Carrier tape disc automatic box filling machine

Abstract

The invention provides an automatic carrier tape disc box filling machine, which belongs to the field of automatic mechanical equipment, and comprises a conveyor, a box filling machine, a lifter, a conveying mechanism, a rotating arm manipulator, a telescopic belt line, a box filling manipulator, a carton positioning and clamping mechanism and other core components, and is matched with a code reading and labeling manipulator for collaborative operation. The equipment collects carrier tape disc material information through a code reader and uploads the carrier tape disc material information to a server, after the server generates a carton label, a mechanical arm completes carton labeling, and after information comparison, a boxing mechanical arm accurately loads a disc into a carton; the carton positioning and clamping mechanism adapts to cartons of different specifications, and the box filling machine adopts a double-station alternate operation mode. Full-automatic operation of the carrier tape disc from code reading to boxing is achieved, datamation collection and traceability of material information are achieved, manual errors are avoided through standardized operation, the boxing efficiency is greatly improved, manpower is simplified, and meanwhile the productivity and the boxing quality are improved.

Description

Technical Field

[0001] This invention provides an automatic box packing machine with a carrier disc, belonging to the field of automated mechanical equipment. Background Technology

[0002] This invention relates to the field of packaging technology after electronic component packaging, specifically to a boxing equipment for 13-inch and 15-inch carrier trays. 13-inch and 15-inch are the most widely used general specifications in the mass production of the electronics industry, and their boxing process is the core link connecting production and warehousing logistics in the entire process of electronic component packaging.

[0003] Currently, the industry generally adopts a production mode of manual operation and single-machine assistance for the packing of 13 & 15 inch carrier trays. The specific process is as follows: a person uses a handheld barcode scanner to read the material information of the carrier tray, a person operates a label printer to print the corresponding box label and manually affixes it to the surface of the carton, and after the person completes the material information verification between the carrier tray and the carton, the person manually stacks the carrier trays one by one into the carton. Some mass production companies use a single semi-automatic labeling machine and a packing machine to assist in a single process, but the equipment is independent of each other, without a continuous material flow link and data interaction logic, and has failed to form a fully automated operation system.

[0004] Existing carrier tray packaging technology suffers from the following core drawbacks: First, low production efficiency and significant capacity bottlenecks. Under purely manual operation, the hourly throughput (UPH) of a single workstation is typically less than 100, far from matching the large-scale output of the front-end packaging process. Furthermore, manual operation is susceptible to fatigue and skill level fluctuations, resulting in extremely poor capacity stability. Meanwhile, continuously rising labor costs significantly increase the operational pressure on enterprises. Second, insufficient material traceability and high risk of mispacking and mixing. The manual scanning, labeling, and verification process is highly prone to problems such as missed scans, incorrect labeling, and material verification errors, leading to mispacking of carrier trays and batch mixing.

[0005] In summary, existing carrier disc packing technology suffers from numerous shortcomings, including low production efficiency, poor material traceability, insufficient standardization of operations, and weak equipment flexibility. It cannot meet the current production needs of the electronics industry for large-scale, high-precision, and digital production. There is an urgent need for a dedicated device that can achieve fully automated packing of carrier discs, while also possessing high capacity, high traceability, and high adaptability. Summary of the Invention

[0006] In view of the deficiencies of the existing technology, the present invention provides an automatic case packing machine with a carrier disc, which can effectively solve the related technical problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an automatic carton packing machine with a carrier disc, including a frame, on which a feeding conveyor unit, a material transfer unit, a double-row telescopic conveyor unit, a carton labeling unit, a double-station packing unit, and a discharging unit are sequentially integrated along the material flow direction; The feeding and conveying unit includes a double-row horizontally arranged conveying mechanism, which is fixed to the feeding end of the frame. A barcode reader for collecting material information of the carrier disc is provided on the material transmission path of the conveying mechanism. The material transfer unit includes a rotating arm robot, which is fixed on the frame and spans between the discharge end of the conveying mechanism and the inlet end of the double-row telescopic conveyor unit. The working range of the rotating arm robot covers the double-row conveyor belt of the conveying mechanism and the two sets of belt lines of the double-row telescopic conveyor unit. The double-row telescopic conveyor unit includes a telescopic belt A and a telescopic belt B arranged in parallel. The feed ends of the telescopic belt A and the telescopic belt B correspond to the working range of the rotating arm robot, and the discharge ends of the two sets of telescopic belts extend towards the dual-station packing unit. The carton labeling unit includes a label printer, a labeling robot, a labeling station, and a carton transfer mechanism. The label printer and the labeling station are fixed adjacent to each other on the upper part of the frame. The labeling robot is arranged across the label printer and the labeling station. The feeding end of the carton transfer mechanism is connected to the labeling station, and the discharging end is connected to the dual-station packing unit. The dual-station packing unit includes a dual-station packing table, two sets of carton positioning and clamping mechanisms, and a dual-packing robot. The dual-station packing table has two parallel and independent packing stations, which correspond one-to-one with the discharge ends of telescopic belts A and B, respectively. The two sets of carton positioning and clamping mechanisms are located in the two packing stations. The dual-packing robot is arranged one-to-one with the two sets of telescopic belts and the two packing stations. The working range of the packing robot covers the discharge end of the corresponding telescopic belt and the corresponding packing station. The discharge unit includes a lifting platform, which is fixed to the discharge end of the frame and connected to the discharge paths of the two packing stations of the dual-station packing platform.

[0008] Furthermore, the conveying mechanism includes a drive motor, a conveyor belt, a photoelectric switch, and a blocking cylinder; the drive motor is fixed below the discharge end of the conveying mechanism and is connected to the drive roller of the conveyor belt; the photoelectric switch is located on the side of the discharge end of the conveyor belt, and its detection path covers the material transmission surface of the conveyor belt; the blocking cylinder is vertically installed at the discharge end of the conveyor belt, and its cylinder rod can block the carrier disc from moving forward along the conveyor belt when it is extended, and release the carrier disc when it is retracted.

