Automatic boxing equipment

Abstract

The utility model discloses automatic boxing equipment which comprises a product conveying line, the product conveying line comprises a product conveyor, and the product conveyor can drive products to move to a grabbing position; the manipulator can grab the products which are on the product conveying line and are brought to the boxing position; the tipping bucket assembly is arranged on one side of the grabbing position of the product conveying line, and the tipping bucket assembly can receive the products fed by the mechanical arm and drive the products to turn over by 90 degrees so as to pour out the products; the product conveying line is arranged below the tipping bucket assembly, and the box conveying line can drive a box to move to the position below the tipping bucket assembly so as to contain products poured out by the tipping bucket assembly. Vertical packaging of liquid bags is achieved, and the situation that during storage and transportation, stress on the side faces of the liquid flexible packaging bags is too large, and the liquid flexible packaging bags located at the bottom are prone to being crushed is avoided through the feeding port formed in the side face of the hopper.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging, in particular to an automatic box packing device and a method thereof. Background Art

[0002] In the prior art, liquid flexible packaging bags are mainly packed manually, which is time-consuming and costly, and has low work efficiency. In the prior art, suction cup manipulators are also used for grabbing and packing, but the suction cup grabbing and packing adopts a horizontal operation, and the liquid flexible packaging bags are stacked flat in the box. During storage and transportation, the side of the liquid flexible packaging bags is subjected to too much force, and the liquid flexible packaging bags at the bottom are easily crushed. Utility Model Content

[0003] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides an automatic packing device, comprising

[0004] A product conveying line, the product conveying line comprising a product conveyor, the product conveyor can drive the product to move to a grabbing position;

[0005] A robot that can grab products on the product conveyor line and bring them to the packing position;

[0006] A tipping bucket assembly, which is arranged on one side of the grabbing position of the product conveying line, and can receive the product delivered by the above-mentioned robot, and drive the product to flip 90 degrees to pour out the product; and

[0007] The box conveying line is arranged below the tipping bucket assembly, and the box conveying line can drive the box to move below the tipping bucket assembly to accommodate the product poured out by the tipping bucket assembly.

[0008] Furthermore, the dump bucket assembly includes

[0009] a fifth power unit; and

[0010] A hopper assembly, wherein the hopper assembly can contain a limited amount of bagged product, and the hopper assembly is driven to flip 90° by the fifth power device;

[0011] The hopper assembly includes

[0012] A hopper, which is driven by the fifth power device to flip 90 degrees, and the lower side of the hopper is provided with a discharge port for the product to slide out, and the front side is provided with a feed port for the product to enter and exit;

[0013] a sixth power device, the sixth power device being mounted on the hopper; and

[0014] A baffle is arranged at the feed port of the hopper, and the baffle is driven to move by the sixth power device to open and close the feed port.

[0015] The utility model uses a manipulator to grab the liquid bags lying on the product conveyor line and send them into the hopper, so that they are arranged in a preset arrangement in the hopper to form a liquid bag array. After the liquid bags are stacked, the fifth power device drives the hopper to flip 90°. At this time, the discharge port faces downward, and the stacked liquid bags slide into the box under the action of their own gravity, thereby realizing the vertical packaging of the liquid bags, avoiding the situation that the liquid soft packaging bags at the bottom are easily crushed due to the side force on the liquid soft packaging bags during storage and transportation. By setting a feed port on the side of the hopper, setting a baffle at the feed port, and driving the baffle to move by the sixth power device, the feed port is opened and closed, which is convenient for the manipulator to stack the liquid bags, and can avoid the liquid bags tilting toward the feed port and scattering during the packing process.

[0016] Furthermore, the hopper rotating box loading mechanism also includes a fourth power device, and the fourth power device can drive the above-mentioned hopper assembly to slide vertically.

[0017] During packing, when the liquid bag slides out of the hopper, the fourth power device can drive the hopper to slide vertically upward to complete the pouring of the liquid bag from the hopper, thereby preventing the product from being unable to completely slide out of the hopper due to insufficient height between the hopper and the bottom of the box, or preventing the liquid bag from becoming loose when sliding due to excessive height, thereby damaging the array or even scattering outside the box.

[0018] Furthermore, the hopper assembly also includes a partition entry channel, and the partition entry channel is arranged on the upper side of the above-mentioned hopper to allow the partition to enter the hopper.

