Tray assembly machine with rolling function

Abstract

The application discloses a Tray assembling machine with a rolling function, which comprises a rack, a Tray feeding assembly line, a Tray transplanting and carrying module, a robot grabbing module, a Tray positioning module, a feeding platform, a jacking and carrying module, a paper box positioning module, a rolling module and a discharging platform are arranged on the rack, and the motion direction of the Tray transplanting and carrying module is perpendicular to the motion direction of the jacking and carrying module. The jacking and carrying module carries the paper box from the feeding platform to the assembling station, the rolling station and then to the discharging platform in sequence, and the paper box positioning module positions the paper box. The Tray feeding assembly line conveys the Tray to the Tray transplanting and carrying module, the Tray transplanting and carrying module carries the Tray to the Tray positioning module, the robot grabbing module sucks the Tray and then loads the Tray into the paper box, and the rolling module rolls the Tray, so that the Tray is attached to the paper box.

Description

Technical Field

[0001] This invention belongs to the field of paper box production and processing technology, specifically relating to a Tray assembly machine with rolling function. Background Technology

[0002] In the production and processing of cardboard boxes, assembly is often required, which involves placing materials into existing cardboard boxes to complete the assembly. Traditional assembly methods rely on manual labor, resulting in low production efficiency and an inability to meet the demands of mass production. This is particularly true for trays with reinforcing edges, where manual assembly leads to poor insertion quality and a high defect rate. Furthermore, existing cardboard box assembly equipment often has limited functionality, requiring the coordination of multiple different machines to complete the assembly, increasing production costs. The high degree of coordination between these different machines and their low integration further impacts production efficiency.

[0003] Meanwhile, in some cartoning processes, the materials inside the cartons need to be rolled. Existing equipment has a relatively limited function, requiring separate equipment for rolling, which increases production costs. Furthermore, existing rolling equipment is prone to damaging the cartons during rolling, resulting in poor assembly quality and reduced production efficiency. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned problems and provide a Tray assembly machine with built-in rolling function that can adjust the width of the feed line according to the material.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a Tray assembly machine with rolling function, comprising a frame, on which are arranged a Tray feeding line, a Tray transfer and handling module, a robot gripping module, a Tray positioning module, a feeding platform, a lifting and handling module, a carton positioning module, a rolling module, and a discharging platform. The Tray feeding line, Tray transfer and handling module, robot gripping module, and Tray positioning module are arranged sequentially, and the feeding platform, lifting and handling module, carton positioning module, rolling module, and discharging platform are arranged sequentially. In this arrangement, the movement direction of the Tray transfer and handling module is perpendicular to the movement direction of the lifting and handling module. The lifting and handling module sequentially transports the cardboard boxes from the feeding platform to the assembly station, the rolling station, and then to the discharge platform. The cardboard box positioning module positions the cardboard boxes. The Tray feeding line conveys the Trays to the Tray transfer and handling module, which then transports the Trays to the Tray positioning module. The robot gripping module picks up the Trays and places them into the cardboard boxes. The rolling module rolls the Trays to ensure they fit snugly against the cardboard boxes.

[0006] Preferably, the lifting and transporting module includes a lifting and transporting servo motor, a lifting and transporting synchronous pulley and synchronous belt device, a synchronous belt linear module, a lifting and transporting sliding device, a lifting and transporting cylinder, a lifting and transporting base plate, a lifting and transporting guide shaft, and a lifting and transporting linear bearing; the lifting and transporting servo motor is connected to the synchronous belt linear module via the lifting and transporting synchronous pulley and synchronous belt device, the lifting and transporting sliding device is located on the synchronous belt linear module, the lifting and transporting cylinder is mounted on the lifting and transporting sliding device, and the lifting and transporting base plate is located at the piston rod end of the lifting and transporting cylinder; the lifting and transporting guide shaft is located at the bottom of the lifting and transporting base plate, and the bottom end of the lifting and transporting guide shaft is connected to the lifting and transporting linear bearing.

[0007] Preferably, the cardboard box positioning module includes a long side positioning module, a short side positioning module, and a pressing module. The long side positioning module is connected to the short side positioning module, and the short side positioning module is connected to the pressing module. The long side positioning module includes a long side positioning servo motor, a long side positioning fixing plate, a long side positioning rack, a long side positioning linear guide, and a long side positioning plate. The long side positioning rack and the long side positioning linear guide are both located at the bottom of the long side positioning plate and arranged in parallel. The shaft end of the long side positioning servo motor passes through the long side positioning fixing plate. The short side positioning module includes a short side positioning... The system comprises a servo motor, a short-side positioning synchronous pulley, a short-side positioning synchronous belt, a short-side positioning linear guide rail, and a short-side positioning moving block. The short-side positioning servo motor is connected to the short-side positioning synchronous pulley, and the short-side positioning synchronous belt is fitted onto the short-side positioning synchronous pulley. The short-side positioning synchronous belt is connected to the short-side positioning moving block. When the short-side positioning servo motor is working, it drives the short-side positioning moving block to move on the short-side positioning linear guide rail via the short-side positioning synchronous belt. The pressing module includes a pressing cylinder, a pressing cylinder mounting block, and a pressing block. The pressing cylinder is mounted on the pressing cylinder mounting block, and the piston rod end of the pressing cylinder is connected to the pressing block.

