Underpants packaging equipment

Abstract

The invention relates to underpants packaging equipment which comprises a rack, a feeding device, a folding device, a grabbing device and a packaging device, the feeding device and the folding device are sequentially installed on the rack, the feeding device comprises feeding rotary tables, supporting claws, a dragging and unfolding plate and a material receiving assembly, the dragging and unfolding plate is laid on the rack, the feeding rotary tables are arranged in pairs, and the supporting claws are arranged on the feeding rotary tables. The supporting claws are rotationally installed on the feeding rotary disc to form a pendulum structure with the supporting claws capable of keeping horizontal with the ground, and the receiving assembly is provided with paired telescopic rods which can bear underpants on the supporting claws and can drive the underpants to be dragged and flattened on the surface of the dragging and unfolding plate through stretching out and drawing back. The packaging device and the folding device are adjacently arranged, the grabbing device is provided with a clamping jaw, the grabbing device is arranged between the packaging device and the folding device, and the clamping jaw can grab underpants to be transferred between the packaging device and the folding device; according to the underpants packaging equipment, the manual labor intensity is reduced, and the packaging efficiency is remarkably improved; and a transmission and bagging connection structure after folding is optimized, the problem of scattering after folding is effectively avoided, and the overall quality and consistency of packaging are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of garment packaging equipment, in particular to a briefs packaging equipment BACKGROUND

[0002] In the field of garment production and circulation, as a daily necessity, the efficiency and quality of the production and packaging process of briefs directly affect the market competitiveness of the product. At present, in the packaging process of briefs, the folding and bagging operations are still widely dependent on manual operation. The operator needs to manually fold the briefs neatly according to the specified specifications, then put them one by one into the packaging bag and seal it. This manual operation mode has significant drawbacks: on the one hand, the consistency of manual folding is poor, and the folding shape of the briefs is difficult to unify due to the influence of factors such as the skill level and working state of the operator, which may cause wrinkles, uneven corners and other problems, affecting the appearance quality of the product; on the other hand, the labor intensity of manual operation is high, and the working efficiency is low, especially in large-scale production scenarios, it is difficult to meet the production demands of high efficiency and batch production, resulting in prolonged production cycle and high labor cost; in order to solve the limitations of manual operation, some enterprises have begun to try to use mechanical devices for briefs packaging. However, the existing mechanical packaging equipment still has key technical problems in actual application: due to the softness and large elasticity of the briefs, after the folding action is completed, the briefs are easily loose in shape during the transmission to the bagging process due to factors such as mechanical vibration and uneven friction, and even the folding structure may be completely scattered. Even if it can be successfully put into the packaging bag, the low space utilization rate caused by irregular folding often leads to bloated packaging and loose sealing, which not only affects the packaging aesthetics of the product, but also may cause secondary deformation during transportation due to extrusion, reducing the overall quality of the product. SUMMARY

[0003] To solve the above technical problems, the present application discloses a briefs packaging equipment, which comprises a rack, a feeding device, a folding device, a grabbing device and a packaging device. The feeding device and the folding device are sequentially installed on the rack. The feeding device comprises a feeding turntable, a supporting claw, a spreading plate and a receiving assembly. The spreading plate is laid on the rack. The feeding turntable is arranged in pairs and is arranged on both sides of the spreading plate. The supporting claw is rotationally installed on the feeding turntable to form a pendulum structure in which the supporting claw can be kept horizontal with the ground. The receiving assembly is provided with a pair of telescopic rods, which can receive the briefs on the supporting claw and drive the briefs to spread and flatten on the surface of the spreading plate through telescoping, so that the briefs can be transferred from the feeding device to the folding device. The packaging device is arranged adjacent to the folding device. The grabbing device is provided with a clamping jaw, and the grabbing device is arranged between the packaging device and the folding device, and the clamping jaw can transfer the briefs between the two devices.

[0004] Specifically, the feeding carousel comprises a stand, a rotating motor, a carousel and a rotating shaft, the stand is fixed on the side of the extension plate, the carousel is rotatably installed on the top of the stand by the rotating motor, the carousel is perpendicular to the extension plate, the rotating shaft is fixedly arranged on the disc surface of the carousel, the axis of the rotating shaft is horizontally arranged, the supporting claw is rotatably connected with the rotating shaft, the supporting claw has two protruding extension rods, the length of the extension rods extends in the direction opposite to the direction from the feeding device to the folding device, and the gravity center of the supporting claw is located at the bottom, forming a pendulum mechanism that keeps the same direction with the carousel.

[0005] Specifically, the two extension rods on the same supporting claw are spaced apart, the material receiving assembly comprises a sliding rod, a linear drive, a connecting claw and a fixed limit stopper, the sliding slot limit stopper is installed on the rack, the sliding rod is slidably connected in the sliding slot of the sliding slot limit stopper, the sliding rod is arranged in the direction from the feeding device to the folding device, and one end of the sliding rod faces the carousel, and the other end of the sliding rod is connected with the linear drive, forming an extension mechanism that can drive the one end of the sliding rod to approach or move away, the connecting claw is installed at the end of the sliding rod close to the carousel, the connecting claw is provided with a connecting rod protruding in the same direction as the extension rods, the spacing between the connecting rod and the two extension rods is correspondingly arranged, and the connecting rod can be inserted into or moved away from the spacing through the sliding rod linkage, forming a connecting transition mechanism that can receive the underpants on the supporting claw by rotating the carousel when the connecting rod is inserted into the spacing.

[0006] Specifically, the folding device comprises a crotch bottom flap, a side seam flap, a torsion drive one, a torsion drive two and a material placing flap, the material placing flap is connected with the extension plate to form an extension of the extension plate, the crotch bottom flap is arranged at the connection position of the material placing flap and the extension plate, one side edge of the crotch bottom flap is fixedly connected with the torsion end of the torsion drive one, the number of the side seam flaps is two, and the two side seam flaps are arranged on the two sides of the crotch bottom flap, respectively, one edge of the side seam flap is fixedly connected with the torsion drive two, forming a folding mechanism that drives the crotch bottom flap and the side seam flap to make a page turning action through the torsion drive one and the torsion drive two, respectively.

