Material arranging and boxing mechanism and packaging equipment

Abstract

The utility model discloses a material arranging and boxing mechanism and packaging equipment, and relates to the technical field of packaging, the material arranging and boxing mechanism comprises at least one group of cooperative manipulators arranged between a material supply mechanism and a material receiving mechanism, and the cooperative manipulators are used for alternately finishing material arranging action and boxing action between the material supply mechanism and the material receiving mechanism; and a material arranging box is arranged at the execution end of each group of cooperative manipulators. When one group of cooperative manipulators drive the material arranging box to be aligned with the discharging end of the feeding mechanism, one group of materials of the feeding mechanism fall into the material arranging box, the cooperative manipulators drive the material arranging box to descend by a set height, and the steps are repeated until the material arranging box is filled with the materials, so that the material arranging action is completed; then the manipulator is cooperated to drive the full-load material arranging box to move to the material receiving mechanism, and the boxing action is completed; all the cooperative manipulators alternately finish the material arranging action and the boxing action between the feeding mechanism and the material receiving mechanism, so that the materials are uninterruptedly arranged and continuously boxed, the material arranging and the boxing are continuously carried out, the packaging time is shortened, and the packaging efficiency is relatively high.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging, in particular to a material sorting and boxing mechanism and packaging equipment. Background Art

[0002] The BFS process, namely the Blow-Fill-Seal three-in-one technology, is an aseptic filling process with the advantages of high technical content and strong aseptic assurance capability. It is more suitable for the production of heat-sensitive drugs, biochemical preparations, vaccines and other products.

[0003] In the packaging process of the BFS process, the materials are sorted first, and then the products are packed into boxes. However, the packaging process is preceded by a labeling process, and horizontal conveying is generally used for labeling and sorting. In addition, the steps of flipping, transferring or conveying are still involved between the two actions of sorting and boxing. In other words, the existing two actions of sorting and boxing are difficult to be carried out continuously, which seriously affects the packaging efficiency. Utility Model Content

[0004] The utility model aims to provide a material sorting and boxing mechanism and packaging equipment, which solves the technical problem of low packaging efficiency.

[0005] To achieve the above-mentioned purpose, the utility model provides a material sorting and boxing mechanism, comprising at least one group of collaborative robots arranged between a feeding mechanism and a material receiving mechanism, the collaborative robots being used to alternately complete material sorting and boxing actions between the feeding mechanism and the material receiving mechanism; a material sorting box is provided at the execution end of each group of collaborative robots; when the material sorting box is aligned with the discharge end of the feeding mechanism, the collaborative robots are used to drive the material sorting box to descend to a set height after the material sorting box receives a group of materials so that the materials that fall into the material sorting box are stacked.

[0006] Preferably, the material sorting box includes a support plate and a plurality of baffles sequentially arranged around the side edges of the support plate, all of the baffles and the support plate are arranged around to form a material receiving trough, and all of the baffles are used to gather together or separate from each other to clamp or loosen the material.

[0007] Preferably, the baffle includes a lower baffle and an upper baffle that are arranged opposite to each other, the lower baffle is vertically fixed to the support plate, and the lower baffle is used to support the material; a downward driving member is fixed between the upper baffle and the support plate, and the downward driving member is used to drive the upper baffle to move downward relative to the support plate;

[0008] The baffle also includes a left baffle and a right baffle arranged opposite to each other. A left driving member is provided between the left baffle and the support plate, and the left driving member is used to drive the left baffle to move right relative to the support plate; a right driving member is provided between the right baffle and the support plate, and the right driving member is used to drive the right baffle to move left relative to the support plate.

[0009] Preferably, a guide slide is fixedly provided between the left baffle plate and the right baffle plate, the support plate is provided with a guide rail, and the guide slide is slidably matched with the guide rail.

[0010] Preferably, it also includes a drop detection component provided on the feeding mechanism and used to detect whether the material has reached the end of the feeding mechanism; the drop detection component and all collaborative robots are connected to the controller; when the drop detection component detects that the material has reached the end of the feeding mechanism, the controller is used to control the collaborative robot opposite to the feeding mechanism to drop a set distance according to the signal fed back by the drop detection component.