[0009] Furthermore, the rotating arm robot includes a rotary drive motor, a central column, a dual-position cantilever, and multiple sets of suction cups; the rotary drive motor is fixed to the bottom of the central column and is connected to the central column to drive the dual-position cantilever to rotate horizontally; the dual-position cantilever is fixed to the top of the central column, with the two cantilever ends respectively corresponding to the double-row conveyor belts of the conveying mechanism; the multiple sets of suction cups are respectively arranged below the two cantilever ends, with the adsorption surface facing downward, so that they can adhere to and adsorb the upper surface of the carrier disc.

[0010] Furthermore, both the telescopic belt A and the telescopic belt B include a fixed belt section, a telescopic belt section, a telescopic motor, and a belt drive motor; the fixed belt section is fixed to the frame, and the belt drive motor is connected to the drive roller of the fixed belt section; the telescopic motor is fixed to the feed end of the fixed belt section and is connected to the telescopic belt section to drive it to extend and retract horizontally along the conveying direction; the discharge end of the telescopic belt section extends toward the corresponding packing station and can extend into the inner cavity of the carton in the corresponding packing station.

[0011] Furthermore, the carton positioning and clamping mechanism includes two sets of symmetrically arranged lateral clamping cylinders, an automatic alignment spring, and a lateral rotating clamping cylinder; the piston rod of the lateral clamping cylinder is positioned towards the carton at the packing station, and the automatic alignment spring is coaxially sleeved on the piston rod of the lateral clamping cylinder; the lateral rotating clamping cylinder is arranged on the front and rear sides of the packing station, and its end is provided with a pressure head that can be rotatably pressed against the top flange of the carton.

[0012] Furthermore, the packing robot includes a vertical lifting frame, multiple sets of internal support grippers, and suction cups; the internal support grippers are symmetrically arranged around the lower part of the vertical lifting frame, and can be extended outward or retracted inward in the horizontal direction, with the extension range matching the inner cavity size of the carton in the corresponding packing station; the suction cups are fixed at the bottom center of the vertical lifting frame, with the suction surface facing downward, and can adhere to and adhere to the upper surface of the carrier disc.

[0013] Furthermore, the control terminals of the barcode reader, label printer, labeling robot, conveyor drive unit, rotating arm robot, telescopic belt drive unit, carton positioning and clamping mechanism, packing robot, carton transfer mechanism and elevator are all connected to the main controller. The two packing stations of the dual-station packing platform are controlled by the main controller to alternately perform packing operations and pre-packing preparation operations. Attached Figure Description

[0014] Figure 1 This is an isometric perspective view of the entire automatic packing machine with carrier disc of the present invention; Figure 2 This is a top plan view of the automatic case packing machine with a carrier disc in this invention; Figure 3 This is a isometric perspective view of the telescopic belt line in this invention; Figure 4 This is a detailed isometric perspective view of a single unit of the feeding and conveying mechanism in this invention; Figure 5 This is a detailed isometric perspective view of a single unit of the carton positioning and clamping mechanism in this invention; Figure 6 This is an isometric perspective view of a single packing robot arm in this invention; The labels in the diagram represent: 1 rack; 2. Feeding and conveying unit; 21 Conveying mechanism; 211 Drive motor; 212 Conveyor belt; 213 Photoelectric switch; 214 Blocking cylinder; 3. Material transfer unit; 31. Rotary arm robot; 311. Rotary drive motor; 312. Central column; 313. Dual-position cantilever; 4 double-row telescopic conveyor units; 41 Telescopic belt A; 42 Telescopic belt B; 411 Fixed belt segment; 412 Telescopic motor; 413 Belt drive motor; 421 Telescopic belt segment; 5 carton labeling units; 51 Label printer; 52 Labeling robot; 53 Labeling station; 54 Carton transfer mechanism; 6 dual-station packing units; 61. Dual-station packing station; 62. Carton positioning and clamping mechanism; 621 Lateral clamping cylinder; 622 Automatic alignment spring; 623 Lateral rotating clamping cylinder; 63 packing robots; 631 Vertical lifting frame; 632 Internal support gripper; 7. Discharge unit; 71. Elevator. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figure 1As shown, the automatic carrier tray packing machine disclosed in this embodiment is designed specifically for the 13-inch and 15-inch standard carrier trays commonly used in the electronics industry. It is used to realize the fully automated operation of the carrier tray from material information collection, carton labeling, information comparison to packing and unloading. The core supporting body of the whole machine is the frame 1, which adopts an integral frame structure welded from square steel. It is divided into three functional areas from left to right along the material flow direction: feeding section, main unit section, and unloading section. All functional units are fastened to the corresponding areas of the frame 1 with bolts to form an integrated whole machine structure. The bottom of the frame 1 is equipped with adjustable feet and casters to take into account the horizontal accuracy adjustment of the equipment and the on-site transportation needs.

[0017] Along the material flow direction of the carrier disc, the frame 1 is equipped with, from left to right, a feeding conveyor unit 2, a material transfer unit 3, a double-row telescopic conveyor unit 4, a carton labeling unit 5, a double-station packing unit 6, and a discharging unit 7.

[0018] Conveying mechanism 21 is Figure 1 The leftmost component, marked in the middle, is fixedly installed in the leftmost feeding section of the frame 1. It serves as the inlet for the carrier discs of the entire machine. It adopts a horizontal conveying structure with an independent support frame. The conveying direction extends horizontally towards the middle transfer conveying section of the frame 1, and the discharge end precisely aligns with the working range of the rotating arm robot 31. The bottom of the conveying mechanism 21 is leveled and fixed with adjustable anchor bolts. Its main frame is fastened to the feeding end of the frame 1 with connecting plate bolts to ensure that the conveying surface is at the same horizontal height as the subsequent conveying structure. The upper surface of the conveying mechanism 21 is a horizontally arranged conveyor belt structure that can stably support 13-inch and 15-inch standard carrier discs, realizing continuous and directional feeding and conveying of the carrier discs.