[0008] Preferably, the Tray feeding line includes a feeding motor, a feeding synchronous pulley, a feeding synchronous belt, a feeding belt, a first feeding rod, a second feeding rod, feeding rollers, and a feeding line width adjustment module. The feeding motor is connected to the feeding synchronous pulley, the feeding synchronous belt is sleeved on the feeding synchronous pulley, the feeding rollers are respectively installed at the ends of the first feeding rod and the second feeding rod, and the feeding belt is sleeved on the feeding rollers; the feeding rollers at the same ends of the first feeding rod and the second feeding rod are provided with feeding connecting shafts, and the feeding connecting shafts... The end of the shaft is connected to the feeding synchronous pulley. When the feeding motor is working, it drives the feeding roller to rotate through the feeding synchronous belt, which in turn causes the feeding belt to rotate. The feeding production line width adjustment module is used to adjust the width of the feeding production line. The lower part of the first feeding rod and the second feeding rod is provided with a feeding linear guide rail. The feeding linear guide rail is provided with a feeding sliding bracket block. The feeding sliding bracket block is connected to the first feeding rod and the second feeding rod respectively. The ends of the first feeding rod and the second feeding rod are also provided with feeding baffles. The two feeding baffles are arranged opposite to each other.

[0009] Preferably, the Tray positioning module includes a long-side positioning servo motor, a long-side positioning lead screw linear module, a long-side positioning block, a short-side positioning servo motor, a short-side lead screw linear module, a short-side positioning block, and a Tray positioning fixing block. The long-side positioning servo motor is connected to the long-side positioning block through the long-side positioning lead screw linear module, and the short-side positioning servo motor is connected to the short-side positioning block through the short-side lead screw linear module. The long-side positioning lead screw linear module and the short-side lead screw linear module are arranged perpendicularly, and the long-side positioning block and the short-side positioning block are located between the Tray positioning fixing block.

[0010] Preferably, the Tray transplanting and handling module includes a Tray transplanting and handling servo motor, a Tray transplanting and handling synchronous belt reducer, a Tray transplanting and handling synchronous belt linear module, Tray picking up and down cylinders, and a Tray transplanting and handling suction cup. The Tray transplanting and handling servo motor is connected to the Tray transplanting and handling synchronous belt linear module through the Tray transplanting and handling synchronous belt reducer. The Tray transplanting and handling synchronous belt linear module is provided with a Tray transplanting and handling slider. A Tray transplanting and handling slider plate is fixed on the Tray transplanting and handling slider. A Tray transplanting and handling connector is connected to the Tray picking up and down cylinder. A Tray picking bracket is provided at the piston rod end of the Tray picking up and down cylinder. The Tray transplanting and handling suction cup is located on the Tray picking bracket.

[0011] Preferably, the robot grasping module includes a robot body and a robot base. The robot body is equipped with a robot tilting cylinder, and the robot tilting cylinder is equipped with a robot suction cup fixing plate. The robot body is installed on the robot base and drives the robot tilting cylinder to move.

[0012] Preferably, the rolling module includes a rolling bracket, on which a rolling module and a pressing module are mounted. The rolling module includes a rolling Z-axis servo motor, a rolling Y-axis servo motor, a rolling first lead screw linear module, a rolling second lead screw linear module, a rolling bracket, and rollers. The rolling Y-axis servo motor is connected to the rolling first lead screw linear module, and the rolling first lead screw linear module is connected to the rolling second lead screw linear module. The rolling Z-axis servo motor is located at the end of the rolling second lead screw linear module, which is connected to the rolling bracket. The rollers are rotatably connected to the rolling bracket. The pressing module includes a pressing Z-axis servo motor, a pressing Y-axis servo motor, a pressing first linear module, a pressing second linear module, and a pressing block. The pressing Y-axis servo motor is connected to the pressing second linear module through the pressing first linear module. The pressing Z-axis servo motor is mounted at the end of the pressing second linear module, and the pressing block is connected to the pressing second linear module.

[0013] Preferably, the feeding platform includes a feeding platform base plate, a feeding platform connecting rod, and a feeding platform lifting plate. The feeding platform base plate is connected to the feeding platform lifting plate through the feeding platform connecting rod. The feeding platform lifting plate is provided with a feeding platform suction cup. The discharging platform has the same structure as the feeding platform.

[0014] The beneficial effects of this invention are:

[0015] 1. The Tray assembly machine with rolling function provided by the present invention can adjust the width of the Tray feeding line to meet the packaging requirements of different design sizes, thereby increasing the practicality of the present invention.

[0016] 2. The rolling module of this invention can roll the material during the boxing process, thereby improving the boxing effect. Compared with traditional boxing operations, it can ensure the quality of boxing. At the same time, it eliminates the need for manual verification, increasing production efficiency and quality.