[0019] The paper partition can be sent into the hopper through the partition feeding channel, thereby separating adjacent single-layer arrays, reducing the mutual contact, friction and wear between products, and increasing the compressive resistance of the carton. When the robot completes the loading of the single-layer array products, the paper partition can be sent into the hopper through the partition entry channel, and this process will not affect the grasping work of the robot, thereby improving the packing efficiency.

[0020] Furthermore, the product conveying line also includes

[0021] a seventh power unit; and

[0022] The baffle plate is arranged corresponding to the above-mentioned hopper, and is driven to move linearly by the seventh power device. When the baffle plate is pushed out, the baffle plate is located at the discharge port of the above-mentioned hopper.

[0023] Before packing, the seventh power device drives the partition group to move toward the discharge port of the hopper to close the discharge port of the hopper, thereby limiting the entering paper partition and preventing the paper partition from moving out of the hopper.

[0024] Furthermore, the packing equipment also includes a partition conveyor line, which can be connected to the partition entry channel in a horizontal state, and the partition conveyor line drives the paper partition to move so as to send the paper partition into the above-mentioned hopper. The partition conveyor line includes

[0025] A partition slideway, wherein at least one pair of the partition slideways is provided, and the pair of the partition slideways are arranged opposite to each other; and

[0026] A separator conveyor belt is arranged between each pair of separator slideways, and the separator conveyor belt can contact the upper surface of the paper separator.

[0027] When the tipping bucket assembly is in the packing state, the partition entry channel of the hopper is connected with the above-mentioned partition slide. When the robot stacks the products into the hopper, the partition conveyor belt will drive the paper partitions pre-placed on the partition slide to the waiting position. The waiting position is one end of the slide close to the above-mentioned partition entry channel. After the robot completes the palletizing of the single-layer product array, the partition conveyor belt continues to drive the paper partitions to move and send them from the partition entry channel into the hopper. At the same time, the next paper partition is sent to the waiting position and pushed inward until the palletizing is completed, thereby realizing the automatic placement of vertical partitions and improving the packing efficiency.

[0028] Furthermore, the automatic packing equipment also includes a partition bin, the paper partition is connected to the partition conveyor line, the partition bin can store a limited amount of paper partitions and send the paper partitions to the partition conveyor line, the partition bin includes

[0029] A separator storage line, which can store a limited amount of paper separators and drive the paper separators to move; and

[0030] A partition placing assembly, which is arranged at the junction of the partition storage line and the partition conveying line, and can deliver the paper partition at the end of the partition storage line to the partition conveying line;

[0031] The separator storage line includes

[0032] a separator storage conveyor belt on which a limited amount of paper separators can be placed; and

[0033] A push plate, the push plate being fixed on the partition conveyor belt;

[0034] The partition placement assembly includes

[0035] a third power unit; and

[0036] The suction cup is driven to flip 90 degrees by the third power device.

[0037] The third power device drives the suction cup to rotate so that the suction cup contacts the paper partition at the end of the partition storage bag. The suction cup generates negative pressure to suck the paper partition. The third power device works again to take out the paper partition and send it to the partition slide. During this process, the partition storage conveyor belt will move so that the push plate pushes the cardboard stack to the end of the partition storage conveyor belt, so that the paper partition away from the push plate moves to the end of the storage conveyor belt, thereby realizing automatic retrieval of incoming paper partitions and improving incoming packing efficiency.

[0038] Furthermore, the partition warehouse also includes

[0039] A material blocking assembly, which is arranged on both sides of the end of the partition storage conveyor belt, and includes a first power device and a material blocking plate, and the material blocking plate is driven to move by the first power device to block or release the movement of the paper partition; and

[0040] A material pressing assembly is arranged above the end of the partition storage conveyor belt. The material pressing assembly includes a second power device and a material pressing block. The second power device can drive the material pressing block to slide down vertically to squeeze the top side edge of the paper partition.

[0041] When paper partitions are loaded manually, the first power device drives the baffle plate to rotate so that the baffle plate is perpendicular to the conveying direction of the partition storage conveyor belt, thereby blocking and limiting the paper partition to prevent the paper partition from slipping out of the partition bin from the end of the partition storage conveyor belt under the action of the force when the paper is loaded manually or the push plate pushes the partition to move. The second power device drives the pressure plate to slide down to contact the top of the paper partition to prevent the subsequent paper partitions from tipping over due to lack of support when the suction cup takes the paper partition.

