Toothpaste loading manipulator

Abstract

The utility model relates to the technical field of automatic packaging, and discloses a toothpaste loading manipulator which comprises a six-axis mechanical arm and an adsorption module, and the adsorption module comprises a rectangular seat used for installing a vacuum system assembly, a first suction cup assembly used for opening and closing a cover and a second suction cup assembly used for filling products. The tail end of the six-axis mechanical arm is fixedly connected with one side wall of the rectangular base, the first suction cup assembly is fixedly installed on the other side wall of the rectangular base, the side wall is opposite to the side wall where the six-axis mechanical arm is located, and the second suction cup assembly is fixedly installed on the side wall, perpendicular to the plane where the first suction cup assembly is located, of the rectangular base. The technical problem that in the prior art, a single mechanical arm cannot complete the two procedures of cover opening and closing and product filling is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic packaging, and particularly relates to a toothpaste loading manipulator. Background Art

[0002] In today's consumer trend of pursuing personalization and customization, intelligent experience production lines have emerged. They not only integrate advanced automation and intelligent technologies but also ingeniously transform the production process into a unique user experience, enabling users to witness and participate in the birth process of their customized products.

[0003] Since intelligent experience production lines emphasize linear layout and structural compactness to maximize space utilization and ensure the smoothness of the user's visiting path, it is particularly important to integrate multiple operations at the same loading station.

[0004] In the packaging process of putting toothpaste products into gift boxes, the commonly adopted dual-manipulator division of labor scheme in the prior art, that is, one manipulator is responsible for opening and closing the gift box, and the other is responsible for loading toothpaste products, has significant drawbacks. If the two manipulators are arranged side by side, it will directly lead to an increase in the length of the production line, which not only violates the principle of compactness but may also affect the aesthetics of the overall layout and the user's visiting experience due to space limitations. If the two manipulators are arranged opposite each other, there will be a situation where at least one manipulator is facing away from the user, which not only weakens the intuitiveness and interactivity of the user's participation but also increases the maintenance difficulty and cost because it is not convenient for the operator to directly observe and handle possible failures.

[0005] Moreover, if the two tasks of opening the gift box, loading the product, and closing the gift box in the gift box packaging are integrated into the same manipulator, due to the limited spatial position of the end of the manipulator, that is, the actuator part, and the objects grasped for opening the box and filling the toothpaste products are different, different actuators need to be used. It will be very difficult to install these two actuators with completely different functions on one manipulator at the same time and ensure that they do not interfere with each other. Summary of the Utility Model

[0006] The utility model aims to provide a toothpaste loading manipulator to solve the technical problem that a single manipulator in the prior art cannot complete the two processes of opening / closing the box and filling the product.

[0007] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a toothpaste loading robot, including a six-axis robot arm and an adsorption module, the adsorption module including a rectangular seat for installing a vacuum system component, a first suction cup assembly for completing the opening and closing of the cover, and a second suction cup assembly for completing the filling of the product, the end of the six-axis robot arm is fixedly connected to one of the side walls of the rectangular seat, the first suction cup assembly is fixedly installed on the other side wall of the rectangular seat, and the side wall is arranged opposite to the side wall where the six-axis robot arm is located, and the second suction cup assembly is fixedly installed on the side wall of the rectangular seat perpendicular to the surface where the first suction cup assembly is located.

[0008] The principles and advantages of this solution are: the two processes of opening and closing the lid and filling the product are integrated into the same robot by using a rectangular seat, and the two processes are performed successively without interfering with each other; because the two suction cup assemblies are respectively installed on different sides of the rectangular seat, and the flexibility of the six-axis robot arm enables the robot to maintain good visualization when performing tasks, thereby enhancing the intuitiveness and interactivity of user participation.

[0009] As an improvement, the second suction cup assembly includes a tube body suction cup, which is arranged in groups of two for adsorbing a single toothpaste tube. There are multiple groups of tube body suction cups, and each group of tube body suction cups is arranged in sequence by the six-axis robotic arm toward the first suction cup assembly.

[0010] The beneficial effect of this improvement is that the spacing of each group of tube suction cups is set to the spacing of the toothpaste products placed in the gift box, so that the toothpaste products arranged in advance can be adsorbed in a row at the same time and maintained in this state when placed in the gift box; a single toothpaste tube is adsorbed by two suction cups; and the stability of the toothpaste adsorption is also ensured.