[0019] 31-arm rotary robot Figure 1 The component marked in the figure, spanning between the conveyor mechanism 21 and the telescopic belt, is fixedly installed at the feeding end of the transfer conveyor section in the middle of the frame 1. Its rotational working range completely covers the discharge end of the conveyor mechanism 21 and the feeding end of the telescopic belt, making it the core transfer component connecting the loading and packing processes. The bottom of the rotary arm robot 31 is bolted to the top crossbeam of the frame 1 via a flange. The main body is a vertically upward-mounted support column, with a horizontally rotatable double-position cantilever at the top of the column. The end of the cantilever has an adsorption structure for gripping the carrier disc. The rotary arm robot 31 can drive the cantilever to rotate horizontally at a certain angle through the drive component, accurately and without damage transferring the carrier disc from the discharge end of the conveyor mechanism 21 to the feeding end of the telescopic belt, realizing the smooth transfer of the carrier disc and the distribution of materials at the workstation.

[0020] Telescopic belt conveyors (including telescopic belt A41 and telescopic belt B42) are Figure 1The horizontal conveying component, marked as being located to the right of the rotary arm robot 31, is horizontally fixedly installed in the middle transfer conveying section of the frame 1. Its infeed end corresponds to the working range of the rotary arm robot 31, and its discharge end extends toward the carton positioning and clamping mechanism 62 of the cartoning operation section on the right side of the frame 1. It is a directional conveying component before the carrier disc is packed into boxes. The fixed section of the telescopic belt is fastened to the internal crossbeam of the frame 1 by bolts through the mounting bracket. The whole is divided into a fixed belt section and a movable belt section that can be horizontally telescopic along the conveying direction. The infeed end of the fixed section is equipped with a telescopic drive component, which can drive the movable belt section to perform horizontal telescopic movement toward the packing station. The discharge end of the movable section can extend to the inner cavity of the carton where the carton positioning and clamping mechanism 62 is fixed, realizing close-range infeed conveying of the carrier disc and avoiding the carrier disc from falling and bumping during the packing process.

[0021] Carton positioning and clamping mechanism 62 Figure 1 The component marked in the image, located in front of the discharge end of the telescopic conveyor belt and directly below the packing robot 63, is fixedly installed on the packing worktable on the right side of the packing section of the frame 1. It is used for automatic centering and rigid clamping of the cartons for packing. The base of the carton positioning and clamping mechanism 62 is fastened to the packing worktable with bolts. It is equipped with multiple sets of symmetrically arranged lateral clamping components and top limiting components, which can adapt to packaging cartons of different sizes. The lateral clamping components achieve horizontal centering of the carton, and the top limiting components press the top flange of the carton to ensure that the carton does not shift or the flange does not spring back during the packing process, providing a stable positioning reference for the accurate insertion of the carrier disc into the carton.

[0022] 63 packing robots Figure 1 The vertical component, marked as being located at the upper right of frame 1, is vertically fixed to the upper part of the right-side packing section of frame 1, directly above the carton positioning and clamping mechanism 62. Its vertical lifting range completely covers the carton positioning and clamping mechanism 62 below and the material outlet of the telescopic belt conveyor in front, making it the core execution component for the carrier disc packing operation. The top of the packing robot 63 is bolted to the top crossbeam of frame 1 via a mounting bracket. The main body is a vertical lifting module structure, with a carton opening component and a carrier disc gripping component integrated at the lower end of the lifting module. During operation, the opening component first extends into the carton cavity and opens and fixes it, and then the gripping component smoothly grips the carrier disc on the telescopic belt conveyor, accurately loading it into the carton as the lifting module descends, completing the automated packing operation.

[0023] like Figure 2 As shown, Figure 2 The machine has a horizontal planar top view layout. The frame 1 has a rectangular planar structure and is divided into four functional areas from left to right along the horizontal direction: feeding area, material conveying area, labeling and packing area, and discharging area. Figure 2All components marked in the diagram are fixedly installed in the four functional areas of frame 1 according to the material flow path of the carrier disc and the carton flow path, forming a dual-path parallel and collaborative automated operation system.

[0024] Conveying mechanism 21 is Figure 2 The component marked on the far left, corresponding to number 21, is fixed to the leftmost feeding area of ​​frame 1, arranged in two horizontal parallel rows. The conveying direction of both sets of conveying mechanisms 21 extends horizontally along the length of frame 1 (from left to right), with the discharge end facing the material conveying area in the middle of frame 1, providing dual parallel feeding channels for 13-inch and 15-inch carrier discs. The bottom of the conveying mechanism 21 is bolted to the table surface of the feeding area of ​​frame 1 via mounting bases. The conveying surfaces of the two sets of conveying mechanisms 21 are on the same horizontal plane, enabling continuous and directional feeding of the carrier discs.

[0025] 31-arm rotary robot Figure 2 The component marked on the right side of the middle conveyor mechanism 21, corresponding to number 31, is fixedly installed at the connection position between the feeding area and the material conveying area of ​​the frame 1. It spans between the discharge end of the two sets of conveyor mechanisms 21 and the feeding end of the subsequent double-row telescopic belt. Its horizontal rotation range completely covers the discharge end of the left double-row conveyor mechanism 21 and the feeding end of the right double-row telescopic belt. The bottom rotating support of the rotating arm manipulator 31 is fastened to the table of the frame 1 by bolts through a flange. Its rotation center axis is perpendicular to the horizontal plane of the frame 1. The top double-position cantilever can rotate at a fixed angle in the horizontal plane around the center axis, realizing the precise transfer and distribution of the carrier disc from the left conveyor mechanism 21 to the right telescopic belt.