[0017] 3. By adding a robot gripping module, this invention can further increase the automation level of the entire equipment and increase production efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a Tray assembly machine with rolling function according to the present invention;

[0019] Figure 2 This is a schematic diagram of the material state changes of the present invention;

[0020] Figure 3 This is a schematic diagram of the lifting and transporting module structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the paper box positioning module structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the long side positioning module of the paper box of the present invention;

[0023] Figure 6 This is a schematic diagram of the bottom structure of the long side positioning module of the paper box of the present invention;

[0024] Figure 7 This is a schematic diagram of the short side positioning module for the paper box of the present invention;

[0025] Figure 8 This is a schematic diagram of the pressing module structure of the present invention;

[0026] Figure 9 This is a schematic diagram of the Tray feeding production line structure of the present invention;

[0027] Figure 10 This is a schematic diagram of the Tray positioning module structure of the present invention;

[0028] Figure 11 This is a schematic diagram of the side structure of the Tray positioning module of the present invention;

[0029] Figure 12 This is a schematic diagram of the Tray transplanting and transporting module structure of the present invention;

[0030] Figure 13 This is a schematic diagram of the robot grasping module structure of the present invention;

[0031] Figure 14 This is a schematic diagram of the rolling module structure of the present invention;

[0032] Figure 15 This is a schematic diagram of the rolling module structure of the present invention;

[0033] Figure 16 This is a schematic diagram of the pressing module structure of the present invention;

[0034] Figure 17 This is a schematic diagram of the lateral structure of the rolling module of the present invention.

[0035] Figure 18 This is a schematic diagram of the parallel arrangement structure of the feeding platform of the present invention;

[0036] Figure 19 This is a schematic diagram of the parallel arrangement structure of the material discharge platform of the present invention.

[0037] Explanation of reference numerals in the attached diagram: 1. Tray feeding assembly line; 2. Tray transfer and handling module; 3. Robot gripping module; 4. Tray positioning module; 5. Feeding platform; 6. Lifting and handling module; 7. Carton positioning module; 8. Rolling module; 9. Discharge platform; 10. Feeding motor; 11. Feeding synchronous pulley; 12. Feeding synchronous belt; 13. Feeding belt; 14. First feeding rod; 15. Second feeding rod; 16. Feeding roller; 18. Feeding linear guide rail; 19. Feed baffle; 21. Tray transfer servo motor; 22. Tray transfer synchronous belt reducer; 23. Tray transfer synchronous belt linear module; 24. Tray picking up and down cylinder; 25. Tray transfer suction cup; 26. Tray transfer connector; 27. Tray picking bracket; 28. Tray transfer slider; 29. ​​Tray transfer slider plate; 31. Robot body; 32. Robot base; 33. Robot tilting cylinder; 34. Robot suction cup fixing plate; 35. Robot connecting block; 36. Robot connecting base 41. Long-side positioning servo motor; 42. Long-side positioning lead screw linear module; 43. Long-side positioning block; 44. Short-side positioning servo motor; 45. Short-side lead screw linear module; 46. Short-side positioning block; 47. Tray positioning fixing block; 51. Feeding platform base plate; 52. Feeding platform connecting rod; 53. Feeding platform lifting plate; 54. Feeding platform suction cup; 61. Lifting and conveying servo motor; 62. Lifting and conveying synchronous pulley and synchronous belt device; 63. Synchronous belt linear module; 64. Lifting and conveying sliding device; 65. Lifting and conveying cylinder; 66. Lifting and conveying base plate; 67. Lifting and conveying guide shaft; 68. Lifting and conveying linear bearing; 71. Carton long side positioning module; 72. Carton short side positioning module; 73. Pressing module; 80. Rolling support; 81. Rolling module; 82. Pressing module; 141. Feeding rod guide plate; 142. Feeding rod guide shaft; 143. Fixed support block; 151. Guide bar; 161. Feeding connecting shaft; 171. Feeding width adjusting motor; 172. Feeding width adjusting synchronous pulley; 173. Feeding width adjusting synchronous belt; 174. Feeding width adjusting synchronous screw; 175. Feeding width adjusting synchronous baffle; 181. Feeding sliding support block; 271. Tr Tray material handling bracket base plate; 272 Tray material handling bracket mounting rod; 471 Tray positioning fixing block base plate; 472 Tray positioning fixing block column; 711 Long side positioning servo motor; 712 Long side positioning fixing plate; 713 Long side positioning rack; 714 Long side positioning linear guide; 715 Long side positioning plate; 721 Short side positioning servo motor; 722 Short side positioning synchronous pulley; 723 Short side positioning synchronous belt; 724 Short side positioning linear guide; 725 Short side positioning moving block; 731 Pressing box cylinder; 732 Pressing box cylinder mounting block; 733 Pressing box block;811. Rolling material Z-axis servo motor; 812. Rolling material Y-axis servo motor; 813. Rolling material first lead screw linear module; 814. Rolling material second lead screw linear module; 815. Rolling material support; 816. Roller; 821. Pressing material Z-axis servo motor; 822. Pressing material Y-axis servo motor; 823. Pressing material first linear module; 824. Pressing material second linear module; 825. Pressing block. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0039] like Figures 1 to 19 As shown, the present invention provides a Tray assembly machine with rolling function, comprising a frame on which are mounted a Tray feeding line 1, a Tray transfer and handling module 2, a robot gripping module 3, a Tray positioning module 4, a feeding platform 5, a lifting and handling module 6, a carton positioning module 7, a rolling module 8, and a discharge platform 9. The Tray feeding line 1, Tray transfer and handling module 2, robot gripping module 3, and Tray positioning module 4 are arranged sequentially. The feeding platform 5, lifting and handling module 6, carton positioning module 7, rolling module 8, and discharge platform 9 are also arranged sequentially. The movement direction of the Tray transfer and handling module 2 is perpendicular to the movement direction of the lifting and handling module 6. The lifting and handling module 6 sequentially transports the carton from the feeding platform 5 to the assembly station, the rolling station, and then to the discharge platform 9. The carton positioning module 7 positions the carton. Tray feeding line 1 conveys the Tray to Tray transfer and handling module 2. Tray transfer and handling module 2 transports the Tray to Tray positioning module 4. Robot gripping module 3 picks up the Tray and puts it into a cardboard box. Rolling module 8 rolls the Tray to make it fit the cardboard box.