[0011] Preferably, it also includes a material sorting detection member for detecting whether the material sorting box is full of materials, and the material sorting detection member, the downward drive member, the left drive member and the right drive member are all connected to the controller; when the material sorting detection member detects that the material sorting box is full of materials, the controller is used to control the downward drive member to drive the lower baffle to move downward, the left drive member to drive the left baffle to move right and the right drive member to drive the right baffle to move left according to the signal sent by the material sorting detection member so that the upper baffle, the lower baffle, the left baffle and the right baffle can gather together to clamp the material.

[0012] Preferably, it also includes a clamping detection component for detecting whether the upper baffle, the lower baffle, the left baffle and the right baffle are clamping the material, and the clamping detection component is connected to the controller; when the clamping detection component detects that the upper baffle, the lower baffle, the left baffle and the right baffle are clamping the material, the controller is used to control the collaborative robot close to the feeding mechanism to transfer the fully loaded material sorting box from the feeding mechanism to the material receiving position of the material receiving mechanism according to the signal feedback from the clamping detection component.

[0013] Preferably, it also includes a material receiving detection part for detecting whether the fully loaded material sorting box has reached the material receiving mechanism, and the material receiving detection part is connected to the controller; when the material receiving detection part detects that the fully loaded material sorting box has reached the material receiving mechanism, the controller is used to control the connected collaborative robot according to the signal feedback from the material receiving detection part to drive the fully loaded material sorting box to flip over until the opening of the material sorting box is aligned with the material receiving position.

[0014] Preferably, it also includes a positioning detection member for detecting whether the opening of a fully loaded material sorting box is aligned with the material receiving position, and the positioning detection member is connected to the controller; when the positioning detection member detects that the opening of the fully loaded material sorting box is aligned with the material receiving position, the controller is used to control the downward drive member, the left drive member and the right drive member to retract according to the signal feedback from the positioning detection member so that the upper baffle, the lower baffle, the left baffle and the right baffle are separated from each other so that the material in the material sorting box falls into the packaging box at the material receiving position.

[0015] The utility model also provides a packaging device, comprising the above-mentioned material sorting and boxing mechanism.

[0016] Compared with the background technology, the utility model designs a material sorting and boxing mechanism, including at least one group of collaborative robots, all of which are arranged between the feeding mechanism and the material receiving mechanism, and the execution end of each group of collaborative robots is provided with a material sorting box.

[0017] One group of collaborative robots carries the material sorting box to the feeding mechanism, and when the material sorting box is aligned with the discharge end of the feeding mechanism, a group of materials from the feeding mechanism falls into the material sorting box under the action of inertia, and the collaborative robots carry the material sorting box down to the set height, and this process is repeated. The fallen materials are stacked in the material sorting box until the material sorting box is full of materials, completing the material sorting action; the collaborative robots then carry the fully loaded material sorting box to the material receiving mechanism to complete the cartoning action; in this way, all the collaborative robots alternately complete the material sorting and cartoning actions between the feeding mechanism and the material receiving mechanism, so that the materials can be sorted and cartoned continuously. The material sorting and cartoning are carried out continuously, shortening the time that does not require packaging, and achieving high packaging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 A structural diagram of a material sorting and boxing mechanism provided in an embodiment of the utility model;

[0020] Figure 2 for Figure 1 Front view of the medium material handling box;

[0021] Figure 3 for Figure 1 Schematic diagram of the back of the medium material box.

[0022] The reference numerals are as follows:

[0023] Feeding mechanism 1, cooperative manipulator 2, material sorting box 3 and falling material detection part 4;

[0024] Support plate 30 , lower baffle 31 , upper baffle 32 , downward drive member 33 , left baffle 34 , right baffle 35 , left drive member 36 , right drive member 37 , guide slide 38 and guide rail 39 . DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] The utility model embodiment discloses a material sorting and boxing mechanism, as shown in the attached Figure 1 As shown, at least one group of collaborative manipulators 2 is included, all of which are suspended and arranged between the feeding mechanism 1 and the receiving mechanism. The collaborative manipulators 2 are used to alternately complete the material sorting and boxing actions between the feeding mechanism 1 and the receiving mechanism. The execution end of each group of collaborative manipulators 2 is provided with a material sorting box 3, and multiple layers of materials are stacked in the material sorting box 3. The feeding mechanism 1 is used to intermittently convey grouped materials, and the receiving mechanism is used to convey packaging boxes. The collaborative manipulators 2 are specifically provided with two groups, both of which can be six-freedom manipulators, and their working principles are specifically referred to the prior art.

