeding box is rotated to the laying state, the push rod is first lowered to pass through the second through holes and the through holes in sequence, until the side door is pushed open, and then the discharging rods are lowered to pass through the first through holes to push the bagged teas into the packaging box.

[0011] Further, the side door is symmetrically provided with two, and the feeding platform is further provided with two air blowing devices, the two air blowing devices are arranged on both sides of the side door; after the feeding box in which the bagged teas are discharged is rotated to the standing state, the two air blowing devices blow air to the opened two side doors to close the side doors.

[0012] Furthermore, a support rod is also installed below the stacking platform. When the stacking box is erected, the support rod passes through the stacking platform and extends into the stacking box to support the bagged tea. Each time the grabbing robot puts a bag of tea into the stacking box, the support rod descends by the thickness of one bag of tea.

[0013] Furthermore, the material stacking platform is rotatably positioned between the gripping robot and the discharge assembly, and the material stacking platform is provided with two centrally symmetrical material stacking boxes and discharge ports.

[0014] Furthermore, the boxing device also includes a feeding conveyor line for conveying bagged tea with the front side facing up. The gripping robot is located above the feeding conveyor line, and the stacking platform is located on one side of the feeding conveyor line. A vision component is provided on the feeding conveyor line, located upstream of the gripping robot's gripping position. The vision component is used to perform appearance inspection on the bagged tea. A receiving box is provided at the downstream end of the feeding conveyor line for collecting bagged tea that fails the inspection.

[0015] Furthermore, the boxing device also includes a discharge conveyor line for conveying packaging boxes. The stacking platform is located above the discharge conveyor line. A lid-closing assembly is provided at the downstream end of the discharge conveyor line. The lid-closing assembly includes a conveyor belt, a flip-top mechanism, and a pressing mechanism. The flip-top mechanism is located upstream of the pressing mechanism. The conveyor belt is used to sequentially convey packaging boxes to the flip-top mechanism and the pressing mechanism. The flip-top mechanism includes a lifting pusher. The packaging box includes a box body and a lid. The lid is a magnetic three-fold lid, with one end connected to one side of the box body. The pusher is located below the lid and rises to push the lid onto the box body. The pressing mechanism includes a second lifting mechanism, pressure rollers, and a V-shaped bracket. The middle of the V-shaped bracket is pivotally connected to the second lifting mechanism. Pressure rollers are rotatably mounted at both ends of the V-shaped bracket. The second lifting mechanism drives the V-shaped bracket to descend so that the pressure rollers at both ends of the V-shaped bracket press the lid on the top and side of the box body, respectively.

[0016] After adopting the above solution, the beneficial effects of the present invention are as follows: 1. The rotating arrangement of the material stacking box in this application allows the stacking box to initially stand upright during boxing, with the inlet located at the top. The gripping robot can then grasp the front of the bagged tea leaves and place them flat into the stacking box from the inlet. After placing the tea leaves, the stacking box rotates to a flat position, aligning the discharge port with the outlet and ensuring the sides of the tea leaves are facing upwards. Subsequently, the discharge assembly pushes all the tea leaves in the stacking box into the packaging box, thus completing the fully automatic and efficient boxing process with the sides of the tea leaves facing upwards. This application breaks down a highly complex action into several simple mechanical mechanisms, greatly improving the stability and production efficiency of the boxing process, reducing labor costs, and ensuring high precision and consistent placement of the tea leaves, resulting in a good appearance.

[0017] 2. In addition to picking up and placing bagged tea, the gripping robot of this application can also drive the bagged tea to rotate. When the bagged tea is laid flat in sequence into the stacking box, the gripping robot drives the bagged tea to rotate to different angles, so that adjacent bagged tea is placed into the stacking box in opposite directions. This makes the flat end and the thick end of the adjacent stacked bagged tea in the stacking box fit and align. This arrangement makes the adjacent bagged tea form an interlocking structure in three-dimensional space, like gears meshing, which greatly improves the packaging density and overall stability per unit volume.

[0018] 3. This application first arranges the bagged tea in the stacking box, and then pushes the arranged bagged tea into the packaging box, avoiding the wear and tear caused by the gripping robot directly placing the bagged tea into the packaging box and coming into contact with the packaging box. Attached Figure Description