[0007] Specifically, the material placing flap comprises an upper flap, a lower flap, a rotating drive one and a rotating drive two, the respective one edge of the upper flap and the lower flap is fixedly connected with a shaft rod and a shaft sleeve, respectively, the shaft sleeve is sleeved on the outer wall of the shaft rod, the driving end of the rotating drive one is connected with the end of the shaft rod and drives the shaft rod to rotate, the driving end of the rotating drive two is connected with the end of the shaft sleeve and drives the shaft rod to rotate, forming a hinge structure that can open and close the upper flap and the lower flap driven by the rotating drive one and the rotating drive two, respectively.

[0008] Specific, the folding device further comprises a paperboard feeding mechanism and a paperboard fixing mechanism, the paperboard feeding mechanism is installed on the rack and is arranged at the side of the extension plate, the paperboard feeding mechanism comprises a mechanical arm, a paperboard taking head and a material receiving box, the paperboard taking head can take and place the paperboard and is installed on the mechanical arm, the mechanical arm can drive the paperboard taking head to reciprocate between the material receiving box and the material placing flap, the paperboard fixing mechanism is adjacent to the material placing flap and is arranged on the opposite side of the feeding device, the paperboard fixing mechanism comprises a lifting drive, a telescopic drive and a pressing rod, the telescopic drive is fixedly installed on the rack, the lifting drive is installed on the moving end of the telescopic drive, the pressing rod is fixedly connected with the lifting end of the lifting drive, forming a four-way driving structure capable of driving the pressing rod to telescopically lift and lower, and the length direction of the pressing rod is arranged towards the extension plate.

[0009] Specific, the grabbing device comprises a clamping jaw, a gantry, a second lifting drive, a linear guide rail and a linear drive slider, the gantry is installed above the folding device and the packaging device path, the linear guide rail is installed on the cross beam of the gantry, the linear drive slider is slidably connected with the linear guide rail and can slide along the linear guide rail, the second lifting drive is installed on the linear drive slider, and the telescopic end is arranged below the gantry, the clamping jaw is fixedly connected with the telescopic end of the second lifting drive, and the clamping jaw is arranged towards the material placing flap.

[0010] Specific, the packaging device comprises a material placing basket, a bag taking assembly, a bag supporting assembly and a bag sealing mechanism, the side of the material placing basket is provided with a feeding port, and the bag opening of the packaging bag is placed upwards in the material placing basket, the taking assembly comprises a longitudinal linear drive, a telescopic arm and a bag taking head, the moving end of the linear drive is connected with the telescopic arm and can drive the telescopic arm to lift and move, the bag taking head is installed on the telescopic end of the telescopic arm, and the bag taking head is arranged towards the feeding port of the material placing basket, the bag supporting assembly comprises a fixed plate and a negative pressure suction cup, the negative pressure suction cup is arranged on the plate surface of the fixed plate, the fixed plate is arranged above the material placing basket, and the plate surface is arranged towards the bag taking head, forming a structure driven by the linear drive and the telescopic arm, so that the bag taking head can be close to the negative pressure suction cup and form a bag supporting space therebetween, and the bag sealing mechanism is arranged along the top edge of the fixed plate and can be folded towards the plate surface of the fixed plate.

[0011] Specifically, the packaging device further comprises a glue tearing device, the glue tearing device comprises a glue tearing clamp hand, a translation driving element, a telescopic arm two and a fixed abutting plate, the translation driving element is fixedly arranged at the top of the bag taking assembly, the number of the translation driving element is two, and the two translation driving elements are arranged in a cross shape. The fixed end of the upper translation driving element is fixedly connected with the translation moving end of the lower translation driving element, the translation moving end of the lower translation driving element is arranged to be movable towards the fixed plate, the translation moving end of the upper translation driving element is fixedly connected with the telescopic arm two, thereby forming a driving mechanism capable of driving the telescopic arm two to move in four directions in the plane, the glue tearing clamp hand is arranged at the telescopic end of the telescopic arm two and is arranged to be movable towards the surface of the fixed plate, the fixed abutting plate is fixedly connected with the fixed end of the upper translation driving element and is arranged to have one edge movable towards the surface of the fixed plate, thereby forming a pressing mechanism capable of being pressed against the surface of the fixed plate by the lower translation driving element, and the initial position of the glue tearing clamp hand on the telescopic arm two is not more than the edge of the fixed abutting plate movable towards the fixed plate.

[0012] Specifically, the bag sealing mechanism comprises a fixed frame, a folding plate, a finger telescopic cylinder and a curved arm, the fixed frame is arranged on the surface of the fixed plate opposite to the bag taking assembly, the finger telescopic cylinder is fixedly connected with the fixed frame and is arranged to have the telescopic end movable towards the surface, the folding plate is hingedly connected with the telescopic end of the finger telescopic cylinder through the curved arm and is hingedly connected with the upper edge of the fixed plate, thereby forming a bag sealing structure capable of being folded downwards to the surface of the fixed plate by the finger telescopic cylinder.

[0013] Advantageous effects

[0014] The underpants packaging device effectively solves the pain points of traditional manual and existing mechanical packaging, realizes fully automatic folding and bagging operation, greatly reduces the labor intensity, and significantly improves the packaging efficiency; through the design of the precise folding mechanism, the folding shape of the underpants is ensured to be regular and uniform, and the wrinkles and shape differences are reduced; meanwhile, the transmission and bagging connection structure after folding is optimized, the problem of scattering after folding is effectively avoided, the bagging process is stable and orderly, and the overall quality and consistency of the packaging are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 Fig. 1 is a structural schematic diagram of the underpants packaging device of the present application;

[0016] Figure 2 Fig. 2 is a structural schematic diagram of the underpants packaging device of the present application;

[0017] Figure 3 Fig. 3 is a structural schematic diagram of the feeding turntable of the present application;

[0018] Figure 4 Fig. 4 is a structural schematic diagram of the underpants packaging device of the present application;

[0019] Figure 5 Figure 4 is a schematic structural view of the underpants packaging device of the present application;

[0020] Figure 6 Figure 5 is a schematic structural view of the packaging device of the present application;

[0021] Figure 7 Figure 6 is a schematic structural view of the packaging device of the present application.