[0040] The lifting and transporting module 6 includes a lifting and transporting servo motor 61, a lifting and transporting synchronous pulley and synchronous belt device 62, a synchronous belt linear module 63, a lifting and transporting sliding device 64, a lifting and transporting cylinder 65, a lifting and transporting base plate 66, a lifting and transporting guide shaft 67, and a lifting and transporting linear bearing 68. The lifting and transporting servo motor 61 is connected to the synchronous belt linear module 63 via the lifting and transporting synchronous pulley and synchronous belt device 62. The lifting and transporting sliding device 64 is located on the synchronous belt linear module 63, and the lifting and transporting cylinder 65 is mounted on the lifting and transporting sliding device 64. The lifting and transporting base plate 66 is located at the piston rod end of the lifting and transporting cylinder 65. The lifting and transporting guide shaft 67 is located at the bottom of the lifting and transporting base plate 66, and its bottom end is connected to the lifting and transporting linear bearing 68.

[0041] In this embodiment, there are four lifting and transporting guide shafts 67 arranged in a U-shape. The lifting and transporting synchronous pulley and synchronous belt device 62 is a conventional synchronous belt pulley device, including a synchronous belt and two synchronous pulleys, with the synchronous belt fitted onto the synchronous pulleys. One synchronous pulley is connected to the shaft end of the lifting and transporting servo motor 61, and the other synchronous pulley is connected to the synchronous belt linear module 63. When the lifting and transporting servo motor 61 is working, it can drive the synchronous belt linear module 63 to work.

[0042] The lifting and conveying sliding device 64 is a bracket structure used to mount the lifting and conveying cylinder 65. The bottom of the lifting and conveying sliding device 64 is connected to the synchronous belt linear module 63 to achieve synchronous movement. A lifting and conveying suction cup is installed on the lifting and conveying base plate 66. The lifting and conveying suction cup is an existing device used to pick up and drop the corresponding materials.

[0043] The paper box positioning module 7 includes a long side positioning module 71, a short side positioning module 72, and a pressing module 73. The long side positioning module 71 is connected to the short side positioning module 72, and the short side positioning module 72 is connected to the pressing module 73. The long side positioning module 71 includes a long side positioning servo motor 711, a long side positioning fixing plate 712, a long side positioning rack 713, a long side positioning linear guide rail 714, and a long side positioning plate 715. The long side positioning rack 713 and the long side positioning linear guide rail 714 are both located at the bottom of the long side positioning plate 715 and are arranged in parallel. The shaft end of the long side positioning servo motor 711 passes through the long side positioning fixing plate 712. The short side positioning module 72 of the paper box includes a short side positioning servo motor 721, a short side positioning synchronous wheel 722, a short side positioning synchronous belt 723, a short side positioning linear guide rail 724, and a short side positioning moving block 725. The short side positioning servo motor 721 is connected to the short side positioning synchronous wheel 722. The short side positioning synchronous belt 723 is sleeved on the short side positioning synchronous wheel 722 and is connected to the short side positioning block 725. The short side positioning moving block 725 is located on the short side positioning linear guide rail 724. When the short side positioning servo motor 721 is working, it drives the short side positioning moving block 725 to move on the short side positioning linear guide rail 724 through the short side positioning synchronous belt 723. The pressing module 73 includes a pressing cylinder 731, a pressing cylinder mounting block 732, and a pressing block 733. The pressing cylinder 731 is mounted on the pressing cylinder mounting block 732, and the piston rod end of the pressing cylinder 731 is connected to the pressing block 733.

[0044] A gear is fitted onto the shaft end of the long-side positioning servo motor 711, and the gear meshes with the long-side positioning rack 713. When the long-side positioning servo motor 711 operates, it drives the long-side positioning plate 715 to move. The short-side positioning moving block 725 is a slider structure that is slidably connected to the short-side positioning linear guide 724, which is located on the long-side positioning plate 715. When the long-side positioning plate 715 moves, it moves the entire short-side positioning module 72 of the cardboard box. The linear motions generated by the long-side positioning servo motor 711 and the short-side positioning servo motor 721 are perpendicular to each other.

[0045] The pressing cylinder 731 drives the pressing block 733 to move, thereby completing the pressing operation. The short-side positioning moving block 725 has a bent structure, which is set according to the actual use. The pressing cylinder mounting block 732 is connected to the short-side positioning moving block 725.