[0011] As an improvement, a tube body seat is provided between the two tube body suction cups of a single group, the bottom end of the tube body seat is fixedly connected to the rectangular seat, and the top end of the tube body seat is a concave arc surface, which matches the side curvature of the toothpaste tube body.

[0012] The beneficial effect of this improvement is that because the side of the toothpaste tube is an arc-shaped surface, the universal suction cup will be squeezed and deformed with the side of the tube during the adsorption process, and the middle section of the suction cup will be concave, so that the center of the suction cup has too strong adsorption force on the side wall of the toothpaste, while the two sides are relatively weak. In this case, if the toothpaste tube is shaken, the two sides of the suction cup and the toothpaste adsorption point are indeed prone to air leakage, which will cause the toothpaste tube to fall off; when the tube suction cup adsorbs the side of the toothpaste tube, the toothpaste tube is located in the arc-shaped surface of the tube seat, and the arc-shaped surface provides additional support for the toothpaste tube body, preventing the toothpaste tube body from shaking to the sides during the adsorption process and thus avoiding falling off.

[0013] As an improvement, the height of the tube body suction cup is the same as the height of the lowest point of the concave arc surface.

[0014] The beneficial effects of this improvement are as follows: when the pipe body is effectively adsorbed, the pipe body is completely attached to the arc surface, improving stability.

[0015] As an improvement, the first suction cup assembly includes a cover suction cup. There are multiple cover suction cups, and the multiple cover suction cups are symmetrically installed on the side wall of the rectangular base.

[0016] The beneficial effects of this improvement are as follows: the multiple cover suction cups act simultaneously, and the adsorption force on the gift box cover can be more evenly distributed, effectively preventing the gift box cover from slipping or tilting during movement or operation, thereby enhancing the adsorption stability.

[0017] As an improvement, there are four cover suction cups, which are sequentially distributed at the four corners of the side wall of the rectangular base.

[0018] The beneficial effects of this improvement are as follows: the four cover suction cups are distributed at the four corners, which can maximize the coverage of the key support points of the gift box cover, thereby further improving the adsorption stability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0020] Figure 2 It is a schematic structural diagram of an empty gift box shelf.

[0021] Figure 3 It is a schematic structural diagram of an upper box lifting manipulator.

[0022] Figure 4 It is a schematic structural diagram of a lower box lifting manipulator.

[0023] Figure 5 It is a schematic structural diagram of a lower box transfer module.

[0024] Figure 6 It is a schematic structural diagram of a loading transfer module.

[0025] Figure 7 It is a schematic structural diagram of a loading table.

[0026] Figure 8 It is a schematic structural diagram of a loading manipulator.

[0027] Figure 9 It is a schematic structural diagram of a suction component. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following is a further detailed description through specific embodiments:

[0029] The reference numerals in the accompanying drawings of the specification include: empty gift box shelf 1, upper box lifting manipulator 2, lower box lifting manipulator 3, loading table 4, loading manipulator 5, sliding rod 6, stop block 7, upper box transfer belt 8, upper box inlet 9, lower box outlet 10, lower box transfer belt 11, rotating shaft 12, lifting plate 13, adsorption slide rail 14, support member 15, vertical plate 16, horizontal plate 17, translation slide rail 18, laser marking machine 19, loading transfer belt 20, support plate 21, side positioning cylinder 22, front end negative pressure suction nozzle 23, six-axis manipulator 24, rectangular seat 25, cover body suction cup 26, tube body suction cup 27 and tube body seat 28.

[0030] Embodiment

[0031] Basically as shown in the attached Figure 1 As shown, a toothpaste gift box packaging mechanism realizes the fully automatic packaging process of loading tubular toothpaste into gift boxes of different specifications, and includes an empty gift box shelf 1, an upper box lifting manipulator 2, a lower box lifting manipulator 3, a loading table 4 and a loading manipulator 5.