[0019] Figure 1 The three-dimensional representation of the complete machine equipment of the present invention Figure One ; Figure 2 The three-dimensional representation of the complete machine equipment of the present invention Figure Two (Hidden lid assembly); Figure 3 This is a perspective view of the core part of the complete machine of the present invention; Figure 4 For the present invention Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is a schematic diagram of the structure of the material stacking box of the present invention set on the material stacking platform. Figure One (Hidden lifting drive device); Figure 6 This is a schematic diagram of the structure of the material stacking box and the packaging box fitting together. Figure 7 This is a schematic diagram of the material stacking box of the present invention; Figure 8 This is a schematic diagram of the material stacking box in the material discharge state of the present invention; Figure 9 This is a cross-sectional view of the visual component of the present invention; Figure 10 This is a schematic diagram of the structure of the material stacking box of the present invention set on the material stacking platform. Figure Two ; Figure 11 This is a cross-sectional view of the material stacking box of the present invention in the upright state; Figure 12 This is a cross-sectional view of the present invention showing the bagged tea being pushed into the packaging box; Figure 13 This is a perspective view of the material stacking box of the present invention in an upright state; Figure 14 The three-dimensional shape of the lid assembly of the present invention Figure One ; Figure 15 The three-dimensional shape of the lid assembly of the present invention Figure Two ; Figure 16 For the present invention Figure 15 A magnified view of a section at point B in the middle; Figure 17 The three-dimensional shape of the lid assembly of the present invention Figure Three (Hidden packaging box); Figure 18 This is a partial schematic diagram of the lid assembly of the present invention; Figure 19 This is a schematic diagram of the structure of the bagged tea packaged in the packaging box according to the present invention.

[0020] Label Explanation: 1. Material handling robot; 11. Vacuum suction cup; 12. Connecting arm; 2. Stacking box; 21. Feed inlet; 22. Discharge outlet; 23. First through hole; 24. Second through hole; 25. Side door; 251. Magnetic suction component; 26. Pressure plate; 27. Drive device; 28. Base plate; 281. Connecting part; 282. Rotating shaft; 29. ​​Through hole; 3. Stacking platform; 31. Discharge port; 311. Baffle; 32. Air blowing device; 33. Gear; 34. Rack; 35. Horizontal cylinder; 36. First support column; 37. Second support column; 38. Slider; 39. Linear rail; 4. Discharge assembly; 41. Discharge rod; 42. Push rod; 43. Lifting module; 44. Lifting platform; 45. Lifting cylinder; 5. Bagged tea; 51. Flat end; 52. Thick end; 6. Feeding conveyor line; 61 7. Receiving box; 7. Discharge conveyor line; 71. Packaging box placement; 72. Packaging box; 721. First cover plate; 722. Second cover plate; 723. Second cover plate; 724. Box body; 73. Guardrail; 74. Fiber optic sensor; 75. Adjusting rod; 76. Positioning rib; 77. Box cover assembly; 771. Conveyor belt; 772. Flip-top mechanism; 7721. Push-top component; 7722. Positioning plate; 7723. First lifting mechanism; 7724. Roller; 773. Cover pressing mechanism; 7731. Second lifting mechanism; 7732. Pressure roller; 7733. V-shaped bracket; 774. Pressing mechanism; 7741. Pressing cylinder; 7742. Pressing component; 8. Vision assembly; 81. Vision light box; 82. Camera; 83. Line scan light source; 9. Support rod; 10. Lifting drive device. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application, and the range values ​​mentioned in this application all include endpoint values.

[0022] Key references Figures 1-19This invention provides a bagged tea packaging equipment, including a gripping robot 1, a stacking bin 2, a stacking platform 3, and a discharge assembly 4. The stacking platform 3 has a discharge port 31, and below the discharge port 31 is a packaging box placement position 71 for placing packaging boxes 72, with the opening of the packaging box 72 aligned with the discharge port 31. The stacking bin 2 is rotatably mounted on the stacking platform 3, and the stacking bin 2 has an inlet 21 and an outlet 22. The gripping robot 1 is used to grip bagged tea 5 and pack multiple bags of tea... 5. The tea bags 5 are placed into the stacking box 2 through the feed inlet 21 in sequence, so that the tea bags 5 are arranged in the stacking box 2. After the tea bags 5 are arranged, the stacking box 2 rotates until the discharge outlet 22 is aligned with the discharge outlet 31. Then the discharge component 4 pushes all the tea bags 5 inside the stacking box 2 into the packaging box 72, thus completing the automatic boxing of the tea bags 5. This replaces manual boxing, improves production efficiency, reduces labor costs, and the automatic boxing has high precision and good consistency of tea bag arrangement, ensuring a good appearance.

[0023] Key references Figure 5 The material stacking box 2 is rotatable between two states: upright and flat. When packing, the material stacking box 2 is initially in the upright state, with the inlet 21 located at the top and the outlet 22 located on one side. The output end of the gripping robot 1 is equipped with a vacuum suction cup 11, which is used to grip the front of the bagged tea 5 with the largest area, i.e., the top surface of the bagged tea 5 when it is flat. Then, it is placed flat into the material stacking box 2 through the inlet 21. When the material stacking box 2 rotates to the flat state, the outlet 22 and the discharge port 31 are aligned vertically. At this time, the bagged tea 5 is placed with its narrower side facing up, and it can maintain this state to be pushed into the packaging box 72 by the discharge component 4. This makes the bagged tea 5 compact, stable and neatly arranged in the packaging box 72, meeting the needs of existing high-end packaging designs. Preferably, the vacuum suction cup 11 is a multi-layer lip suction cup, which can flexibly pick up the bagged tea 5, ensuring that the bagged tea 5 can be picked up, while avoiding leaving marks on the surface of the bagged tea 5, so as to avoid making the bagged tea 5 look wrinkled and unsightly.