[0028] It should be noted that the set distance in the text can be the thickness of a material.

[0029] One group of collaborative robots 2 moves with the material sorting box 3 toward the feeding mechanism 1, and when the material sorting box 3 is aligned with the discharge end of the feeding mechanism 1, a group of materials of the feeding mechanism 1 falls into the material sorting box 3 under the action of inertia, and the collaborative robots 2 descend the set height with the material sorting box 3, and repeat this process. The fallen materials are stacked in the material sorting box 3 until the material sorting box 3 is full of materials, and the material sorting action is completed; the collaborative robots 2 then move with the fully loaded material sorting box 3 to the material receiving mechanism to complete the cartoning action; in this way, all the collaborative robots 2 alternately complete the material sorting and cartoning actions between the feeding mechanism 1 and the material receiving mechanism, so that the materials can be sorted and cartoned continuously, and the material sorting and cartoning are carried out continuously, which shortens the time that does not require packaging and has a high packaging efficiency.

[0030] The material sorting box 3 includes a support plate 30 and a plurality of baffles sequentially arranged around the side edge of the support plate 30 . All the baffles and the support plate 30 are arranged around to form a material receiving trough. All the baffles are used to gather together or separate from each other to clamp or loosen the material.

[0031] As attached Figure 2 and 3As shown, the baffle includes a lower baffle 31 and an upper baffle 32 arranged opposite to each other, and the lower baffle 31 is fixedly arranged on the support plate 30 vertically, and the lower baffle 31 is used to support the material. A downward driving member 33 is fixedly arranged between the upper baffle 32 and the support plate 30, and the downward driving member 33 is used to drive the upper baffle 32 to move downward relative to the support plate 30. The baffle also includes a left baffle 34 and a right baffle 35 arranged opposite to each other, and a left driving member 36 is arranged between the left baffle 34 and the support plate 30, and the left driving member 36 is used to drive the left baffle 34 to move right relative to the support plate 30; a right driving member 37 is arranged between the right baffle 35 and the support plate 30, and the right driving member 37 is used to drive the right baffle 35 to move left relative to the support plate 30. The distance between the lower baffle 31 and the upper baffle 32 and the distance between the left baffle 34 and the right baffle 35 are flexibly adjusted according to the shape of the material, so that the collecting plate can be adapted to clamping logistics of different widths, lengths and specifications, and has better adaptability. Of course, the structure of the material sorting trough is not limited to this, for example, it can also be surrounded by more than four baffles 32, which can be adjusted according to the shape of the material. The downward drive member 33, the left drive member 36 and the right drive member 37 can all be cylinders, but are not limited to this. The distance between the lower baffle 31 and the upper baffle 32 and the distance between the left baffle 34 and the right baffle 35 can be flexibly adjusted according to the shape of the material.

[0032] A guide slide 38 is fixed between the left baffle 34 and the right baffle 35 , and a guide rail 39 is provided on the support plate 30 . The guide slide 38 and the guide rail 39 can slide together to ensure that both the left baffle 34 and the right baffle 35 can slide linearly relative to the support plate 30 .

[0033] The above-mentioned material sorting and boxing mechanism also includes a drop detection member 4 provided on the feeding mechanism 1 and used to detect whether the material has reached the end of the feeding mechanism 1. The drop detection member 4 can specifically detect switches, obstacle sensors, etc. The drop detection member 4 and all the collaborative manipulators 2 are connected to the controller. When the drop detection member 4 detects that the material has reached the end of the feeding mechanism 1, the controller is used to control the collaborative manipulator 2 relative to the feeding mechanism 1 to descend a set distance according to the signal fed back by the drop detection member 4, so that the collaborative manipulator 2 automatically descends with the material sorting box 3.

[0034] The above-mentioned material sorting and boxing mechanism also includes a material sorting detection member for detecting whether the material sorting box 3 is full of materials. The material sorting detection member can specifically be a height sensor, a distance sensor, etc. The material sorting detection member, the downward drive member 33, the left drive member 36 and the right drive member 37 are all connected to the controller. When the material sorting detection member detects that the material sorting box 3 is full of materials, the controller is used to control the downward drive member 33 to drive the lower baffle 31 to move downward, the left drive member 36 to drive the left baffle 34 to move right and the right drive member 37 to drive the right baffle 35 to move left according to the signal sent by the material sorting detection member so that the upper baffle 32, the lower baffle 31, the left baffle 34 and the right baffle 35 gather together to automatically clamp the materials.