[0026] 42 telescopic belt 1 and 42 telescopic belt 2 are Figure 2 Two components, marked vertically on the right side of the rotary arm robot 31, are fixed in the material conveying area in the middle of the frame 1, arranged in two horizontal parallel rows. The conveying direction of the two sets of telescopic belts extends along the length of the frame 1 (from left to right). The feeding ends are both within the rotational working range of the rotary arm robot 31, and the discharging ends extend towards the labeling and packing area on the right side of the frame 1, corresponding to the two subsequent independent packing stations. The bottom of the fixed sections of telescopic belts 41 and 42 are both bolted to the central platform of the frame 1 through mounting brackets. Each set of telescopic belts is divided into a fixed section and a movable section that can extend and retract horizontally along the conveying direction. The movable section can extend and retract in the horizontal plane towards the packing station, realizing close-range and precise conveying of the carrier disc to the packing station.

[0027] Printer 51 Figure 2The component marked on the left side of the labeling robot is fixedly installed on the upper part of the labeling and packing area on the right side of the frame 1, adjacent to the labeling station 53, with the label paper outlet facing the working range of the labeling robot 52. The bottom of the printer 51 is bolted to the upper crossbeam of the frame 1 via a mounting plate, and is used to receive control signals and print outer carton labels that match the material information of the carrier disc, providing label material for the labeling operation.

[0028] Labeling robot 52 Figure 2 The component marked on the right side of the printer and above the labeling station spans across the printer 51 and the labeling station 53. Its horizontal working range completely covers the label output port of the printer 51 and the carton positioning area of ​​the labeling station 53. The linear module base of the labeling robot 52 is fastened to the upper crossbeam of the frame 1 by bolts. It can perform X and Y dual-axis linear movements in the horizontal plane. The end is equipped with a label adsorption structure, which can complete the label picking, transfer and flat application of labels to the carton surface.

[0029] Labeling station 53 Figure 2 The component marked below the labeling robot is located on the upper part of the labeling and packing area of ​​frame 1, adjacent to printer 51 on both sides, within the working range of labeling robot 52, and connected to the feeding end of carton transfer mechanism 54 below. The positioning plate of labeling station 53 is bolted to the upper crossbeam of frame 1. The plate is equipped with carton positioning slots to fix empty cartons to be labeled, providing a precise positioning reference for carton labeling operations.

[0030] Cardboard box transfer mechanism 54 Figure 2 The components marked below the labeling station are arranged vertically along the width (vertical direction) of the frame 1. The inlet end connects to the outlet of the labeling station 53, and the outlet end connects to the inlet of the packing station below, forming a carton transfer channel from the labeling area to the packing area in the horizontal plane. The linear module base of the carton transfer mechanism 54 is bolted to the internal crossbeam of the frame 1, which can drive the carton clamping structure to make horizontal linear movement in a direction perpendicular to the material conveying, accurately transferring the labeled carton from the labeling station 53 to the packing station below.

[0031] Carton positioning and clamping mechanism 62 Figure 2 The components marked on the right side of the discharge end of the telescopic belt consist of two sets, which are respectively arranged in two independent packing stations in the labeling and packing area of ​​frame 1. The two packing stations correspond one-to-one with the discharge ends of telescopic belts 41 and 42, respectively, and are within the working range of the packing robot 63. The base of the carton positioning and clamping mechanism 62 is bolted to the table of the packing station. It is equipped with multiple sets of symmetrically arranged lateral clamping components, which can center and rigidly clamp the carton in the horizontal plane, adapt to different specifications of packaging cartons, and ensure that the carton does not shift during the packing process.

[0032] 63 packing robots Figure 2 The components marked on the right side of the carton positioning and clamping mechanism consist of two sets, corresponding one-to-one with two sets of telescopic belts and two packing stations. Their horizontal working range completely covers the discharge end of the corresponding telescopic belt and the carton positioning area of ​​the corresponding packing station. The vertical mounting frame of the packing robot 63 is bolted to the top beam of the frame 1, allowing for linear movement in the horizontal plane and vertical lifting. Its end integrates a carrier disc gripping structure and a carton opening structure, enabling precise gripping of the carrier disc from the telescopic belt and insertion into the positioned carton.

[0033] Elevator 71 Figure 2 The component marked in the bottom right corner is fixedly installed in the discharge area on the far right of the frame 1. Its inlet end connects with the discharge paths of the two packing stations to form a vertical discharge channel for the packaged finished products. The frame of the elevator 71 is bolted to the discharge end of the frame 1, allowing it to move vertically to receive the packaged finished cartons and lower them from the working height of the packing station to the ground conveying height, thus completing the finished product discharge operation of the entire machine.

[0034] based on Figure 2 With its planar layout, the machine forms a dual-path parallel operation system for the material flow of carrier discs and the carton flow: the carrier discs are fed from the leftmost conveyor mechanism 21 in two directions, and then transferred by the rotating arm robot 31 to the telescopic belts 41 and 42, and then conveyed by the telescopic belts to the front end of the packing station; at the same time, after the empty cartons are labeled at the labeling station 53, they are transferred to the packing station by the carton transfer mechanism 54 and positioned and fixed by the carton positioning and clamping mechanism 62; finally, the packing robot 63 completes the automated packing of the carrier discs, and the finished cartons are discharged by the elevator 71. The two packing stations work alternately to achieve uninterrupted continuous operation of the packing process.