[0024] Furthermore, the gripping robot 1 is preferably a spider robot. The output end of the spider robot is provided with a connecting arm 12, and a vacuum suction cup 11 is installed on the connecting arm 12. The spider robot can drive the connecting arm 12 to lift, move horizontally, and rotate. One end of the bagged tea 5 is a flattened end 51 that is sealed and flattened, and the other end is a thick end 52 that has a significant thickness due to the aggregation of tea leaves. When the bagged tea 5 is placed flat into the stacking box 2 in sequence, the output end of the spider robot drives the connecting arm 12 to rotate to different angles, so that adjacent bagged tea 5 are placed into the stacking box 2 in opposite directions. This makes the flattened end 51 and the thick end 52 of the adjacent stacked bagged tea 5 fit and align inside the stacking box 2. This arrangement makes the adjacent bagged tea 5 form an interlocking structure in three-dimensional space, like gear meshing, which greatly improves the packaging density and overall stability per unit volume.

[0025] Key references Figure 4 The width of the stacking box 2 is preferably the same as or slightly larger than the length of the bagged tea 5. The inlet 21 allows only one bagged tea 5 to be placed flat, so that only one row of vertically stacked bagged tea 5 is placed in the stacking box 2. Of course, in addition to placing one row of bagged tea 5, multiple rows of bagged tea 5 can also be placed as needed, but placing one row of bagged tea 5 has higher precision and is also easier to program the operation of the gripping robot 1. The connecting arm 12 is preferably U-shaped, and a vacuum suction cup 11 is installed on each of the two arms of the connecting arm 12. One gripping robot 1 can grab two bagged tea 5 at a time and rotate them to two different angles so that the two bagged tea 5 are stacked in opposite directions in the stacking box 2. For example, one flat end 51 is placed in with the other flat end 51 facing forward, and the other flat end 51 is placed in with the other facing backward. This cycle continues until all the bagged tea 5 are placed.

[0026] Key references Figure 11 and Figure 13 The feed inlet 21 has an outward-expanding trumpet-shaped structure at the top of the stacking box 2, which compensates for the positioning error of the gripping robot 1.

[0027] Key references Figures 1-4 This application also includes a feeding conveyor line 6 and a discharging conveyor line 7. The feeding conveyor line 6 is used to convey bagged tea leaves 5 with the front side facing up, and the discharging conveyor line 7 is used to convey packaging boxes 72. The stacking platform 3 is set on one side of the feeding conveyor line 6 and above the discharging conveyor line 7. The packaging box placement position 71 is on the discharging conveyor line 7. The feeding conveyor line 6 and the discharging conveyor line 7 realize the automatic transportation of bagged tea leaves 5 and packaging boxes 72, thereby realizing the assembly line production of bagged tea leaves 5 into boxes, and further improving the level of automation and production efficiency.

[0028] Key references Figures 5-8The material stacking box 2 has multiple through holes on the side opposite to the discharge port 22. When the material stacking box 2 is rotated to a flat position, the through holes are located on the top side of the material stacking box 2. The material discharge assembly 4 includes multiple material discharge rods 41 that are raised and lowered above the material stacking box 2. The material discharge rods 41 descend to pass through the through holes and extend into the inside of the material stacking box 2 to push all the arranged bagged tea leaves 5 into the packaging box 72. During this process, all the material discharge rods 41 descend synchronously, so that the free fall height of the bagged tea leaves 5 is reduced to near zero, avoiding the bagged tea leaves 5 from turning over and becoming disordered and unable to enter the packaging box 72 neatly due to air resistance or the tea bags scraping against the side wall of the cavity during free fall. In addition to the discharge rod 41, the discharge assembly 4 can also be a push plate structure set inside the stacking box 2. The push plate can push the bagged tea 5 into the packaging box 72 by pushing it downward above the bagged tea 5. However, this application preferably sets the discharge rod 41 outside the stacking box 2, so as not to occupy the space inside the stacking box 2.

[0029] Furthermore, the material stacking box 2 is provided with a side door 25 on one side. The side door 25 can open and close the discharge port 22 via a magnetic suction component 251. Before the bagged tea 5 is placed into the material stacking box 2, the side door 25 must close the discharge port 22 to prevent the bagged tea 5 from falling out of the discharge port 22. After the material stacking box 2 is rotated until the discharge port 22 is aligned with the discharge outlet 31, the side door 25 opens again, connecting the discharge port 22 and the discharge outlet 31. The discharge assembly 4 also includes multiple push rods 42 that are raised and lowered above the material stacking box 2. The push rods 42 descend to pass through the through hole to push the side door 25 of the material stacking box 2 to open the side door 25.