[0042] On the other hand, the utility model also provides an automatic packing method, which uses the above-mentioned automatic packing device, and the automatic packing method includes:

[0043] The product conveyor line drives the product to move so as to convey the product one by one to the grabbing position, where the grabbing position is the area where the manipulator can identify the product;

[0044] The box conveyor line drives the box to move so as to convey the box to the bottom of the tipping bucket assembly;

[0045] The visual recognition module of the robot recognizes the product at the grasping position, performs the grasping action, grasps the product, and after grasping, performs the product placement action, places the product from the feed port of the hopper into the hopper, and arranges the products one by one in the hopper according to the preset array;

[0046] After the product is placed, the sixth power device drives the baffle to rotate to close the feed port, and the fifth power device drives the hopper to rotate and flip 90°. At this time, the discharge port faces downward, and the product slides out of the hopper under the action of gravity and enters the box body to complete the packing.

[0047] Furthermore, the automatic packing method includes:

[0048] The partition placement group takes out the paper partition at the end of the partition storage line and sends it to the partition slide;

[0049] The partition conveyor belt drives the paper partition to move to the waiting position of the partition conveyor belt;

[0050] After the products in the hopper are arranged in a single-layer array, the partition conveyor belt drives the paper partition in the waiting position through the partition entry channel into the upper surface of the single-layer product array in the hopper, and repeats this process until the last layer of product array is loaded.

[0051] The utility model has the following advantages:

[0052] The utility model uses a manipulator to grab the liquid bags lying on the product conveyor line and send them into the hopper, so that they are arranged in a preset arrangement in the hopper to form a liquid bag array. After the liquid bags are stacked, the fifth power device drives the hopper to flip 90°. At this time, the discharge port faces downward, and the stacked liquid bags slide into the box under the action of their own gravity, thereby realizing the vertical packaging of the liquid bags, avoiding the situation that the liquid soft packaging bags at the bottom are easily crushed due to the side force on the liquid soft packaging bags during storage and transportation. By setting a feed port on the side of the hopper, setting a baffle at the feed port, and driving the baffle to move by the sixth power device, the feed port is opened and closed, which is convenient for the manipulator to stack the liquid bags, and can avoid the liquid bags tilting toward the feed port and scattering during the packing process.

[0053] During packing, when the liquid bag slides out of the hopper, the fourth power device can drive the hopper to slide vertically upward to complete the pouring of the liquid bag from the hopper, thereby preventing the product from being unable to completely slide out of the hopper due to insufficient height between the hopper and the bottom of the box, or preventing the liquid bag from becoming loose when sliding due to excessive height, thereby damaging the array or even scattering outside the box.

[0054] The paper partition can be sent into the hopper through the partition feeding channel, thereby separating adjacent single-layer arrays, reducing the mutual contact, friction and wear between products, and increasing the compressive resistance of the carton. When the robot completes the loading of the single-layer array products, the paper partition can be sent into the hopper through the partition entry channel, and this process will not affect the grasping work of the robot, thereby improving the packing efficiency.

[0055] Before packing, the seventh power device drives the partition group to move toward the discharge port of the hopper to close the discharge port of the hopper, thereby limiting the entering paper partition and preventing the paper partition from moving out of the hopper.

[0056] When the tipping bucket assembly is in the packing state, the partition entry channel of the hopper is connected with the above-mentioned partition slide. When the robot stacks the products into the hopper, the partition conveyor belt will drive the paper partitions pre-placed on the partition slide to the waiting position. The waiting position is one end of the slide close to the above-mentioned partition entry channel. After the robot completes the palletizing of the single-layer product array, the partition conveyor belt continues to drive the paper partitions to move and send them from the partition entry channel into the hopper. At the same time, the next paper partition is sent to the waiting position and pushed inward until the palletizing is completed, thereby realizing the automatic placement of vertical partitions and improving the packing efficiency.