[0035] like Figure 3 As shown, Figure 3 As the core execution component of the double-row telescopic conveyor unit 4, the telescopic belt A (41) and the telescopic belt B (42) adopt the same single-unit structure. They are both fixed to the middle crossbeam of the frame 1 by mounting brackets. The whole is arranged horizontally along the material conveying direction of the carrier disc. The feeding end corresponds to the working range of the rotating arm robot 31, and the discharging end extends towards the packing station of the double-station packing unit 6 to realize the directional conveying of the carrier disc. At the same time, the telescopic structure adapts to cartons of different depths to avoid the carrier disc falling and bumping during packing. Figure 3The fixed belt section 411 is the main fixed load-bearing component of the telescopic belt conveyor. Located in the lower half of the entire structure and at the feed end, it has a horizontal, elongated structure and is arranged along the material conveying direction, providing a unified installation benchmark for all moving components. The bottom of the fixed belt section 411 is bolted to the internal crossbeam of the frame 1 via mounting brackets, ensuring the horizontal accuracy of the conveying surface and the overall conveying path. A drive roller and a driven roller are rotatably mounted at both ends, with the conveyor belt wound between them to form a horizontally load-bearing conveying surface. A telescopic motor 412 is installed at the feed end, and the discharge end is slidably connected to the telescopic belt section 421 via a linear guide pair. Simultaneously, its drive roller is connected to the belt drive motor 413, providing a power transmission benchmark for belt operation. The telescopic motor 412 is fixedly installed on the left side of the feed end of the fixed belt section 411. It is horizontally arranged along the material conveying direction, with its output end facing the telescopic belt section 421 and connected to the feed end of the telescopic belt section 421. The telescopic motor 412 is a servo drive motor. Its body is bolted to the end frame of the fixed belt section 411 through a motor mounting base. The output shaft is coaxially connected to the screw end of the ball screw pair through a coupling. The nut seat of the ball screw pair is rigidly connected to the feed end of the telescopic belt section 421. By rotating the telescopic motor 412 in both directions, the ball screw pair is driven to accurately convert the rotational motion into linear motion, driving the telescopic belt section 421 to extend and retract horizontally along the material conveying direction, thereby achieving stepless and precise adjustment of the overall conveying length of the belt line. The belt drive motor 413 is fixedly installed below the feed end of the fixed belt segment 411, next to the telescopic motor 412. Its output shaft faces upwards towards the drive roller of the fixed belt segment 411, coaxially corresponding to the drive roller's installation position. The body of the belt drive motor 413 is bolted to the bottom frame of the fixed belt segment 411 via an L-shaped motor mount. The output shaft is connected to the drive roller of the fixed belt segment 411 via a synchronous pulley set. The rotation of the belt drive motor 413 drives the drive roller to rotate synchronously, thereby driving the conveyor belt to operate in a closed loop, providing stable power for the horizontal conveying of the carrier disc, ensuring the carrier disc smoothly flows with the belt to the gripping station at the discharge end. The telescopic belt segment 421 is slidably connected to the discharge end of the fixed belt segment 411, at the same horizontal plane as the fixed belt segment 411, extending along the material conveying direction. Its discharge end faces the packing station of the dual-station packing unit 6, and can perform horizontal telescopic movement along the conveying direction under the drive of the telescopic motor 412.The bottom of the telescopic belt section 421 is rigidly connected to the guide rail on the fixed belt section 411 via a linear guide slider. Its feed end is rigidly connected to the ball screw nut seat of the telescopic motor 412. A driven redirecting roller is rotatably installed at the discharge end. After the conveyor belt is wound around the redirecting roller, it forms a continuous and flat conveying surface. In the extended state, the discharge end of the telescopic belt section 421 can extend into the inner cavity of the carton in the packing station, realizing close-range carton conveying of the carrier disc and avoiding impact from falling from a height. In the retracted state, the discharge ends of the telescopic belt section 421 and the fixed belt section 411 are flush, completely avoiding the transfer and positioning space of the carton and avoiding mechanical interference. The carrier disc is placed flat on the conveyor surface of the fixed belt section 411 and the telescopic belt section 421, and moves horizontally along the conveying direction with the rotation of the belt. It is the carrier processing object of this conveying mechanism and is compatible with 13-inch and 15-inch electronic industry standard carrier discs. The lower surface of the carrier disc is in close contact with the upper surface of the anti-slip conveyor belt. The static friction between the belt and the disc enables smooth conveying without relative slippage, ensuring that the carrier disc can be accurately positioned at the gripping station of the packing robot 63, providing a precise positional reference for subsequent packing operations.

[0036] During operation, the belt drive motor 413 starts, driving the conveyor belt of the fixed belt section 411 to operate in a closed loop through the synchronous pulley set, which drives the carrier disc on the conveyor surface to be smoothly transported from the feeding end to the discharging end. When it is necessary to adapt to packaging cartons of different depths, the main controller sends a control signal to the telescopic motor 412. The telescopic motor 412 drives the telescopic belt section 421 to extend to the preset length, so that the discharging end extends into the inner cavity of the carton. After the carrier disc is transported to the discharging end of the telescopic belt section 421, it is picked up by the packing robot 63 to complete the carton loading operation. After the carton loading is completed, the telescopic motor 412 drives the telescopic belt section 421 to retract to the initial position, making way for the next carton transfer and positioning operation, and cooperating with the dual-station packing station to achieve continuous operation.