[0030] Specifically, the discharge assembly 4 includes a lifting module 43, a lifting platform 44, and a lifting cylinder 45. The lifting module 43 is located on one side of the discharge conveyor line 7. The lifting platform 44 is located on the lifting module 43. The discharge rods 41 are arrayed on the bottom surface of the lifting platform 44. The lifting cylinder 45 is located on the lifting platform 44. The push rod 42 passes through the lifting platform 44, and the top end of the push rod 42 is connected to the lifting cylinder 45. After the stacking box 2 rotates to a horizontal state, the lifting cylinder 45 first drives the push rod 42 to descend, so that the bottom end of the push rod 42 extends downward beyond the lifting platform 44 by a length greater than that of the discharge rod 41. Then, the lifting module 43 drives the lifting platform 44 to descend, and the lifting cylinder 45 also descends accordingly (which can save time). This allows the push rod 42 to first push the side door 25 to open, and then the discharge rod 41 pushes the bagged tea 5 into the packaging box 72. Furthermore, after the side door 25 is opened, the lifting platform 44 continues to descend 5mm to ensure the door opening is complete. Then, the lifting cylinder 45 drives the push rod 42 to rise and reset (to prevent the push rod 42 from interfering with and squeezing the packaging box 72 as it continues to descend). The lifting platform 44 continues to push the bagged tea 5 down until the boxing is complete, and then the lifting platform 44 resets. Preferably, the top of the stacking box 2 is provided with a pressure plate 26. The pressure plate 26 is installed on the top of the stacking box 2 by a driving device 27. The driving device 27 is a rotary pressing clamping cylinder, which can drive the pressure plate 26 to rotate and rise. In addition to the rotary pressing clamping cylinder, the driving device 27 can also be other devices that can drive the pressure plate 26 to rotate and rise. After the bagged tea leaves 5 are placed in the stacking box 2, that is, after the stacking is completed, the pressure plate 26 rotates to above the feed inlet 21 of the stacking box 2, and then descends to press down on the bagged tea leaves 5. Since there is air inside the bagged tea leaves 5, if the bagged tea leaves 5 are placed in a loose and natural state, their overall length after being placed will be longer than the length of the cavity inside the packaging box 72. Therefore, the pressure plate 26 is needed to press and bind them inside the stacking box 2 so that the array of bagged tea leaves 5 can fit the length of the cavity of the packaging box 72. This also ensures that when the stacking platform 3 is rotated to a horizontal state, the bagged tea leaves 5 will not fall out of the feed inlet 21. Furthermore, due to the friction between the bagged tea leaves 5, the bagged tea leaves 5 will not fall out of the discharge outlet 22 after the side door 25 is opened. The discharge rod 41 is required to push them out.

[0031] Specifically, the through holes on the material box 2 include first through holes 23 and second through holes 24. Multiple first through holes 23 are arranged in an array to allow the discharge rod 41 to pass through. There are four second through holes 24, which are distributed in pairs on both sides of the array of first through holes 23 and close to the top and bottom of the material box 2. The second through holes 24 are used for the push rod 42 to pass through. The bottom of the material box 2 is provided with a base plate 28. Both ends of the base plate 28 and the pressure plate 26 are provided with through holes 29 aligned with the second through holes 24. The side door 25 covers all the through holes 29. Thus, when the lifting platform 44 descends, the push rod 42 first passes through the second through holes 24 and through holes 29 in sequence until the side door 25 is pushed open. Then the discharge rod 41 descends to pass through the first through hole 23 to push the bagged tea 5 into the packaging box 72. This design ensures that the lifting and lowering of the push rod 42 will not interfere with the bagged tea 5 and reduces the space occupied by the through holes 29. Furthermore, when the material box 2 is laid flat, the through hole is set on the top side of the material box 2, and the side door 25 is set on the bottom side of the material box 2. Thus, when the discharge rod 41 extends directly into the material box 2 to push out the bagged tea 5, the complex mechanism is simplified into a simple shape.

[0032] Furthermore, two side doors 25 are symmetrically arranged on the left and right sides, and two air blowing devices 32 are also provided on the stacking platform 3. After the bagged tea leaves 5 in the stacking box 2 are discharged and the stacking box 2 is rotated to the upright position, the two air blowing devices 32 are located on both sides of the side doors 25 and blow air onto the two side doors 25, so that the side doors 25 are closed. This application uses the air blowing device 32 to close the side doors 25 and the magnetic suction component 251 to keep the side doors 25 closed, eliminating the need for a motor and cylinder to drive them, which greatly saves on the structure and volume of the stacking box 2.