[0032] As shown in the attached Figure 2 As shown, the empty gift box shelf 1 is a shelf, and different layers of the empty gift box shelf 1 can be used to store empty gift boxes of different specifications. Each layer board of the empty gift box shelf 1 is parallel and inclined, the higher end of the layer board of the empty gift box shelf 1 is the upper box inlet 9, the lower end of the layer board of the empty gift box shelf 1 is the lower box outlet 10, the layer board of the empty gift box shelf 1 is a double sliding rod 6 for supporting both sides of the bottom of the empty gift box, and the middle part of the bottom of the empty gift box placed on the layer board is in a suspended state; a stop block 7 is provided at the end of the lower box outlet 10 of each layer of the layer board, a stop block 7 is fixedly connected to the end of each sliding rod 6, and the stop block 7 is higher than the sliding rod 6. The upper surface of the sliding rod 6 is rotatably connected with a plurality of roller shafts, the rotating shafts 12 of the plurality of roller shafts are parallel to the width of the sliding rod 6, and the plurality of roller shafts are arranged in sequence along the length direction of the sliding rod 6 to form a continuous supporting surface for supporting the bottom of the empty gift box, so that the lighter empty gift box can still slide smoothly along the length direction of the sliding rod 6.

[0033] The upper box lifting manipulator 2 catches the empty gift box provided by the supplementary box supply place and vertically moves to the corresponding layer of the empty gift box shelf 1 according to the specification of the empty gift box, and puts the empty gift box into the empty gift box shelf 1 from the upper box inlet 9 of the corresponding layer board. The two sides of the bottom of the empty gift box are in contact with the upper surface of the double sliding rod 6, and the empty gift box slides downward along the inclined surface of the sliding rod 6 due to its own weight. When the front end surface of the empty gift box contacts the stop block 7 or the front box, the empty gift box stops sliding and is temporarily stored at the current position; when the front box is taken away or slides forward, the current empty gift box slides forward accordingly.

[0034] The lower box lifting manipulator 3 moves vertically to the corresponding layer of the empty gift box shelf 1, takes out the empty gift boxes on the layer board of this layer from the lower box outlet 10, and provides the empty gift boxes to the loading table 4. The loading manipulator 5 opens the lids of the empty gift boxes on the loading table 4, sucks up the arranged toothpaste tubes in rows, and places them in the corresponding slots in the empty gift boxes on the loading table 4. After loading is completed, the loading manipulator 5 fastens the lids of the empty boxes. The loading table 4 transports the packaged gift boxes to the next process, that is, one-time toothpaste gift box packaging is completed.

[0035] As shown in the appendix Figure 3 As described above, the upper box lifting manipulator 2 includes a lifting module and an upper box transfer module. The upper box transfer module is fixedly installed on the moving part of the lifting module. The lifting module includes a lifting drive device, a lifting synchronous belt assembly, a lifting slide rail, and a lifting mounting plate. The lifting slide rail is located at the upper box inlet 9 of the empty gift box shelf 1 and is vertically arranged and fixedly installed. The lifting mounting plate is slidably connected to the lifting slide rail through a slider. The synchronous belt of the lifting synchronous belt assembly is arranged parallel to the lifting slide rail, and one of the pulleys of the synchronous belt assembly is connected to the lifting drive device. The belt clip of the synchronous belt assembly is fixedly connected to the lifting mounting plate. The lifting drive device controls the reciprocating movement of the lifting mounting plate along the lifting slide rail by driving the rotation of the pulley.

[0036] The upper box transfer module includes an upper box transfer belt 8, a transfer mounting frame, transfer rollers, and a transfer drive device. The transfer mounting frame is fixedly connected to the lifting mounting plate. The transfer rollers are located at both inner ends of the upper box transfer belt 8 to tension the upper box transfer belt 8 so that the rotation direction of the upper box transfer belt 8 is the same as the moving direction of the empty gift box. The transfer rollers are rotatably connected to the transfer mounting frame. The transfer drive device is fixedly installed on the transfer mounting frame, and the output end of the transfer drive device is connected to the transfer rollers. By driving the rotation of the transfer rollers, the upper surface of the upper box transfer belt 8 is controlled to move towards the empty gift box rack body. The upper box transfer belt 8 is a single-piece single belt, and the width of the upper box transfer belt 8 is greater than or equal to the width of the empty gift box, so that the empty gift box can be placed stably on the upper box transfer belt 8.