[0046] Tray feeding production line 1 includes a feeding motor 10, a feeding synchronous pulley 11, a feeding synchronous belt 12, a feeding belt 13, a first feeding rod 14, a second feeding rod 15, feeding rollers 16, and a feeding production line width adjustment module 17. The feeding motor 10 is connected to the feeding synchronous pulley 11. The feeding synchronous belt 12 is sleeved on the feeding synchronous pulley 11. The feeding rollers 16 are respectively installed at the ends of the first feeding rod 14 and the second feeding rod 15. The feeding belt 13 is sleeved on the feeding rollers 16. A feeding connecting shaft 161 passes through the feeding rollers 16 at the same ends of the first feeding rod 14 and the second feeding rod 15. The end of the feeding connecting shaft 161 is connected to the feeding synchronous pulley 11. When the feeding motor 10 is working, it drives the feeding rollers 16 to rotate through the feeding synchronous belt 12, thereby causing the feeding belt 13 to rotate. The feeding production line width adjustment module 17 is used to adjust the width of the feeding production line. The lower part of the first feeding rod 14 and the second feeding rod 15 is provided with a feeding linear guide rail 18. The feeding linear guide rail 18 is provided with a feeding sliding support block 181. The feeding sliding support block 181 is connected to the second feeding rod 15. The ends of the first feeding rod 14 and the second feeding rod 15 are also provided with feeding baffles 19. The two feeding baffles 19 are arranged opposite to each other.

[0047] In this embodiment, there are two feeding synchronous pulleys 11, which are arranged in parallel. One of them is driven to rotate by the feeding motor 10, and the other feeding synchronous pulley is driven to rotate by the feeding synchronous belt 12.

[0048] Both the first feeding rod 14 and the second feeding rod 15 are equipped with feeding rod guide plates 141, and feeding rod guide shafts 142 pass through the feeding rod guide plates 141. In this example, there are two feeding rod guide shafts 142, which are arranged in parallel. During the relative movement of the first feeding rod 14 and the second feeding rod 15, the movement is smooth through the cooperation of the feeding rod guide shafts 142 and the feeding rod guide plates 141.

[0049] There are two linear feed guides 18 arranged in parallel. The feed sliding support block 181 has a "7" shaped structure. The bottom of the feed sliding support block 181 is slidably connected to the linear feed guide 18, and the upper part of the feed sliding support block 181 is connected to the second feed rod 15. In this embodiment, the connection method is bolt connection.

[0050] The first feeding rod 14 is equipped with a fixed support block 143, and the bottom of the fixed support block 143 is connected to the feeding linear guide rail 18. The first feeding rod 14 is fixedly connected to the fixed support block 143, thereby maintaining the stability of the feeding linear guide rail 18.

[0051] Both the first feed rod 14 and the second feed rod 15 are equipped with guide strips 151, which are elongated structures. In this embodiment, there are two guide strips 151 arranged symmetrically. During the movement of the material on the feed belt 13, the guide strips 151 can guide the movement.

[0052] The feed width adjustment module 17 includes a feed width adjustment motor 171, a feed width adjustment synchronous pulley 172, a feed width adjustment synchronous belt 173, a feed width adjustment synchronous screw 174, and a feed width adjustment synchronous baffle 175. There are two feed width adjustment synchronous pulleys 172, arranged parallel to each other and connected by the feed width adjustment synchronous belt 173. The feed width adjustment motor 171 is connected to the first feed rod 14. The shaft of the feed width adjustment motor 171 is connected to one of the feed width adjustment synchronous pulleys 172. The other feed width adjustment synchronous pulley 172 is sleeved on the feed width adjustment synchronous screw 174. The other end of the feed width adjustment synchronous screw 174 passes through the feed width adjustment synchronous baffle 175. The bottom of the feed width adjustment synchronous baffle 175 has a moving nut structure for cooperating with the feed width adjustment synchronous screw 174. During operation, the feed width adjusting motor 171 drives the feed width adjusting synchronous screw 174 to rotate via the feed width adjusting synchronous pulley 172 and the feed width adjusting synchronous belt 173. When the feed width adjusting motor 171 is working, it drives the feed width adjusting synchronous screw 174 to rotate via the feed width adjusting synchronous pulley 172 and the feed width adjusting synchronous belt 173, thereby causing the second feed rod 15 to approach or move away from the first feed rod 14, thus adjusting the feed width. The feed width adjusting synchronous screw 174 and the bottom of the feed width adjusting synchronous baffle 175 are connected by a screw-nut pair; when the feed width adjusting synchronous screw 174 rotates, it drives the feed width adjusting synchronous baffle 175 to move. Specifically, the feed width adjustment synchronization screw 174 is a screw structure, and an existing moving nut device is provided at the bottom of the feed width adjustment synchronization baffle 175. The moving nut and the feed width adjustment synchronization screw 174 form a screw-nut structure. During the rotation, the feed width adjustment synchronization screw 174 drives the feed width adjustment synchronization baffle 175 to reciprocate.

[0053] The feed baffle 19 has a bent "7" shape. In this embodiment, the feed baffle 19 can block the material during the conveying process of materials such as cardboard boxes.