[0033] Specifically, such as Figure 5 , Figure 6 and Figure 13As shown, the bottom of the material stacking box 2 is provided with a rotating shaft 282. A gear 33 is fixed to one end of the rotating shaft 282. The gear 33 meshes with a rack 34. The rack 34 is driven by a horizontal cylinder 35 to move horizontally. The rack 34 drives the gear 33 to rotate, thereby driving the material stacking box 2 to rotate. The entire material stacking box 2 is relatively large. The rotary drive mechanism combining the horizontal cylinder 35 and the rack 33 has a compact structure, achieving high torque and high speed output with a compact drive mechanism. If a common motor is used for drive, the structure will be bulky and the rotation speed will be slow. The gear 33, rack 34 and horizontal cylinder 35 are all set on the material stacking platform 3. The rotating shaft 282 can be set on the base plate 28. The part of the base plate 28 that extends outward from the material stacking box 2 is the connecting part 281, which is fixed to the rotating shaft 282. Furthermore, one end of the gear 34 meshes with the gear 33, and the other end is connected to a slider 38. The slider 38 is combined with a linear guide 39, which is set on the stacking platform 3. The slider 38 and the linear guide 39 ensure the precise linear operation of the rack 34 and provide stable support for the rack 34. Due to the height difference caused by the connecting part 281, the extension and retraction of the horizontal cylinder 35 have an overload, making it difficult for the stacking box 2 to maintain a vertical standing state and a horizontal position parallel to the stacking platform 3. Therefore, two first support columns 36 and two second support columns 37 are set on the stacking platform 3 to compensate for this overload. When the stacking box 2 is upright, the first support column 36 can support the bottom of the stacking box 2 to ensure that the stacking box 2 remains vertical when upright, so that the spider robot can accurately load materials. When the stacking box 2 is horizontal, the second support column supports the end of the stacking box 2 near the feed port 21, so that the stacking box 2 is parallel to the stacking platform 3, thereby enabling the discharge component 4 to accurately discharge materials.

[0034] Key references Figure 5 and Figure 12 Each end of the discharge port 31 is provided with a baffle 311. The two baffles 311 serve to limit and guide the bagged tea 5, preventing the bagged tea 5 from expanding outward and getting stuck in the discharge port 31 after being pushed down and leaving the stacking box 2. This allows the bagged tea 5 to be smoothly pushed into the packaging box 72. Furthermore, the length of the stacking box 2, the width between the two baffles 311, and the length of the cavity inside the packaging box 72 increase sequentially, ensuring that the bagged tea 5 can be smoothly loaded into the packaging box 72. Otherwise, due to the expansion of the bagged tea 5, it may easily get stuck at the corners during the loading process, resulting in loading failure.

[0035] Preferably, the stacking platform 3 is rotatably positioned between the gripping robot 1 and the discharge assembly 4. The stacking platform 3 has two centrally symmetrical stacking boxes 2 and a discharge port 31. After the bagged tea leaves 5 are placed in the stacking boxes 2, the stacking platform 3 rotates 180°, so that the stacking box 2 filled with bagged tea leaves 5 is located below the discharge assembly 4, while the empty stacking box 2 is located below the gripping robot 1. This allows the stacking operation of the gripping robot 1 and the discharge operation of the discharge assembly 4 to be performed simultaneously, further improving production efficiency. Moreover, the stacking boxes 2 can rotate simultaneously with the stacking platform 3, saving operation time.

[0036] Key references Figure 10 Below the stacking platform 3, a support rod 9 is also installed in a lifting manner. When the stacking box 2 is erected, the support rod 9 passes through the stacking platform 3 and extends into the stacking box 2 to support the bagged tea leaves 5. Every time the gripping robot 1 puts a bagged tea leaf 5 into the stacking box 2, the support rod 9 lowers by the thickness of a bagged tea leaf to prevent the bagged tea leaves 5 from falling directly from the feed inlet 21 to the bottom of the stacking box 2, causing the bagged tea leaves 5 to be tilted or overturned and unable to be arranged as required, thus preventing the stacking box 2 from being able to hold the specified number of bagged tea leaves 5. Specifically, the stacking platform 3 has a clearance hole above the support rod 9 for the support rod 9 to pass through. When the stacking box 2 is upright, its bottom is exactly above the clearance hole. An opening can also be made in the middle of the bottom plate 28 of the stacking box for the support rod 9 to pass through, so that the support rod 9 can rise and pass through the stacking platform 3 and the bottom plate 28 into the stacking box 2. After the bagged tea 5 is placed, the support rod 9 descends and exits from the stacking box 2 and returns to its original position below the stacking platform 3 to avoid interference with the rotation of the stacking box 2 and the stacking platform 3. The support rod 9 can be driven to rise and fall by a lifting drive device 10, which is fixedly installed below the stacking platform 3. The lifting drive device 10 can be a stepper motor-synchronous belt lifting mechanism or a screw lifting module; this application does not impose any restrictions.

[0037] Key references Figure 1 and Figure 9 The feeding conveyor line 6 is equipped with a vision component 8, which is located upstream of the gripping position of the gripping robot 1. The feeding conveyor line 6 first conveys the bagged tea leaves 5 to the vision component 8, which performs an appearance inspection on the bagged tea leaves 5 to check their position, angle, and whether their appearance is complete. Based on the inspection results of the vision component 8, the gripping robot 1 picks up the bagged tea leaves 5 that meet the appearance requirements and adjusts the rotation angle of the bagged tea leaves 5. A receiving box 61 is provided at the downstream end of the feeding conveyor line 6. The receiving box 61 is used to collect the bagged tea leaves 5 that fail the inspection by the vision component 8.

[0038] The vision component 8 includes a vision light box 81, a camera 82, and four line scan light sources 83. The four line scan light sources 83 are respectively disposed on the four side walls of the vision light box 81, and the camera 82 is disposed on the top wall of the vision light box 81. The vision light box 81 is covered by the line scan light sources 83, which not only avoids the glare of the light source, but also isolates external light, preventing external light sources from affecting the light distribution inside the vision light box 81. The line scan light sources 8 can provide directional lighting inside the vision light box 81, providing uniform light distribution, unifying the imaging environment, and ensuring the repeatability and reliability of the detection results.