[0037] like Figure 4As shown, the drive motor 211 is the power source for the conveying mechanism 21. It is fixedly installed below the discharge end of the conveying mechanism 21, with its body horizontally arranged perpendicular to the conveying direction of the conveyor belt 212. The output shaft faces the drive roller of the conveyor belt 212 and is coaxially aligned with the installation position of the drive roller. The drive motor 211 is a servo drive motor with a reducer. Its body is bolted to the bottom frame of the conveying mechanism 21 via an L-shaped motor mounting base, ensuring the structural rigidity and installation accuracy of the motor. The output shaft of the drive motor 211 is rigidly connected to the end of the drive roller of the conveyor belt 212 via a coupling, directly transmitting the rotational motion of the motor to the drive roller. This provides stable and adjustable power for the closed-loop operation of the conveyor belt 212, allowing precise adjustment of the conveying speed according to the production rhythm at the front end, matching the overall operating rhythm of the machine. The conveyor belt 212 serves as the carrier for the transport disc, horizontally positioned above the conveying mechanism 21 and wound between the drive roller and the driven roller. Its upper surface is a flat, horizontal material-bearing surface, level with the conveying surfaces of all conveying units in the machine. The conveying direction extends towards the material-grabbing station of the rotary arm robot 31. The conveyor belt 212 is made of anti-slip and wear-resistant PVC material with internal reinforcing ribs to prevent stretching and deformation during transport. The drive roller and the driven roller are rotatably mounted at both ends of the frame of the conveying mechanism 21 via bearing seats. The conveyor belt 212 is tensioned and wound between the two rollers. The drive motor 211 drives the drive roller to rotate, thereby driving the conveyor belt 212 to operate continuously in a closed loop. Through the static friction between the conveyor belt 212 and the carrier disc, the carrier disc is transported smoothly without relative slippage, preventing the carrier disc from shifting or slipping during transport. The photoelectric switch 213 serves as the positioning detection component for the carrier disc. It is fixedly mounted on the side of the discharge end of the conveyor belt 212 via an L-shaped bracket. Its detection optical path is horizontally oriented towards the central axis of the conveyor belt 212, completely covering the material transmission surface of the conveyor belt 212. It is adjacent to the blocking cylinder 214, positioned on the feeding side of the blocking cylinder 214. The photoelectric switch 213 employs a diffuse reflection photoelectric sensor. Its bracket is bolted to the side frame of the conveyor mechanism 21, allowing for fine-tuning of the installation position according to the specifications of the carrier disc to ensure detection accuracy. The signal output terminal of the photoelectric switch 213 is connected to the main controller of the entire machine. When the carrier disc is conveyed to the detection area by the conveyor belt 212, the photoelectric switch 213 is triggered and sends a positioning signal to the main controller. The main controller synchronously controls the blocking cylinder 214 to operate and the drive motor 211 to stop, achieving precise positioning of the carrier disc and providing a trigger signal for the material handling operation of the rotary arm robot 31. The blocking cylinder 214 is a positioning and blocking actuator for the carrier disc. It is vertically installed at the end of the conveyor belt 212, on the discharge side of the photoelectric switch 213. The cylinder rod is vertically set upwards, and its extension path is perpendicular to the conveying surface of the conveyor belt 212.

[0038] The blocking cylinder 214 is a double-acting cylinder with a magnetic ring. Its cylinder body is bolted to the discharge end frame of the conveyor mechanism 21 via a cylinder mounting seat. A polyurethane blocking head is fixed to the end of the cylinder rod to prevent rigid contact with the carrier disc and avoid collision. The pneumatic control end of the blocking cylinder 214 is connected to the main controller. Under normal conditions, the cylinder rod is in the extended state, and the top of the blocking head is higher than the upper surface of the conveyor belt 212, which can physically block the carrier disc from moving forward in the conveying direction, realizing the mechanical limit of the carrier disc. When the release signal is received from the main controller, the cylinder rod retracts, the top of the blocking head is lower than the upper surface of the conveyor belt 212, and the carrier disc is released to the picking station. The carrier disc is the core processing object of this equipment. It is compatible with the 13-inch and 15-inch standard specifications commonly used in SMT packaging in the electronics industry. It is placed horizontally on the upper surface of the conveyor belt 212, and its lower surface is in close contact with the conveying surface of the conveyor belt 212. It moves towards the discharge end in the conveying direction with the operation of the conveyor belt 212. The outer diameter of the carrier disc is adapted to the width of the double-row conveyor belt 212, and no lateral deviation will occur during the conveying process. When the carrier disc is conveyed to the detection area of ​​the photoelectric switch 213, the positioning signal is triggered, the blocking cylinder 214 extends to block, the drive motor 211 stops, and the carrier disc is precisely positioned at the picking position of the rotating arm robot 31, ensuring the consistency of the picking position each time and improving the accuracy and stability of the transfer operation.

[0039] In the initial state, the cylinder rod of the blocking cylinder 214 is extended, and the drive motor 211 is on standby. The front-end process feeds the carrier disc to the feed end of the conveyor belt 212. The main controller sends a start signal, the drive motor 211 starts, and the conveyor belt 212 rotates. The carrier disc is smoothly conveyed to the discharge end with the conveyor belt. When the carrier disc passes the detection area of ​​the photoelectric switch 213, the photoelectric switch 213 is triggered and sends a position signal to the main controller. The main controller immediately controls the drive motor 211 to stop. The carrier disc is precisely stopped at the picking station under the limit of the blocking cylinder 214. The main controller simultaneously sends a picking ready signal to the rotary arm robot 31. After the rotary arm robot 31 completes the gripping and transfer of the carrier disc, the main controller controls the blocking cylinder 214 to retract and the drive motor 211 to restart, conveying the next carrier disc. This cycle is repeated to achieve continuous and precise feeding and conveying of the carrier disc.