[0035] The above-mentioned material sorting and boxing mechanism also includes a clamping detection member for detecting whether the upper baffle 32, the lower baffle 31, the left baffle 34 and the right baffle 35 are clamping the material. The clamping detection member can be a pressure sensor or a contact sensor. The clamping detection member is connected to the controller. When the clamping detection member detects that the upper baffle 32, the lower baffle 31, the left baffle 34 and the right baffle 35 are clamping the material, the controller is used to control the collaborative manipulator 2 close to the feeding mechanism 1 to transfer the fully loaded material sorting box 3 from the feeding mechanism 1 to the receiving position of the receiving mechanism according to the signal fed back by the clamping detection member.

[0036] The above-mentioned material sorting and boxing mechanism also includes a material receiving detection member for detecting whether the fully loaded material sorting box 3 has reached the material receiving mechanism, and the material receiving detection member can specifically be a position sensor. The material receiving detection member is connected to the controller; when the material receiving detection member detects that the fully loaded material sorting box 3 has reached the material receiving mechanism, the controller is used to control the connected collaborative manipulator 2 to drive the fully loaded material sorting box 3 to flip according to the signal fed back by the material receiving detection member until the opening of the material sorting box 3 is aligned with the material receiving position.

[0037] The above-mentioned material sorting and boxing mechanism also includes a positioning detection member for detecting whether the opening of the fully loaded material sorting box 3 is aligned with the material receiving position, and the positioning detection member can be specifically an angle sensor, etc. The positioning detection member is connected to the controller; when the positioning detection member detects that the opening of the fully loaded material sorting box 3 is aligned with the material receiving position, the controller is used to control the downward driving member 33, the left driving member 36 and the right driving member 37 to contract according to the signal fed back by the positioning detection member so that the upper baffle 32, the lower baffle 31, the left baffle 34 and the right baffle 35 are separated from each other so that the materials in the material sorting box 3 fall into the packaging box at the material receiving position.

[0038] It should be noted that the controller should include a signal receiving unit, a signal judging unit and a signal sending unit. The signal receiving unit is used to receive electrical signals sent by detection components such as a blanking detection component 4, a material sorting detection component, a clamping detection component, a material receiving detection component or a positioning detection component. The signal judging unit is electrically connected to the signal receiving unit so that the signal judging unit is used to judge whether the signal received by the signal receiving unit is a trigger signal. The signal sending unit is electrically connected to the signal judging unit so that the signal sending unit sends the judgment signal generated by the signal judging unit to the collaborative manipulator 2, the downward drive component 33, the left drive component 36 and the right drive component 37. The specific setting methods of the signal receiving unit, the signal judging unit and the signal sending unit can refer to the prior art; in the present utility model, only the application scenarios of the above three are changed, and no substantial improvement is made thereto. Obviously, the controller with this structure is widely used in existing automatic control equipment, such as MCU, DSP or single-chip microcomputer. The key point of the present utility model is that the controller combines the detection components and the execution components in pairs.

[0039] The embodiment of the utility model also discloses a packaging device, which includes the above-mentioned material sorting and boxing mechanism and has the same beneficial effects.

[0040] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0041] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A material sorting and boxing mechanism, characterized in that: The invention comprises at least one group of cooperative robots (2) arranged between a feeding mechanism (1) and a receiving mechanism, wherein the cooperative robots (2) are used to alternately complete material sorting and boxing actions between the feeding mechanism (1) and the receiving mechanism; a material sorting box (3) is provided at the execution end of each group of the cooperative robots (2); when the material sorting box (3) is aligned with the discharge end of the feeding mechanism (1), the cooperative robot (2) is used to drive the material sorting box (3) to descend to a set height after the material sorting box (3) receives a group of materials so that the materials falling into the material sorting box (3) are stacked.

2. The material sorting and boxing mechanism according to claim 1, characterized in that: The material sorting box (3) comprises a support plate (30) and a plurality of baffles sequentially arranged around the side edge of the support plate (30), wherein all the baffles and the support plate (30) are arranged around a material receiving trough, and all the baffles are used to gather together or separate from each other to clamp or loosen the material.