[0039] Key references Figure 8 The discharge conveyor line 7 is equipped with guardrails 73 and fiber optic sensors 74. Guardrails 73 are located on the left and right sides of the packaging box placement position 71. The inner cavity of guardrails 73 contains multiple rollers. Guardrails 73 provide protection and guidance for the conveying of packaging boxes 72. Adjustment rods 75 are provided on both sides of guardrails 73 to adjust their position according to the size of the packaging box 72. The fiber optic sensor 74 is located on one side of the guardrail 73 and below the discharge port 31. It is used to position the packaging box 72. If the fiber optic sensor 74 detects that the packaging box 72 has moved below the discharge port 31, the discharge conveyor line 7 stops conveying. Multiple locking ribs 76 are provided along the conveying direction on the discharge conveyor line 7. Adjacent locking ribs 76 form a packaging box placement position 71. The front and rear sides of the packaging box 72 abut against the locking ribs 76 to prevent the packaging box 72 from shifting and to ensure that the opening of the packaging box 72 is aligned with the discharge port 31.

[0040] Key references Figures 1-19 The downstream end of the discharge conveyor line 7 is provided with a lid closing assembly 77. When the bagged tea 5 is pushed into the packaging box 72, the discharge conveyor line 7 transports the packaging box 72 to the lid closing assembly 77, which then places the lid of the packaging box 72 onto the box body 724. The lid of the packaging box 72 is a magnetic three-fold lid, with one end connected to one side of the box body 724. The magnetic three-fold lid consists of three cover plates, which are integrally connected and have folding grooves at the connection points. From the closest to the box body to the furthest from the box body 724, the cover plates are, in order, the first cover plate 721, the second cover plate 722, and the third cover plate 723. The first cover plate 721 is connected to one side of the box body 724. After closing, the first cover plate 721 and the third cover plate 723 are respectively attached to the two sides of the box body 724. The second cover plate 722 closes to the opening at the top of the box body 724, and the third cover plate 723 is magnetically connected to the box body 724.

[0041] Key references Figures 14-18The lid-closing assembly 77 includes a conveyor belt 771, a lid-flipping mechanism 772, and a lid-pressing mechanism 773. The lid-flipping mechanism 772 is located upstream of the lid-pressing mechanism 773. The discharge conveyor line 7 transports the packaging box 72 to the conveyor belt 771, and the conveyor belt 771 then transports the packaging box 72 to the lid-flipping mechanism 772 and the lid-pressing mechanism 773 in sequence. The lid-flipping mechanism 772 includes a lifting and lowering pusher 7721. The pusher 7721 is located on one side of the conveyor belt 771. After the packaging box 72 moves to the point where the lid is above the pusher 7721, the pusher 7721 rises and pushes the first cover plate 721, the second cover plate 722, and the third cover plate 723 in sequence, so that the three cover plates bend in sequence and are then placed on the box body 724. Specifically, the flip-top mechanism 772 also includes a positioning plate 7722 and a sensor (not shown in the figure). The positioning plate 7722 is equipped with a vacuum suction head and is located between the conveyor belt 771 and the push-top component 7721. The width of the packaging box 72 is greater than the width of the conveyor belt 771. After the sensor detects that the box 724 has moved above the positioning plate 7722, the vacuum suction head on the positioning plate 7722 opens to adsorb and position the box 724. The box remains stationary so that the push-top component 7721 can perform the push-top operation. After the lid is placed on the box 724, the vacuum suction head on the positioning plate 7722 closes, and the conveyor belt 771 transports the packaging box 72 to the next station.

[0042] Furthermore, the bottom of the push-cover component 7721 is provided with a first lifting mechanism 7723, which drives the push-cover component 7721 to rise and fall. The first lifting mechanism 7723 can be a cylinder, a lead screw or other lifting mechanism. The push-cover component 7721 is provided with a roller 7724 rotatably on the side facing the packaging box 72. The roller 7724 makes rolling contact with the box cover, which can reduce the friction between the push-cover component 7721 and the box cover and avoid damage to the box cover.