[0022] Legend: 1. frame; 2. feeding device; 21. feeding turntable; 211. stand; 212. rotating motor; 213. turntable; 214. rotating shaft; 22. supporting claw; 221. extension rod; 23. pulling plate; 24. receiving assembly; 241. slide rod; 242. linear driving part; 243. switching claw; 244. fixed stopper; 3. folding device; 31. crotch bottom turning plate; 32. side seam turning plate; 33. torsion driving part one; 34. torsion driving part two; 35. material placing turning plate; 351. upper turning plate; 352. lower turning plate; 353. rotating driving part one; 354. rotating driving part two; 355. shaft rod; 356. shaft sleeve; 36. paperboard feeding mechanism; 361. mechanical arm; 362. paperboard taking head; 363. receiving box; 37. paperboard fixing mechanism; 371. lifting driving part; 372. telescopic driving part; 373. pressing rod; 4. grabbing device; 41. clamping claw; 42. gantry; 43. lifting driving part two; 44. linear guide rail; 45. linear driving slide block; 5. packaging device; 51. placing basket; 52. bag taking assembly; 521. linear driving part; 522. telescopic arm; 523. bag taking head; 53. bag supporting assembly; 531. fixed flat plate; 532. negative pressure suction cup; 54. bag sealing mechanism; 541. fixed frame; 542. folding plate; 543. finger telescopic cylinder; 544. curved arm; 55. glue tearing device; 551. glue tearing clamp hand; 552. translation driving part; 553. telescopic arm two; 554. fixed stop plate. DETAILED DESCRIPTION

[0023] The present application is further illustrated by the following examples, but is not limited to the contents of the specification.

[0024] As Figures 1 to 3The present application relates to a briefs packaging device, which comprises a frame 1, a feeding device 2, a folding device 3, a grabbing device 4 and a packaging device 5, the feeding device 2 and the folding device 3 are sequentially installed on the frame 1, the feeding device 2 comprises a feeding turntable 21, a supporting claw 22, a dragging plate 23 and a receiving assembly 24, the dragging plate 23 is laid on the frame 1, the feeding turntable 21 is arranged in pairs and is arranged on the two sides of the dragging plate 23, the supporting claw 22 is rotationally installed on the feeding turntable 21 to form a pendulum structure, the receiving assembly 24 is provided with a pair of telescopic rods, which can receive the briefs on the supporting claw 22 and can drive the briefs to drag and spread on the surface of the dragging plate 23 through telescopic extension, so that the briefs can be spread on the folding device 3 through the feeding device 2, the packaging device 5 is arranged adjacent to the folding device 3, the grabbing device 4 is provided with a clamping jaw 41, the grabbing device 4 is arranged between the packaging device 5 and the folding device 3, and the clamping jaw 41 can transfer the briefs between the two. In use, the briefs need to be manually placed on the supporting claw 22, specifically, the feeding turntable 21 is arranged in pairs on the two sides of the dragging plate 23, correspondingly, the supporting claw 22 on the feeding turntable 21 is exposed at the edge of the feeding turntable 21, the operator supports the waist of the briefs on the supporting claw 22, the feeding turntable 21 keeps rotating while dragging the briefs to the lowermost end of the turntable, the receiving assembly 24 will be extended in advance at the lowermost end of the turntable and will receive the briefs at the lowermost end, the feeding turntable 21 continues to rotate while the supporting claw 22 continues to follow the movement to put the briefs on the receiving assembly 24, the receiving assembly 24 retracts and drags the briefs on the dragging plate 23, the briefs will be spread due to the friction between the briefs and the dragging plate during the dragging process, the receiving assembly 24 drags the briefs to the position of the folding device 3, the briefs are folded at the position of the folding device 3 due to the fact that the briefs have been spread, the grabbing device 4 will grab the folded briefs to the position of the packaging device 5, and the briefs will be packaged by the packaging device 5 to complete the packaging work.

[0025] The feeding rotary disc 21 comprises a stand 211, a rotary motor 212, a rotary disc 213 and a rotary shaft 214. The stand 211 is fixed on the side of the extension board 23. The rotary disc 213 is rotatably installed on the top of the stand 211 by the rotary motor 212. The rotary disc 213 is perpendicular to the extension board 23. The rotary shaft 214 is fixed on the disc surface of the rotary disc 213. The axis of the rotary shaft 214 is horizontally arranged. The supporting claw 22 is rotatably connected with the rotary shaft 214. The supporting claw 22 has two protruding extension rods 221. The length of the extension rods 221 extends in the opposite direction of the feeding device 2 to the folding device 3. The gravity center of the supporting claw 22 is located at the bottom, forming a pendulum mechanism with the same direction when the rotary disc 213 rotates. Specifically, the stand 211 supports the rotary disc 213 to enable the rotary disc 213 to rotate. The rotary motor 212 is fixedly installed on the top of the stand 211. The rotary end of the rotary motor 212 is fixedly connected with the center of the rotary disc 213 to drive the rotary disc 213 to rotate. The disc surface of the rotary disc 213 is arranged in the vertical direction. The rotary direction of the rotary disc 213 is arranged to face the direction from the extension board to the folding device 3. The rotary shaft 214 is installed on the disc surface of the rotary disc. The rotary shaft 214 is in the shape of a cylinder. The end surface of the cylinder is fixedly connected with the disc surface. The supporting claw 22 is rotatably installed on the rotary shaft 214. When the rotary disc rotates, the supporting claw 22 can keep the same state, i.e. the extension rods 221 on the supporting claw 22 keep parallel to the bottom surface at the position of placing the underpants. During the rotation of the rotary disc, the extension rods 221 can keep parallel to the bottom surface in the state of supporting the underpants due to the influence of the gravity center of the supporting claw 22. The underpants are dragged to the extension board 23 through the rotation of the rotary disc.