[0057] The third power device drives the suction cup to rotate so that the suction cup contacts the paper partition at the end of the partition storage bag. The suction cup generates negative pressure to suck the paper partition. The third power device works again to take out the paper partition and send it to the partition slide. During this process, the partition storage conveyor belt will move so that the push plate pushes the cardboard stack to the end of the partition storage conveyor belt, so that the paper partition away from the push plate moves to the end of the storage conveyor belt, thereby realizing automatic retrieval of incoming paper partitions and improving incoming packing efficiency.

[0058] When paper partitions are loaded manually, the first power device drives the baffle plate to rotate so that the baffle plate is perpendicular to the conveying direction of the partition storage conveyor belt, thereby blocking and limiting the paper partition to prevent the paper partition from slipping out of the partition bin from the end of the partition storage conveyor belt under the action of the force when the paper is loaded manually or the push plate pushes the partition to move. The second power device drives the pressure plate to slide down to contact the top of the paper partition to prevent the subsequent paper partitions from tipping over due to lack of support when the suction cup takes the paper partition. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a structural diagram of automatic packing equipment;

[0060] Figure 2 yes Figure 1 A top view of the automatic box packing equipment shown;

[0061] Figure 3 yes Figure 1 The structural schematic diagram of the partition bin in the automatic packing equipment shown;

[0062] Figure 4 yes Figure 3 The structural schematic diagram of the material pressing assembly in the partition bin shown;

[0063] Figure 5 yes Figure 3 The structural schematic diagram of the material blocking assembly in the partition bin shown;

[0064] Figure 6 yes Figure 2 The structural schematic diagram of the partition conveying line in the automatic packing equipment shown;

[0065] Figure 7 yes Figure 1 A first structural schematic diagram of a tipping bucket assembly in the automatic packing equipment shown;

[0066] Figure 8 yes Figure 7 A second structural schematic diagram of the tipping bucket assembly shown;

[0067] Fig. 9 yes Figure 7 A schematic diagram of the structure of a hopper assembly in the tipping bucket assembly shown;

[0068] Fig.10 yes Figure 1 The structural schematic diagram of the product conveying line in the automatic packing equipment shown; DETAILED DESCRIPTION

[0069] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0070] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0071] As described in the background technology, the existing suction cup grabbing and packing adopts a horizontal operation, and the liquid soft packaging bags are stacked flat in the box. During storage and transportation, the side of the liquid soft packaging bags is subjected to too much force, and the liquid soft packaging bags at the bottom are easily crushed.

[0072] Embodiment 1:

[0073] Therefore, in order to solve the above technical problems existing in the prior art, this embodiment provides an automatic packing device, such as Figure 1 , 2 As shown, the automatic packaging equipment in this embodiment includes

[0074] Product conveyor line 400, such as Fig.10 As shown, the product conveying line 400 includes a product conveyor 410, which can drive the product to move to the grabbing position. A blocking plate 420 can be set at the end of the product conveyor, and the blocking plate can block the product so that the product stays at the grabbing position to prevent the product from being sent out of the grabbing position during the process of the robot transporting the product;

[0075] A robot arm that can grab products on the product conveyor line 400 and brought to the packing position;

[0076] A tipping bucket assembly 300, which is disposed on one side of the grabbing position of the product conveying line 400, and can receive the product delivered by the robot 300, and drive the product to flip 90 degrees to pour out the product; and

[0077] The box conveying line 500 is arranged below the tipping bucket assembly 300 . The box conveying line 500 can drive the box to move below the tipping bucket assembly to accommodate the product poured out by the tipping bucket assembly 300 .

[0078] like Figure 7 , 8 As shown, the dump bucket assembly 300 includes

[0079] a fifth power plant 330; and

[0080] A hopper assembly 350, wherein the hopper assembly can contain a limited amount of bagged product, and the hopper assembly is driven to flip 90 degrees by the fifth power device;

[0081] like Fig. 9 As shown, the hopper assembly 350 includes

[0082] A hopper 351, which is driven by the fifth power device to flip 90 degrees, and the lower side of the hopper is provided with a discharge port for the product to slide out, and the front side is provided with a feed port for the product to enter and exit;

[0083] A sixth power device 353, which is installed on the hopper 351; and

[0084] The baffle 352 is arranged at the feed port of the hopper and is driven to move by the sixth power device to open and close the feed port.