3. The material sorting and boxing mechanism according to claim 2 is characterized in that: The baffle plate comprises a lower baffle plate (31) and an upper baffle plate (32) which are arranged opposite to each other, wherein the lower baffle plate (31) is vertically fixed to the support plate (30), and the lower baffle plate (31) is used to support materials; a downward driving member (33) is fixed between the upper baffle plate (32) and the support plate (30), and the downward driving member (33) is used to drive the upper baffle plate (32) to move downward relative to the support plate (30); The baffle plate further comprises a left baffle plate (34) and a right baffle plate (35) which are arranged opposite to each other; a left driving member (36) is arranged between the left baffle plate (34) and the support plate (30); the left driving member (36) is used to drive the left baffle plate (34) to move rightward relative to the support plate (30); and a right driving member (37) is arranged between the right baffle plate (35) and the support plate (30); the right driving member (37) is used to drive the right baffle plate (35) to move leftward relative to the support plate (30).

4. The material sorting and boxing mechanism according to claim 3 is characterized in that: A guide slide seat (38) is fixedly arranged between the left baffle plate (34) and the right baffle plate (35), and the support plate (30) is provided with a guide slide rail (39), and the guide slide seat (38) and the guide slide rail (39) can be slidably matched.

5. The material sorting and boxing mechanism according to claim 3 is characterized in that: It also includes a drop detection component (4) disposed on the feeding mechanism (1) and used to detect whether the material has reached the end of the feeding mechanism (1); the drop detection component (4) and all the collaborative robots (2) are connected to a controller; when the drop detection component (4) detects that the material has reached the end of the feeding mechanism (1), the controller is used to control the collaborative robot (2) relative to the feeding mechanism (1) to descend a set distance based on the signal fed back by the drop detection component (4).

6. The material sorting and boxing mechanism according to claim 5, characterized in that: The material handling box (3) further comprises a material handling detection member for detecting whether the material handling box (3) is full of materials, wherein the material handling detection member, the downward drive member (33), the left drive member (36) and the right drive member (37) are all connected to the controller; when the material handling detection member detects that the material handling box (3) is full of materials, the controller is used to control the downward drive member (33) to drive the lower baffle (31) to move downward, the left drive member (36) to drive the left baffle (34) to move right and the right drive member (37) to drive the right baffle (35) to move left according to a signal sent by the material handling detection member, so that the upper baffle (32), the lower baffle (31), the left baffle (34) and the right baffle (35) are brought together to clamp the materials.

7. The material sorting and boxing mechanism according to claim 6, characterized in that: It also includes a clamping detection component for detecting whether the upper baffle (32), the lower baffle (31), the left baffle (34) and the right baffle (35) are clamping the material, and the clamping detection component is connected to the controller; when the clamping detection component detects that the upper baffle (32), the lower baffle (31), the left baffle (34) and the right baffle (35) are clamping the material, the controller is used to control the collaborative robot (2) close to the feeding mechanism (1) to transfer the fully loaded material sorting box (3) from the feeding mechanism (1) to the material receiving position of the material receiving mechanism according to the signal fed back by the clamping detection component.

8. The material sorting and boxing mechanism according to claim 7, characterized in that: It also includes a material receiving detection component for detecting whether the fully loaded material sorting box (3) has reached the material receiving mechanism, and the material receiving detection component is connected to the controller; when the material receiving detection component detects that the fully loaded material sorting box (3) has reached the material receiving mechanism, the controller is used to control the connected collaborative robot (2) to drive the fully loaded material sorting box (3) to flip over according to the signal fed back by the material receiving detection component until the opening of the material sorting box (3) is aligned with the material receiving position.

9. The material sorting and boxing mechanism according to claim 8, characterized in that: It also includes a positioning detection member for detecting whether the opening of the fully loaded material sorting box (3) is aligned with the material receiving position, and the positioning detection member is connected to the controller; when the positioning detection member detects that the opening of the fully loaded material sorting box (3) is aligned with the material receiving position, the controller is used to control the downward drive member (33), the left drive member (36) and the right drive member (37) to retract according to the signal fed back by the positioning detection member so that the upper baffle (32), the lower baffle (31), the left baffle (34) and the right baffle (35) are separated from each other so that the materials in the material sorting box (3) fall into the packaging box at the material receiving position.

10. A packaging device, characterized in that: It comprises the material sorting and boxing mechanism as described in any one of claims 1 to 9.

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