[0026] The two extension rods 221 on the same supporting claw 22 are provided with a spacing, the material receiving assembly 24 comprises a sliding rod 241, a linear driving element 242, a transfer claw 243 and a fixed limiting element 244, the fixed limiting element 244 is installed on the frame 1, the sliding rod 241 is slidingly connected in a sliding groove of the fixed limiting element 244, the sliding rod 241 is arranged along the direction from the feeding device 2 to the folding device 3, and one end faces the rotating disc 213, and the other end is connected with the linear driving element 242, forming a telescopic mechanism that the linear driving element can drive the one end of the sliding rod 241 to be close to or away from, the transfer claw 243 is installed at the end of the sliding rod 221 close to the rotating disc 213, and the transfer claw 243 is provided with a transfer rod 245 protruding in the same direction as the extension rod 221, the transfer rod 245 is correspondingly arranged with the spacing between the two extension rods 221, and can be inserted into or away from the spacing through the linkage of the sliding rod 241, forming a transfer transition mechanism that can hold the underpants on the supporting claw 22 when inserted into the spacing and rotated through the rotating disc 213.The slide rod 241 of the material receiving assembly 24 is arranged on the path of the extension board 23 to the folding device 3, and is driven to extend and retract on the path by the linear drive 242, and is supported and limited in the extending direction by the slide groove limiter 244, which can be a part with a base and a cylindrical slide groove on the surface, and is fixed on the rack 1 by welding or bolt connection. The linear drive 242 is arranged behind the folding device 3, so that the end of the slide rod 241 can pass through the extension board 23 and the folding device 3 in turn, and can stop at the folding device 3. Through the extension and retraction of the slide rod 241, the adapter claw 243 at the end of the slide rod 241 is linked to extend and retract. The adapter claw 243 can hold the underpants supported on the extension rod 221 and keep the underpants open. Specifically, the two extension rods on the same support claw 22 are arranged with a gap in the middle. When the operator puts the waistband of the underpants on the extension rod 221, the waistband of the underpants faces the turntable, and the turntable drives the support claw to rotate to the lower side. The adapter rod 245 that has been extended and is waiting below the turntable will be inserted into the gap between the extension rods 221, completing the action of inserting the waistband of the underpants. As the turntable continues to rotate, the extension rods remain unchanged due to the influence of the center of gravity. However, as the turntable continues to rotate, the state of the extension rods gradually changes from protruding from the edge of the turntable to being retracted into the edge of the turntable. At the same time, during the rotation of the turntable, the waistband of the underpants is stopped by the end of the slide rod 241 and cannot continue to rotate with the turntable (the end surface of the slide rod 241 is larger than the end surface of the adapter claw 243). Then the underpants will fall off the support claw 22 and be transferred to the adapter claw 243. After the underpants are successfully transferred, the linear drive 242 drives the slide rod 241 and the adapter claw 243 to retract, and drives the underpants to drag on the extension board 23. The extension board 23 is provided with a "V"-shaped convex rib on the surface. During the dragging of the underpants, the underpants are rubbed by the surface of the extension board 23, and the wrinkles of the underpants are arranged by the convex rib, achieving the effect of flattening the underpants during dragging. When the underpants are dragged to the position of the folding device 3 by the material receiving assembly 24 and are fixed by the folding device 3, the linear drive 242 drives the slide rod 241 to continue to retract, and the adapter claw 243 is extracted from the waistband position of the underpants, completing the work of moving, flattening and placing the underpants at the folding position. The adapter claw 243 uses a smooth metal rod, which can keep the underpants fixed by the elasticity of the waistband, prevent the underpants from falling off during dragging on the extension board, and reduce the friction with the underpants when extracted, preventing the underpants from being folded.

[0027] As Figure 1 , 2As shown in Figs. 4, the folding device 3 comprises a crotch flap 31, side seam flaps 32, a torsion driving member 33, a torsion driving member 34 and a material placing flap 35, the material placing flap 35 is connected with the extension flap 23 to form an extension of the extension flap 23, the crotch flap 31 is arranged at the connection position of the material placing flap 35 and the extension flap 23, one side edge of the crotch flap 31 is fixedly connected with the torsion end of the torsion driving member 33, the side seam flaps 32 are two in number and are arranged at the two sides of the crotch flap 31 respectively, one edge of the side seam flaps 32 is fixedly connected with the torsion driving member 34, forming a material folding mechanism for driving the crotch flap 31 and the side seam flaps 32 to perform a page turning action through the torsion driving member 33 and the torsion driving member 34 respectively. The underpants are dragged to the position of the material placing flap 35 through the material receiving assembly 24, specifically, the crotch flap 31 and the side seam flaps 32 together with the material placing flap 35 form a plane, the crotch flap 31 is arranged at the edge of the material placing flap 35 adjacent to the extension flap, the side seam flaps 32 are arranged at the two sides of the material placing flap 35, when the underpants are dragged to the plane formed by the crotch flap 31, the side seam flaps 32 and the material placing flap 35, the middle main body part of the underpants corresponds to the material placing flap 35, the two sides of the underpants correspond to the side seam flaps 32, and the crotch part of the underpants corresponds to the crotch flap 31, the crotch flap 31 and the side seam flaps 32 are driven by the torsion driving member 33 and the torsion driving member 34 respectively to quickly fold along the edge of the material placing flap 35 as the shaft and return to the original position, through the driven folding movement, the two sides and the crotch part of the underpants are folded, that is, the two sides of the underpants are folded to the middle main body part, and then the crotch part of the underpants is folded upward to the main body part of the underpants, forming a folded underpants with the same size and shape as the material placing flap 35, the torsion driving member 33 and the torsion driving member 34 are fixedly connected with the edge of the flap through the rotating shaft of the power output end, so that the driven flap can complete the page turning action with the edge as the rotating shaft; the torsion driving member is a stepping motor or a servo motor.