[0043] Key references Figures 15-16After the lid pusher 7721 places the lid onto the box body 724, the lid may not be closed tightly, meaning the second cover plate 722 and the third cover plate 723 may tilt relative to the box body 724. Therefore, a lid pressing mechanism 743 is needed to press the lid tightly. The lid pressing mechanism 743 includes a second lifting mechanism 7731, a pressure roller 7732, and a V-shaped bracket 7733. The middle part of the V-shaped bracket 7733 is pivotally connected to the second lifting mechanism 7731. The second lifting mechanism 7731 can also be a cylinder, a lead screw, or other lifting mechanism. The second lifting mechanism 7731 is mounted on a frame above the packaging box 72. Both ends of the V-shaped bracket 7733 are rotatably equipped with pressure rollers 7732. After the packaging box 72 moves to below the pressure rollers 7732, the second lifting mechanism 7731 drives the V-shaped bracket 7733 to descend, so that the pressure rollers 7732 at both ends of the V-shaped bracket 7733 press the top and side lids of the box body 724 respectively, that is, press the second cover plate 722 and the third cover plate 723 respectively, so that the lid is tightly closed with the box body. One pressure roller 7732 first presses the third cover plate 723, making it fit against the side wall of the box body 724. Then, the other pressure roller 7732 presses the second cover plate 722. After pressing, the third cover plate 723 can be completely magnetically connected to the box body 724. The V-shaped bracket 7733 is pivotally connected to the second lifting mechanism 7731 to accommodate different lifting amounts of the box cover, ensuring that the box cover is properly closed. As needed, two V-shaped brackets 7733 can be provided, and four pressure rollers 7732 can be provided accordingly. The two V-shaped brackets 7733 are arranged at intervals along the conveyor belt 771 to improve the pressing and closing effect of the box cover.

[0044] Key references Figure 14 Since the lid has not been bent since it left the factory, the material is relatively hard. After the lid is bent, it is easy to return to its original position due to inertia. Therefore, after the lid pusher 7721 places the lid on the box body 724, the third lid 723 may bounce back to its original position if it is not held by the box body 724. To address this, this application provides a pressing mechanism 774 above the flip mechanism 772. The pressing mechanism 774 consists of a pressing cylinder 7741 and a pressing member 7742. After the lid pusher 7721 pushes the lid onto the box body 724, the pressing cylinder 7741 drives the pressing member 7742 to press down the lid, so that the third lid 723 can be held by the box body 724, preventing the lid from bouncing back to its original position. However, the pressing member 7742 cannot guarantee that the lid is completely closed after pressing down the lid, and it needs to be pressed into place by the pressing mechanism 773.

[0045] The working principle of this application is as follows: First, the feeding conveyor line 6 conveys multiple bags of tea leaves 5 with their front faces facing upwards to the vision component 8 in sequence. After being detected by the vision component 8, the bags of tea leaves 5 are then conveyed to the area below the gripping robot 1. The gripping robot 1 picks up the bags of tea leaves 5 and places them flat into the stacking box 2 from the feed inlet 21. At this time, the stacking box 2 is in an upright state, and the support rod 9 rises to extend into the stacking box 2. The gripping robot 1 drives two adjacent bags of tea leaves 5 to rotate so that the flat ends 51 face backwards and the flat ends 51 face forwards respectively when they are placed into the stacking box 2, so that the flat ends 51 and the thick ends 52 of the adjacent stacked bags of tea leaves 5 inside the stacking box 2 are aligned and fitted together. Each time the gripping robot 1 puts a bag of tea leaves 5 into the stacking box 2, the support rod 9... The material is lowered by the thickness of one bag of tea. After the material stacking box 2 is filled with tea, the pressure plate 26 rotates to above the feed inlet 21 and then lowers to press down on the bag of tea 5. Then the support rod 9 lowers and resets, and the material stacking box 2 rotates to a horizontal position. At the same time, the material stacking platform 3 rotates so that the material stacking box 2 filled with bag of tea 5 is below the discharge assembly 4, while the empty material stacking box 2 is below the gripping robot 1. Then, the lifting cylinder 45 first drives the push rod 42 to descend, and then the lifting module 43 drives the lifting platform 44 to descend, so that the push rod 42 passes through the first through hole 23 and the through hole 29 in sequence to push open the side door 25. Then the discharge rod 41 passes through the first through hole 23 and pushes all the bag of tea 5 into the packaging box 72 while keeping the side facing up, thus completing the boxing process. After the boxing is completed, the empty material box 2 stands up and returns to below the gripping robot 1. The support rod 9 rises and extends into the material box 2. Then, the two air blowing devices 32 blow air on both sides of the side door 25 to close the side door 25. Then, the gripping robot 1 can continue to place the bagged tea 5. Repeating the above process will complete the boxing of all the bagged tea 5. After boxing, the discharge conveyor line 6 transports the packaging box 72 to the conveyor belt 771 of the capping assembly 77. The conveyor belt 711 then sequentially transports the box to the flipping mechanism 772 and the capping mechanism 773 for flipping and capping operations, completing the automatic capping action of the packaging box 72.

[0046] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A packaging equipment for bagged tea, characterized in that: Includes a material handling robot, a material stacking bin, a material stacking platform, and a material discharge assembly; The material stacking platform is provided with a discharge port, and a packaging box is provided below the discharge port, with the discharge port aligned with the opening of the packaging box; the material stacking box is rotatably mounted on the material stacking platform to switch between two states: upright and flat; the material stacking box is provided with an inlet and an outlet; when the material stacking box is in the upright state, the inlet is located at the top of the material stacking box, and the outlet is located on one side of the material stacking box. The gripping robot is used to grip the front of the bagged tea to lay multiple bags of tea flat and stack them into the stacking box from the feed inlet. After the bagged tea is placed, the stacking box is rotated to a flat position so that the discharge port and the outlet are aligned vertically and the sides of the bagged tea are facing up. The discharge assembly is used to push all the tea inside the stacking box into the packaging box.