[0040] like Figure 5As shown, the carton positioning and clamping mechanism 62 is the core positioning and execution component of the carton packing station. Two sets are set up, located in two parallel independent carton packing stations on the dual-station packing platform 61. Each set is vertically aligned with the discharge end of the corresponding telescopic belt and the working range of the corresponding packing robot 63. The entire mechanism is fastened to the table surface of the packing station by base bolts, forming a positioning and installation space for the carton. Its core function is to achieve adaptive horizontal centering positioning, rigid clamping, and top flange pressing and fixing of packaging cartons of different specifications, preventing displacement, deformation, and top flange springback interference during packing. This provides a stable positioning benchmark for the precise carton insertion operation of the packing robot 63, and is compatible with various standard packaging cartons corresponding to 13-inch and 15-inch carrier discs. The lateral clamping cylinder 621 is the core actuator for horizontal positioning and clamping of the carton. Two sets are symmetrically arranged on both sides of the carton within the packing station. The piston rods of both sets of cylinders are horizontally oriented towards the central axis of the packing station, perpendicular to the side of the carton. The central axes of the two sets of cylinders coincide, ensuring symmetrical and uniform clamping force. The cylinder body of the lateral clamping cylinder 621 is bolted to the table surface of the double-station packing table 61 via a cylinder mounting seat, ensuring the structural rigidity of the cylinder installation. A clamping block with an anti-slip rubber pad is fixed to the end of the cylinder piston rod, with the clamping surface parallel and in contact with the side of the carton. An automatic alignment spring 622 is coaxially sleeved on the piston rod. Through the synchronous extension and retraction of the two sets of cylinders, the horizontal centering and clamping release of the carton are achieved, adapting to packaging cartons of different widths and sizes, allowing for specification switching without manual tooling changes. The automatic alignment spring 622 is an adaptive buffer component for carton clamping. Two sets are configured, each coaxially mounted on the piston rod of one of the two lateral clamping cylinders 621. One end of the spring abuts against the front face of the cylinder body of the lateral clamping cylinder 621, and the other end abuts against the back of the clamping block at the end of the piston rod, coaxially arranged with the extension and retraction path of the piston rod. The automatic alignment spring 622 uses a high-quality compression spring with a rectangular cross-section, providing stable elastic buffer stroke. When the piston rod of the lateral clamping cylinder 621 extends to clamp the carton, the automatic alignment spring 622 can adapt to different sizes of cartons through its own elastic compression, while providing uniform clamping buffer force to prevent deformation and damage to the carton caused by rigid cylinder clamping. Simultaneously, the two symmetrically arranged automatic alignment springs 622 can automatically center and align the carton through automatic balance of elastic force, eliminating the need for manual adjustment of the positioning reference and significantly improving the equipment's changeover efficiency and positioning accuracy. The lateral clamping cylinder 623 is a clamping and fixing component for the top flange of the carton. Two sets are provided, symmetrically arranged on the other two sides of the carton in the packing station. It is arranged at a 90° angle to the lateral clamping cylinder 621. The cylinder is horizontally oriented towards the carton, and the rotating pressure head at the end is oriented towards the top flange of the carton, and is flush with the top end face of the carton.The lateral rotary clamping cylinder 623 is a 90° rotary clamping cylinder. Its cylinder body is fastened to the table surface of the double-station packing table 61 by bolts through an L-shaped mounting base. An L-shaped rotary pressure head is fixed at the end of the cylinder rod, and an anti-slip silicone pad is attached to the lower pressing surface of the pressure head. When the cylinder rod extends, the pressure head simultaneously completes a 90° rotation and axial extension, and finally presses against the top flange of the carton, realizing the rigid pressing and fixing of the top flange of the carton. This completely avoids the problem of the top flange of the carton springing back and inward turning blocking the carrier disc from entering the carton during the packing process, ensuring the smoothness of the packing operation.

[0041] The control terminal of the carton positioning and clamping mechanism 62 is connected to the main controller of the whole machine. It operates in a dual-station alternating mode. Initially, both the lateral clamping cylinder 621 and the lateral rotating clamping cylinder 623 are retracted, and the positioning space is fully open, awaiting carton loading. After receiving the carton arrival signal from the carton-transfer mechanism 54, the main controller controls the two sets of lateral clamping cylinders 621 to extend synchronously. The clamping blocks at the piston rod ends contact the side of the carton, and the automatic alignment spring 622 adapts to the carton size through elastic compression, simultaneously completing the horizontal centering and rigid clamping of the carton. After the lateral clamping cylinders 621 are in place, the main controller... The controller controls two sets of lateral rotary clamping cylinders 623 to move synchronously. As the cylinder rod extends, it drives the pressure head to rotate 90°, finally pressing it against the top flange of the carton to complete the clamping and fixing of the flange. The main controller sends a positioning ready signal to the packing robot 63. After the packing robot 63 completes the carton loading operation on the carrier disc, the main controller first controls the lateral rotary clamping cylinders 623 to retract back to their original positions, and then controls the lateral clamping cylinders 621 to retract and release the carton, making way for the unloading action of the finished carton. After the finished carton is unloaded, the mechanism resets to the initial state and waits for the loading and positioning of the next carton. This cycle is used to cooperate with the dual-station packing station to achieve uninterrupted continuous operation.

[0042] like Figure 6 As shown, the inner support claw 632 first opens and fixes the inner cavity of the carton, and then the suction cup drives the adsorbed carrier disc to descend into the carton. The inner cavity channel formed by the inner support claw 632 provides precise guidance for the carrier disc to enter the carton without interference, avoiding collisions between the carrier disc and the inner wall or folded edge of the carton. After the carton is horizontally positioned by the carton positioning and clamping mechanism 62, its central axis is completely coincident with the central axis of the inner support claw 632. After the inner support claw 632 extends into the inner cavity of the carton, it opens outward, which can form reverse support for the carton from the inside, counteracting the lateral clamping force of the carton positioning and clamping mechanism 62, and preventing the carton from deforming inward due to lateral clamping. At the same time, it can open the inward folded edge of the top of the carton outward, completely eliminating the interference of the folded edge on the carrier disc entering the carton.