[0028] As Figure 5As shown, the material placing flap 35 includes an upper flap 351, a lower flap 352, a rotating drive member one 353, and a rotating drive member two 354. The upper flap 351 and the lower flap 352 are respectively fixedly connected with a shaft 355 and a shaft sleeve 356 at their respective edges. The shaft sleeve 356 is sleeved on the outer wall of the shaft 355. The driving end of the rotating drive member one 353 is connected with the end of the shaft 355 and drives the shaft to rotate. The driving end of the rotating drive member two 354 is connected with the end of the shaft sleeve 356 and drives the shaft to rotate, forming a hinge structure that respectively drives the upper flap 351 and the lower flap 352 to open and close. The rotating drive member two 354 drives the upper flap 351 and the lower flap 352 to rotate. The shaft 355 and the shaft sleeve 356 can make the upper and lower flaps coaxially flip. By driving the upper and lower flaps to flip at the same time, and using the same size and shape of the plate structure, the upper and lower flaps can be completely clamped to prevent the position deviation caused by the flipping of the flaps from causing the folding underpants to be not completely clamped, resulting in wrinkles or unfolding of the folded underpants. The cooperation mode of the shaft 355 and the shaft sleeve 356 is similar to that of a hinge. The ends of the two are respectively connected with the rotating driving ends of the rotating drive member one 353 and the rotating drive member two 354. The side edges are fixedly connected with the edges of the flaps, realizing that the rotating drive member drives the shaft 355 or the shaft sleeve 356 to rotate with the flaps. In addition, in order to facilitate the subsequent grabbing of the folded underpants, a notch can be provided in the same position of the upper and lower flaps. The notch is strip-shaped, and the length is preferably close to the length of the folded underpants. The edge can keep the underpants in a folded state without unfolding during subsequent grabbing.

[0029] The folding device 3 further comprises a paperboard feeding mechanism 36 and a paperboard fixing mechanism 37. The paperboard feeding mechanism 36 is installed on the rack 1 and arranged at the side of the extension plate 23. The paperboard feeding mechanism 36 comprises a mechanical arm 361, a paperboard taking head 362 and a paperboard receiving box 363. The paperboard taking head 362 can take and place paperboards and is installed on the mechanical arm 361. The mechanical arm 361 can drive the paperboard taking head 362 to move reciprocally between the paperboard receiving box 363 and the material placing flap 35. The paperboard fixing mechanism 37 is arranged adjacent to the material placing flap 35 and on the opposite side of the feeding device 2. The paperboard fixing mechanism 37 comprises a lifting driving part 371, a telescopic driving part 372 and a pressing rod 373. The telescopic driving part 372 is fixedly installed on the rack 1. The lifting driving part 371 is installed on the moving end of the telescopic driving part 372. The pressing rod 373 is fixedly connected with the lifting end of the lifting driving part 371, forming a four-way driving structure that can drive the pressing rod 373 to extend and retract. The length direction of the pressing rod 373 is arranged towards the extension plate 23. In order to keep the underpants in a folded state in the packaging bag without curling and scattering, a piece of paperboard is usually placed in the middle of the underpants to be folded and packed into the underpants and the packaging bag. The mechanical arm 361 and the paperboard taking head 362 of the paperboard feeding mechanism 36 are used to take the paperboard from the paperboard receiving box 363. The paperboard taking head 362 uses a negative pressure suction cup to suck the paperboard and transfer it through the mechanical arm. The mechanical arm 361 can use a multi-axis mechanical arm with high degrees of freedom or a swingable supporting arm to extend into the paperboard receiving box 363 to take the paperboard. The paperboard taking head 362 can move the paperboard it sucks to above the underpants. The paperboard is placed on the flattened underpants before folding. Then the paperboard fixing mechanism 37 fixes the paperboard before retraction to prevent external forces such as static electricity or negative pressure from moving the paperboard. Specifically, the lifting driving part 371 and the telescopic driving part 372 are stacked to form a four-way driving mechanism that can extend and retract (the lifting driving part is installed on the telescopic driving part, and the telescopic driving part is fixedly installed on the rack). The movable end of the four-way driving mechanism is installed with the pressing rod 373. After the paperboard is placed on the underpants, the pressing rod 373 is driven by the telescopic driving part 372 to above the paperboard, and then the lifting driving part 371 lowers to press the paperboard to fix it. After fixing, the folding work begins. After folding is completed, the pressing rod 373 is withdrawn from the folded underpants by the telescopic driving part 372, and then raised to the initial position by the lifting driving. During this process, when the pressing rod 373 presses the paperboard, the transfer claw 243 is withdrawn from the waist position of the underpants at the same time, which can ensure that the position of the underpants does not deviate and can improve the folding regularity of the underpants.