[0085] The utility model uses a manipulator to grab the liquid bags lying on the product conveyor line and send them into the hopper, so that they are arranged in a preset arrangement in the hopper to form a liquid bag array. After the liquid bags are stacked, the fifth power device 330 drives the hopper to flip 90°. At this time, the discharge port faces downward, and the stacked liquid bags slide into the box under the action of their own gravity, thereby realizing the vertical packaging of the liquid bags, avoiding the situation that the side of the liquid soft packaging bag is too much force during storage and transportation, and the liquid soft packaging bag at the bottom is easily crushed. By setting a feed port on the side of the hopper, setting a baffle at the feed port, and driving the baffle to move by the sixth power device 353, the feed port is opened and closed, which is convenient for the manipulator to stack the liquid bags, and can avoid the liquid bags tilting toward the feed port and scattering during the boxing process.

[0086] In this embodiment, the above-mentioned bucket assembly may also include a mounting portion 370, and the above-mentioned fifth power device is fixedly mounted on the mounting portion 370. The bucket assembly 350 maintains relative rotation with the mounting portion 370 through a connecting shaft, and the connecting shaft maintains connection with the fifth power device. The fifth power device includes but is not limited to a motor, a rotating cylinder or other devices capable of realizing the rotation of the connecting shaft.

[0087] In this embodiment, the baffle can be connected to the hopper by a pivot connection. At this time, the sixth power device includes but is not limited to a cylinder-connecting rod mechanism, a hydraulic cylinder-connecting rod mechanism, an electric cylinder-connecting rod mechanism, a motor, a motor-transmission mechanism (for example, a motor-gear mechanism, a motor-worm gear mechanism, etc.) or other devices that can realize the rotation of the baffle. Of course, the baffle can also be connected to the hopper by a sliding manner. At this time, the sixth power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder, a motor-gear rack structure, a motor-screw structure or other methods that can drive the baffle to move linearly.

[0088] In addition, a sensor may be provided on one side of the box conveying line corresponding to the position below the tipping bucket assembly to detect whether the box has reached a preset position.

[0089] Embodiment 2:

[0090] When the tipping bucket assembly dumps the product, if the distance between the hopper and the bottom of the box is not enough, some of the product will remain in the hopper, but if the distance between the hopper and the bottom of the box is too large, the product will be dispersed to the outside.

[0091] Therefore, in order to solve the above technical problems, this embodiment proposes improvements based on embodiment 1, such as Figure 7 , 8 As shown, different from the first embodiment, the hopper rotating box loading mechanism further includes a fourth power device 320, and the fourth power device can drive the above-mentioned hopper assembly to slide vertically.

[0092] During packing, when the liquid bag slides out of the hopper, the fourth power device 320 can drive the hopper to slide vertically upward to complete the pouring of the liquid bag from the hopper, thereby preventing the product from being unable to completely slide out of the hopper due to insufficient height between the hopper and the bottom of the box, or preventing the liquid bag from becoming loose when sliding due to excessive height, thereby damaging the array and even scattering outside the box.

[0093] In this embodiment, the dump bucket assembly may further include a fixing portion 310, on which the fourth power device 320 is fixedly mounted. The mounting portion 370 may be slidably connected to the fixing portion 310 via a slide rail slider structure, a guide rod-slider mechanism, or a slide groove-connecting block structure. The fourth power device may be as follows: Figure 7 , 8 The pulley structure 360 ​​shown in the figure, by fixedly connecting the mounting part with the flexible belt in the pulley structure, the movement of the flexible belt will drive the mounting part to move, thereby realizing the lifting and lowering of the hopper. Similarly, a motor-screw structure, a motor-gear rack structure and other structures can also be used, and a cylinder, an electric cylinder, a hydraulic cylinder and the like can also be used to drive the lifting and lowering movement of the mounting part.

[0094] In the above-mentioned embodiment 1 and embodiment 2, the hopper assembly can be set in multiple groups to form multiple stations, so as to realize the connected packing of multiple groups of products, avoid the situation where the robot arm is in standby when pouring products at a single station or fewer stations, and thus improve the packing efficiency.

[0095] In addition, Figure 7 As shown, a limit buffer 340 is fixedly installed on the fixing part corresponding to the movement track of the mounting part, and the limit buffer 340 is arranged above and below the mounting part.

[0096] Embodiment 3:

[0097] In order to achieve a seamless connection between product packing and vertical partition adding, Fig. 9 As shown, in this embodiment, the hopper assembly further includes a partition entry channel 354, which is disposed on the upper side of the hopper to allow the partition to enter the hopper.