[0054] The Tray positioning module 4 includes a long-side positioning servo motor 41, a long-side positioning lead screw linear module 42, a long-side positioning block 43, a short-side positioning servo motor 44, a short-side lead screw linear module 45, a short-side positioning block 46, and a Tray positioning fixing block 47. The long-side positioning servo motor 41 is connected to the long-side positioning block 43 through the long-side positioning lead screw linear module 42, and the short-side positioning servo motor 44 is connected to the short-side positioning block 46 through the short-side lead screw linear module 45. The long-side positioning lead screw linear module 42 and the short-side lead screw linear module 45 are arranged perpendicularly, and the long-side positioning block 43 and the short-side positioning block 46 are located between the Tray positioning fixing block 47.

[0055] In this embodiment, when the long-side positioning servo motor 41 is working, it drives the long-side positioning block 43 to move through the long-side positioning lead screw linear module 42, and the short-side positioning servo motor 44 drives the short-side positioning block 46 to move through the short-side lead screw linear module 45. Both the long-side positioning block 43 and the short-side positioning block 46 are plate-shaped structures and are in the shape of a "7".

[0056] Tray positioning and fixing block 47 is U-shaped. Tray positioning and fixing block 47 includes Tray positioning and fixing block base plate 471 and Tray positioning and fixing block column 472. Tray positioning and fixing block column 472 is connected to Tray positioning and fixing block base plate 471 and Tray positioning and fixing block column 472 is connected to the frame.

[0057] The Tray transplanting and handling module 2 includes a Tray transplanting and handling servo motor 21, a Tray transplanting and handling synchronous belt reducer 22, a Tray transplanting and handling synchronous belt linear module 23, a Tray picking up and down cylinder 24, and a Tray transplanting and handling suction cup 25. The Tray transplanting and handling servo motor 21 is connected to the Tray transplanting and handling synchronous belt linear module 23 through the Tray transplanting and handling synchronous belt reducer 22. The Tray transplanting and handling synchronous belt linear module 23 is provided with a Tray transplanting and handling slider 28, a Tray transplanting and handling slider plate 29 is fixed on the Tray transplanting and handling slider plate 28, a Tray transplanting and handling connector 26 is connected to the Tray transplanting and handling slider plate 29, and the Tray transplanting and handling slider plate 29 is connected to the Tray picking up and down cylinder 24. The piston rod end of the Tray picking up and down cylinder 24 is provided with a Tray picking bracket 27, and the Tray transplanting and handling suction cup 25 is located on the Tray picking bracket 27. When the Tray transplanting and handling synchronous belt linear module 23 is working, the Tray transplanting and handling slider 28 drives the Tray transplanting and handling connector 26 and the Tray transplanting and handling slider plate 29 to move respectively.

[0058] In this embodiment, the Tray transfer and handling connector 26 is a "7"-shaped sheet metal bending structure, and a cable chain is connected to the end of the Tray transfer and handling connector 26. The Tray picking bracket 27 includes a Tray picking bracket base plate 271 and a Tray picking bracket mounting rod 272, which are connected together. There are two Tray picking bracket mounting rods 272 arranged in parallel. There are four Tray transfer and handling suction cups 25, which are distributed in pairs on one Tray picking bracket mounting rod 272.

[0059] The robot grasping module 3 includes a robot body 31 and a robot base 32. A robot tilting cylinder 33 is mounted on the robot body 31. A robot suction cup fixing plate 34 is mounted on the robot tilting cylinder 33. The robot body 31 is mounted on the robot base 32 and drives the robot tilting cylinder 33 to move. The piston rod end of the robot tilting cylinder 33 is connected to the robot suction cup fixing plate 34 via a robot connector. The robot connector includes a robot connecting block 35 and a robot connecting base 36, which are fixedly connected in sequence. The piston rod end of the robot tilting cylinder 33 is rotatably connected to the robot connecting block 35. The bottom of the robot connecting block 35 is connected to the robot connecting base 36, and the robot connecting base 36 is connected to the robot suction cup fixing plate 34.

[0060] The rolling module 8 includes a rolling bracket 80, on which a rolling module 81 and a pressing module 82 are mounted. The rolling module 81 includes a rolling Z-axis servo motor 811, a rolling Y-axis servo motor 812, a rolling first lead screw linear module 813, a rolling second lead screw linear module 814, a rolling bracket 815, and a roller 816. The rolling Y-axis servo motor 812 is connected to the rolling first lead screw linear module 813, and the rolling first lead screw linear module 813 is connected to the rolling second lead screw linear module 814. The rolling Z-axis servo motor 811 is located at the end of the rolling second lead screw linear module 814, and the rolling second lead screw linear module 814 is connected to the rolling bracket 815. The roller 816 is rotatably connected to the rolling bracket 815. The pressing module 82 includes a pressing Z-axis servo motor 821, a pressing Y-axis servo motor 822, a pressing first linear module 823, a pressing second linear module 824, and a pressing block 825. The pressing Y-axis servo motor 822 is connected to the pressing second linear module 824 through the pressing first linear module 823. The pressing Z-axis servo motor 821 is installed at the end of the pressing second linear module 824, and the pressing block 825 is connected to the pressing second linear module 824.

[0061] The Y-axis servo motor 812 drives the second linear module 814 of the rolling material through the first linear module 813 of the rolling material. The Z-axis servo motor 811 drives the second linear module 814 of the rolling material to work. When the second linear module 814 of the rolling material is working, it drives the roller 816 to move through the rolling support 815 to complete the rolling operation.