[0030] As Figure 1 And 2The shown grabbing device 4 includes a clamping jaw 41, a gantry 42, a second lifting driver 43, a linear guide rail 44 and a linear driving slider 45. The gantry 42 is installed above the folding device 3 and the path of the packaging device 5. The linear guide rail 44 is installed on the crossbeam of the gantry 42. The linear driving slider 45 is in sliding connection with the linear guide rail 44 and can slide along the linear guide rail 44. The second lifting driver 43 is installed on the linear driving slider 45, and the telescopic end is arranged below the gantry 42. The clamping jaw 41 is fixedly connected with the telescopic end of the second lifting driver 43. The clamping opening of the clamping jaw 41 is arranged towards the material placing flap 35. By using the second lifting driver 43 and the linear driving slider 45, a four-way moving structure is formed on the gantry. The clamping jaw 41 is installed on the lifting end of the second lifting driver 43. After the underpants are folded and clamped by the upper flap 351 and the lower flap 352, the second lifting driver 43 lowers the clamping jaw 41 directly above the material placing flap. After the folded underpants are clamped by the upper flap 351 and the lower flap 352, the flap is rotated to the vertical state by rotating the rotating driver. The clamping jaw 41 is lowered and clamps the folded underpants through the gap on the upper and lower flaps. The gap is as close to the edge as possible, so that the edge of the folded underpants does not fall down after being clamped by the clamping jaw 41. The clamping jaw 41 can use a finger air cylinder or a parallel electric clamping jaw to realize the clamping work. After clamping the folded underpants, the second lifting driver 43 is raised and moves to above the packaging device 5 through the linear driving slider 45 along the linear guide rail 44 arranged on the gantry. Then the clamping jaw 41 with the folded underpants is lowered to put the underpants into the packaging bag, and the clamping and bagging work is completed. Since the underpants are placed with a paperboard before folding, after folding, the clamping jaw 41 clamps the folded part to ensure that the remaining position of the underpants does not fall down. During the clamping and moving process, the underpants can maintain the same shape as the paperboard. Further, the clamping strips of the clamping jaw 41 can be three pairs, one pair on the left, one pair on the right and one pair in the middle, to ensure that the edge of the underpants folded in the middle does not scatter or fall down.

[0031] As Figure 1 , Figure 2 and Figure 6As shown, the packaging device 5 comprises a storage basket 51, a bag taking assembly 52, a bag supporting assembly 53 and a bag sealing mechanism 54. The storage basket 51 is provided with a feeding opening on the side, and the bag opening of the packaging bag is placed in the storage basket 51 with the opening facing upward. The bag taking assembly 52 comprises a longitudinal linear drive 521, a telescopic arm 522 and a bag taking head 523. The moving end of the linear drive 521 is connected with the telescopic arm 522, which can drive the telescopic arm 522 to move up and down. The bag taking head 523 is installed at the telescopic end of the telescopic arm 522, and faces the feeding opening of the storage basket 51. The bag supporting assembly 53 comprises a fixed plate 531 and a negative pressure suction cup 532. The negative pressure suction cup 532 is arranged on the plate surface of the fixed plate 531, and the fixed plate 531 is arranged above the storage basket 51 with the plate surface facing the bag taking head 523, forming a bag supporting space between the bag taking head 523 and the negative pressure suction cup 532. The bag sealing mechanism 54 is arranged along the top edge of the fixed plate 531 and can be folded towards the plate surface of the fixed plate 531. The packaging bag is placed vertically in the storage basket 51, and the feeding opening provided on the side of the storage basket 51 faces the front of the packaging bag. The bag taking head 523 is driven by the linear drive 521 and the telescopic arm 522 to take the packaging bag out from the gap of the storage basket 51. After the bag taking head 523 takes the packaging bag out using the negative pressure suction cup, the linear drive 521 and the telescopic arm 522 drive the bag taking head 523 and the packaging bag back to the initial position. At the initial position, the bag taking head 523 faces the fixed plate 531. At this time, the telescopic arm 522 is first extended and then retracted, so that the back of the packaging bag contacts the fixed plate 531. The negative pressure suction cup 532 on the fixed plate 531 sucks the back of the packaging bag. After the telescopic arm 522 is retracted, the bag taking head 523 separates the front and back of the packaging bag, completing the opening of the packaging bag. The bag opening is opened and faces upward, facing the upper clamping jaw 41. After the clamping jaw 41 is lowered to put the clamped folded underpants into the packaging bag, the clamping jaw 41 is raised to pull out the packaging bag, completing the bagging. Subsequently, the bag sealing mechanism 54 seals the bag opening of the packaging bag, completing the packaging of the underpants. Subsequently, the bag taking head 523 and the negative pressure suction cup 532 lose the adsorption force, and the packaging bag and the underpants fall into the lower finished product collecting basket.

[0032] The packaging device 5 further comprises a tape tearing device 55, which comprises a tape tearing clamp hand 551, a translation driving element 552, a telescopic arm two 553 and a fixed abutting plate 554. The translation driving element 552 is fixedly arranged on the top of the bag taking assembly 52. The number of the translation driving element 552 is two, and the two translation driving elements 552 are arranged in a cross shape. The fixed end of the upper translation driving element 552 is fixedly connected with the translation moving end of the lower translation driving element 552, and the translation moving end of the lower translation driving element 552 is arranged to move towards the fixed plate 531. The translation moving end of the upper translation driving element 552 is fixedly connected with the telescopic arm two 553, thereby forming a driving mechanism capable of driving the telescopic arm two 553 to move in four directions on the plane. The tape tearing clamp hand 551 is arranged on the telescopic end of the telescopic arm two 553 and is arranged towards the surface of the fixed plate 531. The fixed abutting plate 554 is fixedly connected with the fixed end of the upper translation driving element 552 and is arranged towards the surface of the fixed plate 531 on one edge, thereby forming a pressing mechanism capable of being driven by the lower translation driving element 552 and abutting against the surface of the fixed plate 531 on the edge of the fixed abutting plate 554. The initial position of the tape tearing clamp hand 551 on the telescopic arm two 553 does not exceed the edge of the fixed abutting plate 554 arranged towards the fixed plate 531. The packaging bag is a self-adhesive bag, and the initial state of the packaging bag is that the back surface is higher than the front surface by a section to form a sealing strip. The sealing strip is arranged on the same plane as the back surface and has a self-adhesive tape. After the underpants are put into the packaging bag, the four-direction translation mechanism composed of the two translation driving elements 552 drives the fixed abutting plate 554 to approach the sealing strip and abut against the sealing strip on the fixed plate 531, thereby fixing and positioning the sealing strip. At this time, the telescopic arm two 553 drives the tape tearing clamp hand 551 to extend. The tape tearing clamp hand 551 is arranged at the position of the self-adhesive tape on the sealing strip. The tape tearing clamp hand 551 clamps the self-adhesive sealing film at the end of the self-adhesive tape. The telescopic arm two 553 and the tape tearing clamp hand 551 are driven by the horizontal translation driving element 552 to move horizontally. The tape tearing clamp hand 551 moves from one end to the other end to tear the self-adhesive sealing film, thereby exposing the self-adhesive on the sealing strip and completing the work of tearing the film. After the film is torn, the tape tearing device 55 returns to the initial position.