[0098] like Figure 2 As shown, the packing equipment also includes a partition conveyor line 200, which can be connected to the partition entry channel in a horizontal state. The partition conveyor line 200 drives the paper partition to move so as to send the paper partition into the above-mentioned hopper. The partition conveyor line 200 includes

[0099] A partition slide 220, wherein at least one pair of the partition slides 220 is provided, and the pair of the partition slides are arranged opposite to each other; and

[0100] The partition conveyor belt 210 is disposed between each pair of the partition slideways 220 , and the partition conveyor belt 210 can contact the upper surface of the paper partition.

[0101] When the tipping bucket assembly is in the packing state, the partition entry channel of the hopper is connected with the partition slide. When the manipulator stacks the product into the hopper, the partition conveyor belt will drive the paper partition placed on the partition slide to the waiting position. The waiting position is the end of the slide close to the partition entry channel. After the manipulator completes the stacking of the single-layer product array, the partition conveyor belt continues to drive the paper partition to move and send it from the partition entry channel into the hopper. At the same time, the next paper partition is sent to the waiting position, and then pushed inward until the stacking is completed, realizing the automatic placement of the vertical partition and improving the packing efficiency. The paper partition can be sent into the hopper through the partition entry channel, thereby separating adjacent single-layer arrays, reducing the mutual contact and friction and wear between products, and increasing the compressive strength of the carton. When the manipulator completes the loading of the single-layer array product, the paper partition can be sent from the partition entry channel into the hopper, and this process will not affect the grasping work of the manipulator, thereby improving the packing efficiency.

[0102] In this embodiment, a section of the slideway away from the tipping bucket assembly can be designed to be L-shaped, the length of which is greater than the length of the paper partition, and a section close to the tipping bucket assembly can be designed to be in a U-shape, thereby guiding the movement of the paper partition.

[0103] In addition, the above-mentioned partition conveyor line may also include an adjustable screw 230, which may be provided in two groups. The two groups of adjustable screws may be rotatably provided at both ends of the partition slide and maintain a threaded connection with the partition slide. In addition, a handle 240 may be installed at one end of one group of adjustable screws. By shaking the handle, the spacing between the partition slides can be adjusted to accommodate paper partitions of different widths.

[0104] In this embodiment, if Fig.10 As shown, the product conveying line also includes

[0105] A seventh power device 430, which can be fixedly installed on the product conveyor belt, including but not limited to a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc.; and

[0106] The baffle plate 440 is arranged corresponding to the hopper 351, and is driven by the seventh power device 430 to move linearly. When the baffle plate 440 is pushed out, the baffle plate is located at the discharge port of the hopper.

[0107] Before packing, the seventh power device drives the partition group to move toward the discharge port of the hopper to close the discharge port of the hopper, thereby limiting the entering paper partition and preventing the paper partition from moving out of the hopper.

[0108] Embodiment 4:

[0109] In order to realize the temporary storage and automatic retrieval of paper partitions, such as Figure 1 As shown, in this embodiment, the automatic packing equipment further includes a partition bin 100, and the paper partition is connected to the partition conveyor line. The partition bin can store a limited amount of paper partitions and feed the paper partitions into the partition conveyor line. Figure 3 As shown, the partition bin includes

[0110] A separator storage line 110, which can store a limited amount of paper separators and drive the paper separators to move; and

[0111] A partition placing assembly 140, which is arranged at the junction of the partition storage line and the partition conveying line, and the partition placing assembly 140 can deliver the paper partition at the end of the partition storage line 110 to the partition conveying line;

[0112] The separator storage line 110 includes

[0113] A separator storage conveyor belt 111 on which a limited amount of paper separators can be placed; and

[0114] A push plate 112, wherein the push plate 112 is fixed on the partition conveyor belt;

[0115] The partition placement assembly 140 includes

[0116] A third power unit 141; and

[0117] The suction cup 144 is driven by the third power device 141 to flip 90 degrees.

[0118] The third power device drives the suction cup to rotate so that the suction cup contacts the paper partition at the end of the partition storage bag 111. The suction cup generates negative pressure to suck the paper partition. The third power device works again to take out the paper partition and send it to the partition slide. During this process, the partition storage conveyor belt will move so that the push plate 112 pushes the cardboard stack toward the end of the partition storage conveyor belt, so that the paper partition away from the push plate moves to the end of the storage conveyor belt, thereby realizing automatic retrieval of incoming paper partitions and improving incoming packing efficiency.