[0062] The Y-axis servo motor 822 drives the second linear module 824 to move through the first linear module 823, and the Z-axis servo motor 821 drives the second linear module 824 to move. When the second linear module 824 is working, it drives the pressing block 825 to move. The pressing block 825 is in a "T" shape to realize the pressing operation.

[0063] The feeding platform 5 includes a feeding platform base plate 51, a feeding platform connecting rod 52, and a feeding platform lifting plate 53. The feeding platform base plate 51 is connected to the feeding platform lifting plate 53 via the feeding platform connecting rod 52. The feeding platform lifting plate 53 is equipped with a feeding platform suction cup 54. The discharging platform 9 has the same structure as the feeding platform 5. The feeding platform suction cup 54 is used for suction and discharge of materials.

[0064] The cardboard boxes placed on the feeding platform 5 are positioned by the lifting and conveying module 6 and then placed into the cardboard box positioning module 7. The materials to be put in are fed through the Tray feeding line 1, assembled by the Tray transfer and conveying module 2 and the robot gripping module 3, rolled by the rolling module 8, and then placed on the discharge platform 9.

[0065] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A Tray assembly machine with rolling function, characterized in that: The system includes a frame on which are mounted a Tray feeding line (1), a Tray transfer and handling module (2), a robot gripping module (3), a Tray positioning module (4), a feeding platform (5), a lifting and handling module (6), a carton positioning module (7), a rolling module (8), and a discharge platform (9). The Tray feeding line (1), Tray transfer and handling module (2), robot gripping module (3), and Tray positioning module (4) are arranged in sequence, and the feeding platform (5), lifting and handling module (6), carton positioning module (7), rolling module (8), and discharge platform (9) are arranged in sequence. The movement direction of the transfer module (2) is perpendicular to the movement direction of the lifting transfer module (6); the lifting transfer module (6) moves the cardboard box from the feeding platform (5) to the assembly station, the rolling station and then to the discharge platform (9) in sequence; the cardboard box positioning module (7) positions the cardboard box; the Tray feeding line (1) transports the Tray to the Tray transfer module (2); the Tray transfer module (2) moves the Tray to the Tray positioning module (4); the robot gripping module (3) picks up the Tray and puts it into the cardboard box; the rolling module (8) rolls the Tray so that the Tray fits the cardboard box.

2. The Tray assembly machine with rolling function according to claim 1, characterized in that: The lifting and transporting module (6) includes a lifting and transporting servo motor (61), a lifting and transporting synchronous pulley and synchronous belt device (62), a synchronous belt linear module (63), a lifting and transporting sliding device (64), a lifting and transporting cylinder (65), a lifting and transporting base plate (66), a lifting and transporting guide shaft (67), and a lifting and transporting linear bearing (68). The lifting and transporting servo motor (61) is connected to the synchronous belt linear module (63) through the lifting and transporting synchronous pulley and synchronous belt device (62). The lifting and transporting sliding device (64) is located on the synchronous belt linear module (63). The lifting and transporting cylinder (65) is installed on the lifting and transporting sliding device (64). The lifting and transporting base plate (66) is located at the piston rod end of the lifting and transporting cylinder (65). The lifting and transporting guide shaft (67) is located at the bottom of the lifting and transporting base plate (66). The bottom end of the lifting and transporting guide shaft (67) is connected to the lifting and transporting linear bearing (68).

3. A Tray assembly machine with rolling function according to claim 1, characterized in that: The paper box positioning module (7) includes a paper box long side positioning module (71), a paper box short side positioning module (72), and a box pressing module (73). The paper box long side positioning module (71) is connected to the paper box short side positioning module (72), and the paper box short side positioning module (72) is connected to the box pressing module (73). The paper box long side positioning module (71) includes a long side positioning servo motor (711), a long side positioning fixing plate (712), a long side positioning rack (713), a long side positioning linear guide (714), and a long side positioning plate (715). The long side positioning rack (713) and the long side positioning linear guide (714) are both located at the bottom of the long side positioning plate (715) and arranged in parallel. The shaft end of the long side positioning servo motor (711) passes through the long side positioning fixing plate (712). The paper box short side positioning module (72) includes a short side positioning servo motor (721), a short side positioning... The short-side positioning synchronous belt (723), short-side positioning linear guide (724), and short-side positioning moving block (725) are connected to the short-side positioning synchronous belt (722), the short-side positioning synchronous belt (723) is sleeved on the short-side positioning synchronous belt (722), and the short-side positioning synchronous belt (723) is connected to the short-side positioning moving block (725). When the short-side positioning servo motor (721) is working, it drives the short-side positioning moving block (725) to move on the short-side positioning linear guide (724) through the short-side positioning synchronous belt (723). The pressing module (73) includes a pressing cylinder (731), a pressing cylinder mounting block (732), and a pressing block (733). The pressing cylinder (731) is mounted on the pressing cylinder mounting block (732), and the piston rod end of the pressing cylinder (731) is connected to the pressing block (733).