[0033] As Figure 7As shown, the bag sealing mechanism 54 comprises a fixed frame 541, a folding plate 542, a finger telescopic cylinder 543 and a curved arm 544, the fixed frame 541 is installed on the opposite panel surface of the fixed flat plate 531 towards the bag taking assembly 52, the finger telescopic cylinder 543 is fixedly connected with the fixed frame 541 and the extension direction of the telescopic end is towards the panel surface, the folding plate 542 is hinged with the telescopic end of the finger telescopic cylinder 543 through the curved arm 544, and the lower edge of the folding plate 542 is hinged with the upper edge of the fixed flat plate 531, forming a bag opening sealing structure which can be folded downwards to the front panel surface of the fixed flat plate 531 by the extension of the finger telescopic cylinder 543. Through the finger telescopic cylinder 543 and the curved arm 544, the telescopic linear motion of the end is converted to the curved motion by the telescopic extension of the finger telescopic cylinder 543, the folding plate 542 corresponds to the sealing strip position of the self-sealing packaging bag, the finger telescopic cylinder 543 is extended, the folding plate 542 is folded towards the panel surface of the fixed flat plate 531, the folding plate 542 is pressed towards the panel surface of the fixed flat plate 531, so that the sealing strip is folded towards the front surface of the packaging bag, and the bag sealing work is completed by the non-adhesive and the front surface of the packaging bag.

[0034] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. It is impossible to enumerate all the embodiments here. Any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. An underwear packaging device, characterized in that: It includes a frame (1), a feeding device (2), a folding device (3), a gripping device (4), and a packaging device (5). The feeding device (2) and the folding device (3) are installed sequentially on the frame (1). The feeding device (2) includes a feeding turntable (21), a support claw (22), a spreading plate (23), and a receiving assembly (24). The spreading plate (23) is laid on the frame (1). The feeding turntables (21) are arranged in pairs and are positioned on both sides of the spreading plate (23). The support claw (22) is rotatably mounted on the feeding turntable (21) to form a support claw (22) that can be in contact with the ground. The pendulum structure is kept horizontal. The receiving assembly (24) is provided with a pair of telescopic rods, which can receive underwear on the support claw (22) and can drive the underwear to be dragged and flattened on the surface of the spreading plate (23) through telescopic movement, forming an underwear transfer mechanism that can be spread on the folding device (3) through the feeding device (2). The packaging device (5) is arranged adjacent to the folding device (3). The gripping device (4) has a gripper (41). The gripping device (4) is arranged between the packaging device (5) and the folding device (3), and the gripper (41) can grip the underwear and transfer it between the two.

2. The underwear packaging equipment according to claim 1, characterized in that: The feeding turntable (21) includes a frame (211), a rotary motor (212), a turntable (213), and a rotating shaft (214). The frame (211) is fixedly mounted on the side of the tray (23). The turntable (213) is rotatably mounted on the top of the frame (211) by the rotary motor (212). The turntable (213) is set perpendicular to the tray (23). The rotating shaft (214) is fixedly set on the surface of the turntable (213), and the axis of the rotating shaft (214) is set horizontally. The support claw (22) is rotatably connected to the rotating shaft (214). The support claw (22) has two protruding extension rods (221). The length extension direction of the extension rods (221) is opposite to the direction from the feeding device (2) to the folding device (3). The center of gravity of the support claw (22) is located at the bottom, forming a pendulum mechanism that rotates with the turntable (213) and the extension rods (221) can maintain the same direction.

3. The underwear packaging equipment according to claim 2, characterized in that: The two extension rods (221) on the same support claw (22) are spaced apart. The receiving assembly (24) includes a slide rod (241), a linear drive (242), an adapter claw (243), and a fixed limiter (244). The slide limiter (244) is mounted on the frame (1). The slide rod (241) is slidably connected in the slide groove of the slide limiter (244). The slide rod (241) is arranged along the direction from the feeding device (2) to the folding device (3), with one end facing the turntable (213) and the other end connected to the linear drive (242), forming a... The linear drive can drive one end of the slide bar (241) to move closer to or further away from the telescopic mechanism. The adapter claw (243) is installed at the end of the slide bar (221) near the turntable (213), and the adapter claw (243) is provided with an adapter rod (244) that protrudes in the same direction as the extension rod (221). The interval between the adapter rod (244) and the two extension rods (221) is correspondingly set, and it can be inserted into or moved away from the interval through the slide bar (241). When inserted into the interval, it rotates through the turntable (213) and can support the underwear on the support claw (22).

4. The underwear packaging equipment according to claim 1, characterized in that: The folding device (3) includes a crotch flap (31), a side seam flap (32), a first torsion drive (33), a second torsion drive (34), and a material placement flap (35). The material placement flap (35) is connected to the stretching plate (23) to form an extension of the stretching plate (23). The crotch flap (31) is located at the connection position between the material placement flap (35) and the stretching plate (23). One edge of the crotch flap (31) is fixedly connected to the torsion end of the first torsion drive (33). There are two side seam flaps (32), which are respectively located on both sides of the crotch flap (31). One edge of the side seam flap (32) is fixedly connected to the second torsion drive (34), forming a folding mechanism that drives the crotch flap (31) and the side seam flap (32) to perform page-flipping actions by the first torsion drive (33) and the second torsion drive (34).