[0119] In this embodiment, the above-mentioned third power device can be a cylinder, an electric cylinder or a hydraulic cylinder. At this time, the third power device can be connected to the rotating shaft through a connecting rod, and the third power device drives the rotation within a preset angle range. The above-mentioned suction cup 144 is fixedly connected to the connecting shaft through a connecting rod, a connecting frame and other connecting parts with a preset length, thereby realizing a 90° flipping movement of the self-disc.

[0120] In this embodiment, if Figure 3As shown, the above-mentioned partition warehouse may also include

[0121] The material blocking assembly 120 is arranged on both sides of the end of the above-mentioned partition storage conveyor belt, such as Figure 5 As shown, the material blocking assembly 120 includes a first power device 121 and a material blocking plate 122, and the material blocking plate 122 is driven to move by the first power device 121 to block or release the movement of the paper partition; and

[0122] A material pressing assembly 130 is arranged above the end of the partition storage conveyor belt, such as Figure 4 As shown, the pressing assembly includes a second power device 131 and a pressing block 132. The second power device can drive the pressing block to slide down vertically to press the top side edge of the paper partition.

[0123] When paper partitions are manually loaded, the first power device drives the baffle plate 122 to rotate so that the baffle plate is perpendicular to the conveying direction of the partition storage conveyor belt, thereby blocking and limiting the paper partition to prevent the paper partition from slipping out of the partition bin from the end of the partition storage conveyor belt under the action of the force when the paper is manually loaded or the push plate pushes the partition to move. The second power device 131 drives the pressure plate to slide down to contact the top of the paper partition to prevent the subsequent paper partition from tipping over due to lack of support when the suction cup takes the paper partition.

[0124] In this embodiment, the above-mentioned first power device can be a cylinder, an electric cylinder, or a hydraulic cylinder, and the above-mentioned material baffle plate can be pivotally installed on both sides of the end of the partition storage conveyor belt, and the rotation of the material baffle plate is driven by the extension and retraction of the piston rod of the first power device.

[0125] In this embodiment, the second power device can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc., which is fixed above the end of the partition storage conveyor belt by means of a frame.

[0126] In addition, Figure 3 As shown, guide plates 113 may be provided on both sides of the storage conveyor belt, and the guide plates 113 may limit the position of the paper partitions.

[0127] In addition, the above-mentioned guide plate can be designed to be movable, such as Figure 3 As shown, an adjusting screw 150 may also be provided, and the adjusting screw 150 is threadedly connected to the guide plate 113. By rotating the adjusting screw, the spacing between the guide plates can be adjusted according to the width of the paper partition.

[0128] Embodiment 5:

[0129] This embodiment provides an automatic packing method, which uses the above-mentioned automatic packing equipment. The automatic packing method includes:

[0130] Initially, the hopper is in a packing state, in which the feed port of the hopper faces upward and the discharge port is horizontal. In this state, the partition entry channel is connected with the end of the partition slideway;

[0131] The product conveyor line drives the product to move so as to convey the product one by one to the grabbing position, and the grabbing position is the area where the manipulator can recognize the product. The recognition process is realized by obtaining the image through the visual module, processing and analyzing the image through the control module;

[0132] The box conveyor line drives the box to move so as to convey the box to the bottom of the tipping bucket assembly. This process can be carried out simultaneously with the product conveyor line conveying the product.

[0133] The visual recognition module of the manipulator recognizes the product at the grasping position, executes the grasping action, grasps the product, and after grasping, executes the product placement action, places the product from the feed port of the hopper into the hopper, and arranges the products one by one in the hopper according to the preset array. The preset array is the specified number of products in the X, Y, and Z directions. The specific number is determined by the specific set parameters. For example, if the parameters are set to X-8, Y-8, and Z-6, the preset array is an 8*8*6 cubic array;

[0134] While the above-mentioned robot grabs the product, the partition placement component takes out the paper partition at the end of the partition storage line and sends it to the partition slide;

[0135] The partition conveyor belt drives the paper partition to move to the waiting position of the partition conveyor belt;

[0136] After the products in the hopper are arranged in a single-layer array, the partition conveyor belt drives the paper partition in the waiting position through the partition entry channel into the upper surface of the single-layer product array in the hopper, and repeats this process until the last layer of product array is loaded.