4. A Tray assembly machine with rolling function according to claim 1, characterized in that: The Tray feeding line (1) includes a feeding motor (10), a feeding synchronous pulley (11), a feeding synchronous belt (12), a feeding belt (13), a first feeding rod (14), a second feeding rod (15), feeding rollers (16), and a feeding line width adjustment module (17). The feeding motor (10) is connected to the feeding synchronous pulley (11), the feeding synchronous belt (12) is sleeved on the feeding synchronous pulley (11), the feeding rollers (16) are respectively installed at the ends of the first feeding rod (14) and the second feeding rod (15), and the feeding belt (13) is sleeved on the feeding rollers (16). The feeding rollers (16) at the same ends of the first feeding rod (14) and the second feeding rod (15) are provided with feeding connecting shafts (161). The end of the connecting shaft (161) is connected to the feeding synchronous wheel (11). When the feeding motor (10) is working, it drives the feeding roller (16) to rotate through the feeding synchronous belt (12), which in turn causes the feeding belt (13) to rotate. The feeding production line width adjustment module (17) is used to adjust the width of the feeding production line. The lower part of the feeding first rod (14) and the feeding second rod (15) is provided with a feeding linear guide rail (18). The feeding linear guide rail (18) is provided with a feeding sliding bracket block (181). The feeding sliding bracket block (181) is connected to the feeding first rod (14) and the feeding second rod (15) respectively. The ends of the feeding first rod (14) and the feeding second rod (15) are also provided with feeding baffles (19). The two feeding baffles (19) are arranged opposite to each other.

5. A Tray assembly machine with rolling function according to claim 1, characterized in that: The Tray positioning module (4) includes a long-side positioning servo motor (41), a long-side positioning lead screw linear module (42), a long-side positioning block (43), a short-side positioning servo motor (44), a short-side lead screw linear module (45), a short-side positioning block (46), and a Tray positioning fixing block (47). The long-side positioning servo motor (41) is connected to the long-side positioning block (43) through the long-side positioning lead screw linear module (42), and the short-side positioning servo motor (44) is connected to the short-side positioning block (46) through the short-side lead screw linear module (45). The long-side positioning lead screw linear module (42) and the short-side lead screw linear module (45) are arranged perpendicularly, and the long-side positioning block (43) and the short-side positioning block (46) are located between the Tray positioning fixing block (47).

6. A Tray assembly machine with rolling function according to claim 1, characterized in that: The Tray transplanting and handling module (2) includes a Tray transplanting and handling servo motor (21), a Tray transplanting and handling synchronous belt reducer (22), a Tray transplanting and handling synchronous belt linear module (23), a Tray picking up and down cylinder (24), and a Tray transplanting and handling suction cup (25). The Tray transplanting and handling servo motor (21) is connected to the Tray transplanting and handling synchronous belt linear module (23) through the Tray transplanting and handling synchronous belt reducer (22). The upper part is provided with a Tray transplanting and transporting slider (28), and a Tray transplanting and transporting slider plate (29) is fixed on the Tray transplanting and transporting slider (28). A Tray transplanting and transporting connector (26) is connected to the Tray transplanting and transporting slider plate (29). The Tray transplanting and transporting slider plate (29) is connected to the Tray picking up and down cylinder (24). The piston rod end of the Tray picking up and down cylinder (24) is provided with a Tray picking bracket (27). The Tray transplanting and transporting suction cup (25) is located on the Tray picking bracket (27).

7. A Tray assembly machine with rolling function according to claim 1, characterized in that: The robot grasping module (3) includes a robot body (31) and a robot base (32). The robot body (31) is equipped with a robot tilting cylinder (33), and the robot tilting cylinder (33) is equipped with a robot suction cup fixing plate (34). The robot body (31) is installed on the robot base (32) and drives the robot tilting cylinder (33) to move.

8. A Tray assembly machine with rolling function according to claim 1, characterized in that: The rolling module (8) includes a rolling bracket (80), on which a rolling module (81) and a pressing module (82) are provided. The rolling module (81) includes a rolling Z-axis servo motor (811), a rolling Y-axis servo motor (812), a rolling first lead screw linear module (813), a rolling second lead screw linear module (814), a rolling bracket (815), and rollers (816). The rolling Y-axis servo motor (812) is connected to the rolling first lead screw linear module (813), and the rolling first lead screw linear module (813) is connected to the rolling second lead screw linear module (814). The rolling Z-axis servo motor (811) is located on the rolling second lead screw linear module (814). At the end of the material rolling module (814), the second linear screw module (815) is connected to the material rolling bracket (815), and the roller (816) is rotatably connected to the material rolling bracket (815). The material pressing module (82) includes a material pressing Z-axis servo motor (821), a material pressing Y-axis servo motor (822), a material pressing first linear module (823), a material pressing second linear module (824), and a material pressing block (825). The material pressing Y-axis servo motor (822) is connected to the material pressing second linear module (824) through the material pressing first linear module (823). The material pressing Z-axis servo motor (821) is installed at the end of the material pressing second linear module (824), and the material pressing block (825) is connected to the material pressing second linear module (824).

9. A Tray assembly machine with rolling function according to claim 1, characterized in that: The feeding platform (5) includes a feeding platform base plate (51), a feeding platform connecting rod (52), and a feeding platform lifting plate (53). The feeding platform base plate (51) is connected to the feeding platform lifting plate (53) through the feeding platform connecting rod (52). The feeding platform lifting plate (53) is provided with a feeding platform suction cup (54). The discharge platform (9) has the same structure as the feeding platform (5).

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