2. The bagged tea packaging equipment as described in claim 1, characterized in that: The gripping robot is a spider-man robot. The output end of the spider-man robot is equipped with a rotating connecting arm. The connecting arm is equipped with a vacuum suction cup for adsorbing bagged tea. One end of the bagged tea is a flattened end that has been sealed and flattened, and the other end is a thick end with a noticeable thickness due to the accumulation of tea leaves. When the bagged tea is laid flat in sequence into the stacking box, the output end of the spider-man robot drives the connecting arm to rotate to different angles, so that adjacent bags of tea are placed into the stacking box in opposite directions, thereby aligning the flattened ends and thick ends of the adjacent stacked bags of tea inside the stacking box.

3. The bagged tea packaging equipment as described in claim 1, characterized in that: The material stacking box has a side door on one side, and the side door opens and closes the discharge port through a magnetic suction device. The material stacking box has multiple through holes on the other side opposite the discharge port. The material discharge assembly includes multiple discharge rods and push rods that are raised and lowered above the material stacking box. The push rods are located outside the multiple discharge rods. The push rods and discharge rods descend to pass through the through holes and extend into the inside of the material stacking box, so as to open the side door of the material stacking box and push all the bagged tea leaves into the packaging box.

4. The bagged tea packaging equipment as described in claim 3, characterized in that: The top of the stacking box is equipped with a pressure plate, which is installed on the top of the stacking box by a driving device. The driving device is used to drive the pressure plate to rotate and rise. After the bagged tea leaves are placed in the stacking box, the pressure plate rotates to above the inlet of the stacking box and then descends to press down on the bagged tea leaves.

5. The bagged tea packaging equipment as described in claim 4, characterized in that: The material stacking box has through holes including first through holes and second through holes. Multiple first through holes are arranged in an array to allow the material discharge rod to pass through. There are four second through holes, which are distributed in pairs on both sides of the first through hole array and close to the top and bottom of the material stacking box. The second through holes are used for the push rod to pass through. The bottom of the material stacking box is provided with a base plate. Both ends of the base plate and the pressure plate are provided with through holes aligned with the second through holes. The side door covers all the through holes. After the material stacking box is rotated to a flat position, the push rod first descends to pass through the second through holes and through holes in sequence until the side door is pushed open. Then the material discharge rod descends to pass through the first through hole to push the bagged tea into the packaging box.

6. The bagged tea packaging equipment as described in claim 3, characterized in that: The side doors are symmetrically arranged in two places. The stacking platform is also equipped with two air blowing devices. The two air blowing devices are located on both sides of the side doors. After the stacking box for discharging bagged tea is rotated to the upright position, the two air blowing devices blow air onto the two open side doors to close them.

7. The bagged tea packaging equipment as described in claim 1, characterized in that: Below the stacking platform, a support rod is also installed in a lifting manner. When the stacking box is erected, the support rod passes through the stacking platform and extends into the stacking box to support the bagged tea. Every time the grabbing robot puts a bag of tea into the stacking box, the support rod drops by the thickness of one bag of tea.

8. The bagged tea packaging equipment as described in claim 1, characterized in that: The material stacking platform is rotatably positioned between the material gripping robot and the material discharge assembly. The material stacking platform is equipped with two centrally symmetrical material stacking boxes and a material discharge port.

9. The bagged tea packaging equipment as described in claim 1, characterized in that: The boxing device also includes a feeding conveyor line for conveying bagged tea with the front side facing up. The gripping robot is located above the feeding conveyor line, and the stacking platform is located on one side of the feeding conveyor line. A vision component is provided on the feeding conveyor line, located upstream of the gripping position of the gripping robot. The vision component is used to inspect the appearance of the bagged tea. A receiving box is provided at the downstream end of the feeding conveyor line for collecting bagged tea that fails the inspection.

10. The bagged tea packaging equipment as described in claim 1, characterized in that: The boxing device also includes a discharge conveyor line for conveying packaging boxes. The stacking platform is located above the discharge conveyor line. A lid closing assembly is provided at the downstream end of the discharge conveyor line. The lid closing assembly includes a conveyor belt, a flipping mechanism, and a pressing mechanism. The flipping mechanism is located upstream of the pressing mechanism. The conveyor belt is used to sequentially convey packaging boxes to the flipping mechanism and the pressing mechanism. The flipping mechanism includes a lifting and lowering pusher. The packaging box includes a box body and a lid. The lid is a magnetic three-fold lid, with one end connected to one side of the box body. The pusher is located below the lid and rises to push the lid onto the box body. The pressing mechanism includes a second lifting mechanism, pressure rollers, and a V-shaped bracket. The middle of the V-shaped bracket is pivotally connected to the second lifting mechanism. Pressure rollers are rotatably installed at both ends of the V-shaped bracket. The second lifting mechanism drives the V-shaped bracket to descend so that the pressure rollers at both ends of the V-shaped bracket press the lid on the top and side of the box body, respectively.

Images