[0137] After the product is placed, the sixth power device drives the baffle to rotate to close the feed port, and the fifth power device drives the hopper to rotate and flip 90°. At this time, the discharge port faces downward, and the product slides out of the hopper under the action of gravity and enters the box body to complete the packing.

[0138] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic packing device, characterized in that: include A product conveying line, the product conveying line comprising a product conveyor, the product conveyor can drive the product to move to a grabbing position; A robot that can grab products on the product conveyor line and bring them to the packing position; A tipping bucket assembly, which is arranged on one side of the grabbing position of the product conveying line, and can receive the product delivered by the above-mentioned robot, and drive the product to flip 90 degrees to pour out the product; and The box conveying line is arranged below the above-mentioned tipping bucket assembly, and the box conveying line can drive the box to move below the tipping bucket assembly to accommodate the product poured out by the above-mentioned tipping bucket assembly.

2. The automatic packing equipment according to claim 1, characterized in that: The dump bucket assembly comprises a fifth power unit; and A hopper assembly, wherein the hopper assembly can contain a limited amount of bagged product, and the hopper assembly is driven to flip 90° by the fifth power device; The hopper assembly includes A hopper, which is driven by the fifth power device to flip 90 degrees, and the lower side of the hopper is provided with a discharge port for the product to slide out, and the front side is provided with a feed port for the product to enter and exit; a sixth power device, the sixth power device being mounted on the hopper; and A baffle is arranged at the feed port of the hopper, and the baffle is driven to move by the sixth power device to open and close the feed port.

3. The automatic packing equipment according to claim 2, characterized in that: The hopper rotating box loading mechanism also includes a fourth power device, and the fourth power device can drive the above-mentioned hopper assembly to slide vertically.

4. The automatic packing equipment according to claim 3, characterized in that: The hopper assembly further comprises a partition entry passage, which is arranged on the upper side of the hopper to allow the partition to enter the hopper.

5. The automatic packing equipment according to claim 4, characterized in that: The product conveying line also includes a seventh power unit; and The baffle plate is arranged corresponding to the above-mentioned hopper, and is driven to move linearly by the seventh power device. When the baffle plate is pushed out, the baffle plate is located at the discharge port of the above-mentioned hopper.

6. The automatic packing equipment according to claim 4 or 5, characterized in that: The packing equipment also includes a partition conveyor line, which can be connected to the partition entry channel in a horizontal state, and the partition conveyor line drives the paper partition to move so as to send the paper partition into the above-mentioned hopper. The partition conveyor line includes A partition slideway, wherein at least one pair of the partition slideways is provided, and the pair of the partition slideways are arranged opposite to each other; and A separator conveyor belt is arranged between each pair of separator slideways, and the separator conveyor belt can contact the upper surface of the paper separator.

7. The automatic packing equipment according to claim 6, characterized in that: The automatic packing equipment also includes a partition bin, the paper partition is connected to the partition conveyor line, the partition bin can store a limited amount of paper partitions and send the paper partitions to the partition conveyor line, the partition bin includes A partition storage line, which can store a limited amount of paper partitions and drive the paper partitions to move; as well as A partition placing assembly, which is arranged at the junction of the partition storage line and the partition conveying line, and can deliver the paper partition at the end of the partition storage line to the partition conveying line; The separator storage line includes A partition storage conveyor belt on which a limited amount of paper partitions can be placed; as well as A push plate, the push plate being fixed on the partition conveyor belt; The partition placement assembly includes The third power unit; as well as The suction cup is driven to flip 90 degrees by the third power device.

8. The automatic packing equipment according to claim 7, characterized in that: The partition warehouse also includes A material blocking assembly, which is arranged on both sides of the end of the partition storage conveyor belt, and includes a first power device and a material blocking plate, and the material blocking plate is driven to move by the first power device to block or release the movement of the paper partition; as well as A material pressing assembly is arranged above the end of the partition storage conveyor belt. The material pressing assembly includes a second power device and a material pressing block. The second power device can drive the material pressing block to slide down vertically to squeeze the top side edge of the paper partition.

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