5. The underwear packaging equipment according to claim 4, characterized in that: The material-feeding flap (35) includes an upper flap (351), a lower flap (352), a first rotary drive component (353), and a second rotary drive component (354). A shaft (355) and a bushing (356) are fixedly connected to one edge of the upper flap (351) and the lower flap (352), respectively. The bushing (356) is sleeved on the outer wall of the shaft (355). The driving end of the first rotary drive component (353) is connected to the end of the shaft (355) and drives the shaft to rotate. The driving end of the second rotary drive component (354) is connected to the end of the bushing (356) and drives the shaft to rotate, forming a hinge structure that can drive the upper flap (351) and the lower flap (352) to open and close respectively.

6. The underwear packaging equipment according to claim 4, characterized in that: The folding device (3) further includes a cardboard feeding mechanism (36) and a cardboard fixing mechanism (37). The cardboard feeding mechanism (36) is mounted on the frame (1) and located on the side of the tray (23). The cardboard feeding mechanism (36) includes a robotic arm (361), a cardboard picking head (362), and a receiving box (363). The cardboard picking head (362) can pick up and put down cardboard and is mounted on the robotic arm (361). The robotic arm (361) can drive the cardboard picking head (362) to move back and forth between the receiving box (363) and the feeding flip plate (35). The cardboard fixing mechanism (37) The cardboard fixing mechanism (37) is adjacent to the feeding flip plate (35) and located on the opposite side of the feeding device (2). The cardboard fixing mechanism (37) includes a lifting drive (371), a telescopic drive (372) and a pressing rod (373). The telescopic drive (372) is fixedly installed on the frame (1). The lifting drive (371) is installed on the moving end of the telescopic drive (372). The pressing rod (373) is fixedly connected to the lifting end of the lifting drive (371) to form a four-way drive structure that can drive the pressing rod (373) to extend and retract. The length direction of the pressing rod (373) is set towards the direction of the drag plate (23).

7. The underwear packaging equipment according to claim 1, characterized in that: The gripping device (4) includes a gripper (41), a gantry frame (42), a second lifting drive component (43), a linear guide rail (44), and a linear drive slider (45). The gantry frame (42) is installed above the path of the folding device (3) and the packaging device (5). The linear guide rail (44) is installed on the crossbeam of the gantry frame (42). The linear drive slider (45) is slidably connected to the linear guide rail (44) and can slide along the linear guide rail (44). The second lifting drive component (43) is installed on the linear drive slider (45), and its telescopic end is set facing downwards from the gantry frame (42). The gripper (41) is fixedly connected to the telescopic end of the second lifting drive component (43), and the gripper opening (41) is set facing the material placement flip plate (35).

8. The underwear packaging equipment according to claim 1, characterized in that: The packaging device (5) includes a storage basket (51), a bag-taking assembly (52), a bag-supporting assembly (53), and a bag-sealing mechanism (54). The storage basket (51) has a feeding port on its side, and the packaging bag is placed inside the storage basket (51) with its opening facing upwards. The feeding assembly (52) includes a longitudinal linear drive (521), a telescopic arm (522), and a bag-taking head (523). The moving end of the linear drive (521) is connected to the telescopic arm (522) and can drive the telescopic arm (522) to move up and down. The bag-taking head (523) is installed at the telescopic end of the telescopic arm (522), and the bag-taking head (523) faces the storage basket (54). The feeding port of 51) The bag support assembly (53) includes a fixed plate (531) and a negative pressure suction cup (532). The negative pressure suction cup (532) is set on the plate surface of the fixed plate (531). The fixed plate (531) is set above the storage basket (51) with the plate surface facing the bag taking head (523). The bag taking head (523) can approach the negative pressure suction cup (532) and form a bag supporting space between them. The bag sealing mechanism (54) is set along the top edge of the fixed plate (531) and can be folded towards the plate surface of the fixed plate (531).

9. The underwear packaging equipment according to claim 8, characterized in that: The packaging device (5) further includes a peeler (55), which includes a peeling gripper (551), a translation drive (552), a telescopic arm (553), and a fixed support plate (554). The translation drive (552) is fixedly installed on the top of the bag-taking assembly (52). There are two translation drives (552), and the two translation drives (552) are stacked in a cross shape. The fixed end of the upper translation drive (552) is fixedly connected to the translation moving end of the lower translation drive (552), and the movement direction of the translation moving end of the lower translation drive (552) is towards the fixed plate (531). The translation moving end of the upper translation drive (552) is fixed to the telescopic arm (553). The connection forms a drive mechanism that can drive the telescopic arm 2 (553) to move in four directions on the plane. The adhesive tearing gripper (551) is installed on the telescopic end of the telescopic arm 2 (553) and is set towards the surface of the fixed plate (531). The fixed abutment (554) is fixedly connected to the fixed end of the upper translation drive member (552), and one of its edges is set towards the surface of the fixed plate (531). This forms a pressing mechanism that is driven by the lower translation drive member (552) and the edge of the fixed abutment (554) can abut against the surface of the fixed plate (531). The initial position of the adhesive tearing gripper (551) on the telescopic arm 2 (553) does not exceed the edge of the fixed abutment (554) facing the fixed plate (531).

10. The underwear packaging equipment according to claim 8, characterized in that: The sealing mechanism (54) includes a fixed frame (541), a folding plate (542), a finger telescopic cylinder (543), and a crank arm (544). The fixed frame (541) is installed on the reverse side of the fixed plate (531) facing the bag-taking assembly (52). The finger telescopic cylinder (543) is fixedly connected to the fixed frame (541) and the extension direction of the telescopic end faces the plate surface. The folding plate (542) is hinged to the telescopic end of the finger telescopic cylinder (543) through the crank arm (544), and the lower edge of the folding plate (542) is hinged to the upper edge of the fixed plate (531), forming a bag sealing structure that can drive the folding plate (542) to fold down towards the front side of the fixed plate (531) by extending the finger telescopic cylinder (543).

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