[0043] The operation of the inner support gripper 632 is perfectly matched with the dual-station alternating packing mode of the whole machine. In the initial state, the inner support gripper 632 is in the inward retraction state with the drive cylinder, and the overall enclosed outer diameter is smaller than the carton opening size. The vertical lifting frame 631 is in a high position standby. After receiving the carton positioning completion and carrier disc positioning signals, the main controller controls the vertical lifting frame 631 to descend, driving the inner support gripper 632 to extend into the carton cavity to the preset depth. The main controller controls the four sets of drive cylinders to move synchronously. The internal support gripper 632 extends horizontally outward, fully fitting against the inner wall of the carton, thus fixing the inner cavity of the carton and opening the top flange. The vertical lifting frame 631 continues to descend, precisely placing the carrier tape disc, which is attracted by the suction cup, into the preset stacking position inside the carton. The suction cup disconnects the negative pressure, releasing the carrier tape disc, completing a single packing operation. The main controller controls the drive cylinder to retract the internal support gripper 632 inward, and the vertical lifting frame 631 rises back to its initial high position, awaiting the next packing operation command. This internal support gripper 632, through its integrated synchronous opening design, achieves rigid fixation from inside the carton during packing operations, forming a two-way positioning with the external carton positioning and clamping mechanism 62. This completely solves the problems of carton deformation, flange interference, and misaligned carrier tape disc stacking that are common in traditional packing equipment. At the same time, it can adapt to different specifications of packaging cartons, and specification switching can be completed without changing tooling, greatly improving the flexibility and adaptability of the equipment and the stability of the packing operation.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic case packing machine with a carrier disc, comprising a frame (1), characterized in that, The frame (1) is sequentially integrated with a feeding conveyor unit (2), a material transfer unit (3), a double-row telescopic conveyor unit (4), a carton labeling unit (5), a double-station packing unit (6), and a discharge unit (7) along the material flow direction. The feeding and conveying unit (2) includes a conveying mechanism (21) arranged in two horizontal rows. The conveying mechanism (21) is fixed to the feeding end of the frame (1). A barcode reader for collecting material information of the carrier disc is provided on the material transmission path of the conveying mechanism (21). The material transfer unit (3) includes a rotating arm robot (31), which is fixed on the frame (1) and spans between the discharge end of the conveying mechanism (21) and the feed end of the double-row telescopic conveying unit (4). The working range of the rotating arm robot (31) covers the double-row conveyor belt of the conveying mechanism (21) and the two sets of belt lines of the double-row telescopic conveying unit (4). The double-row telescopic conveyor unit (4) includes a telescopic belt A (41) and a telescopic belt B (42) arranged in parallel. The feeding ends of the telescopic belt A (41) and the telescopic belt B (42) correspond to the working range of the rotating arm robot (31). The discharge ends of the two sets of telescopic belts extend toward the double-station packing unit (6). The carton labeling unit (5) includes a label printer (51), a labeling robot (52), a labeling station (53), and a carton transfer mechanism (54). The label printer (51) and the labeling station (53) are fixed adjacent to each other on the upper part of the frame (1). The labeling robot (52) is arranged across the label printer (51) and the labeling station (53). The feeding end of the carton transfer mechanism (54) is connected to the labeling station (53), and the discharging end is connected to the dual-station packing unit (6). The dual-station packing unit (6) includes a dual-station packing table (61), two sets of carton positioning and clamping mechanisms (62), and a dual-packing robot (63). The dual-station packing table (61) has two parallel and independent packing stations, which correspond one-to-one with the discharge ends of the telescopic belts A (41) and B (42), respectively. The two sets of carton positioning and clamping mechanisms (62) are located in the two packing stations. The dual-packing robot (63) is arranged one-to-one with the two sets of telescopic belts and the two packing stations. The working range of the packing robot (63) covers the discharge end of the corresponding telescopic belt and the corresponding packing station. The discharge unit (7) includes a lift (71), which is fixed to the discharge end of the frame (1) and connected to the discharge paths of the two packing stations of the dual-station packing platform (61).

2. The automatic case packing machine with carrier disc according to claim 1, characterized in that, The conveying mechanism (21) includes a drive motor (211), a conveyor belt (212), a photoelectric switch (213), and a blocking cylinder (214). The drive motor (211) is fixed below the discharge end of the conveying mechanism (21) and is connected to the drive roller of the conveyor belt (212). The photoelectric switch (213) is located on the side of the discharge end of the conveyor belt (212), and its detection path covers the material transmission surface of the conveyor belt (212). The blocking cylinder (214) is vertically installed at the discharge end of the conveyor belt (212). When the cylinder rod is extended, it can block the carrier disc from moving forward along the conveyor belt (212). When the cylinder rod is retracted, it releases the carrier disc.

3. The automatic case packing machine with carrier disc according to claim 1, characterized in that, The rotating arm robot (31) includes a rotary drive motor (311), a central column (312), a dual-position cantilever (313), and multiple suction cups; the rotary drive motor (311) is fixed to the bottom of the central column (312) and is connected to the central column (312) to drive the dual-position cantilever to rotate horizontally; the dual-position cantilever is fixed to the top of the central column (312), and the two cantilever ends are respectively arranged in the double-row conveyor belt of the conveying mechanism (21).

4. The automatic case packing machine with carrier disc according to claim 1, characterized in that, Both the telescopic belt A (41) and the telescopic belt B (42) include a fixed belt section (411), a telescopic belt section (421), a telescopic motor (412), and a belt drive motor (413). The fixed belt section (411) is fixed on the frame (1), and the belt drive motor (413) is connected to the drive roller of the fixed belt section (411). The telescopic motor (412) is fixed at the feed end of the fixed belt section (411) and is connected to the telescopic belt section (421) to drive it to extend horizontally along the conveying direction. The discharge end of the telescopic belt section (421) extends toward the corresponding packing station and can extend into the inner cavity of the carton in the corresponding packing station.

5. The automatic case packing machine with carrier disc according to claim 1, characterized in that, The carton positioning and clamping mechanism (62) includes two sets of symmetrically arranged lateral clamping cylinders (621), an automatic alignment spring (622), and a lateral rotating clamping cylinder (623); the piston rod of the lateral clamping cylinder (623) is set towards the carton at the packing station, and the automatic alignment spring is coaxially sleeved on the piston rod of the lateral clamping cylinder (621); the lateral rotating clamping cylinder (621) is arranged on the front and rear sides of the packing station, and its end is provided with a pressure head that can be rotated and pressed against the top flange of the carton.

6. The automatic case packing machine with carrier disc according to claim 1, characterized in that, The packing robot (63) includes a vertical lifting frame (631), multiple sets of internal support grippers (632) and suction cups; the internal support grippers (632) are symmetrically arranged around the lower part of the vertical lifting frame (631), and can be opened outward or retracted inward in the horizontal direction, with the opening range matching the inner cavity size of the carton in the corresponding packing station; the suction cup is fixed at the bottom center of the vertical lifting frame (631), with the suction surface facing downward, and can adhere to and adhere to the upper surface of the carrier disc.

7. The automatic case packing machine with carrier disc according to claim 1, characterized in that, The control terminals of the barcode reader, label printer (51), labeling robot (52), conveyor (21) drive components, rotating arm robot (31), telescopic belt drive components, carton positioning and clamping mechanism (62), packing robot (63), carton transfer mechanism (54) and elevator (71) are all connected to the main controller. The two packing stations of the dual-station packing platform are controlled by the main controller and alternately perform packing operations and pre-packing preparation operations.

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