[0037] The lifting module of the upper box lifting manipulator 2 drives the upper box transfer belt 8 of the upper box transfer module to align with the box outlet surface of the box replenishment supply place. The bottom of the empty gift box sliding out from the box replenishment supply place contacts the upper surface of the upper box transfer belt 8. The transfer drive device drives the upper surface of the upper box transfer belt 8 to rotate towards the empty gift box shelf 1. The contact friction between the empty gift box and the upper box transfer belt 8 causes the empty gift box to move with the upper box transfer belt 8. When the empty gift box moves to the center of the upper surface of the upper box transfer belt 8, the transfer drive device stops working. The lifting module drives the upper box transfer module to move vertically to the upper box inlet 9 of the layer board of the corresponding layer of the empty gift box shelf 1, and the upper box transfer belt 8 is aligned with this layer board. The transfer drive device continues to work and sends the empty gift box into the layer board.

[0038] As shown in the appendix Figure 4 And in the appendixFigure 5 As shown, the lower box lifting manipulator 3 includes a lifting module and a lower box transfer module. The lower box transfer module is fixedly installed on the moving part of the lifting module. The lifting module of the lower box lifting manipulator 3 is the same as that of the upper box lifting manipulator 2. The difference is that for the slide rail of this lifting module, the lower box transfer module group is located at the lower box outlet 10 of the empty gift box shelf 1. The lower box transfer module is also roughly the same as the upper box transfer module, but the difference is that the lower box transfer belt 11 is a narrow double belt. The two belts of the lower box transfer belt 11 are respectively used to support both sides of the bottom of the empty gift box. The lower box transfer belt 11 is respectively supported by four transfer rollers. The two transfer rollers at the same end are fixedly connected by a coaxial rotating shaft 12. The output end of the transfer driving device of the lower box transfer module is connected to one of the rotating shafts 12; this transfer driving device controls the upper surface of the lower box transfer belt 11 to move away from the empty gift box rack body by driving the rotation of the transfer rollers.

[0039] The lower box transfer module further includes a jacking assembly. The jacking assembly includes a jacking cylinder, a horizontal telescopic cylinder, and an adsorption component. The jacking cylinder is located in the lower area between the two belts of the lower box transfer belt 11. The jacking cylinder is vertically arranged. The fixed end of the jacking cylinder is fixedly installed on the transfer mounting frame. The telescopic end of the jacking cylinder is fixedly connected with a jacking plate 13. An adsorption slide rail 14 parallel to the slide rod 6 is provided on the jacking plate 13. The adsorption component is fixedly installed on the adsorption slide rail 14 by a slider. The horizontal telescopic cylinder is installed on the jacking plate 13 to drive the adsorption component to move along the adsorption slide rail 14. The fixed end of the horizontal telescopic cylinder is fixedly installed at one end of the adsorption slide rail 14 away from the empty gift box shelf 1. The telescopic end of the horizontal telescopic cylinder faces the empty gift box shelf 1. The telescopic end of the horizontal telescopic cylinder is fixedly connected with the slider of the adsorption slide rail 14.

[0040] The adsorption component includes a bracket member 15 and a nozzle mounting member. The bracket member 15 is fixedly installed on the slider of the adsorption slide rail 14. The nozzle mounting member is fixedly installed at the end of the bracket member 15. A negative pressure nozzle for sucking the empty gift box is installed on the nozzle mounting member. The bracket member 15 includes a vertical section and a horizontal section. The bottom end of the vertical section is fixedly connected to the slider. The top end of the vertical section is fixedly connected with a horizontal section. The horizontal section extends from the top end of the vertical section towards the empty gift box shelf 1. The nozzle mounting member includes a vertical plate 16 and a horizontal plate 17. There are two negative pressure nozzles, symmetrically installed on the vertical plate 16, and the nozzles face the empty gift box shelf 1. The middle part of the side of the vertical plate 16 away from the empty gift box shelf 1 is fixedly connected to the extending end of the horizontal section. The bottom of the vertical plate 16 is fixedly connected with a horizontal plate 17. The horizontal plate 17 extends from the bottom of the vertical plate 16 towards the empty gift box shelf 1; the negative pressure nozzles are used to adsorb the side of the empty gift box, and the horizontal plate 17 is used to support the bottom of the empty gift box close to this side.

[0041] The lifting module of the lower box lifting manipulator 3 drives the lower box transfer belt 11 of the lower box transfer module to align with the lower box outlet 10 of the corresponding layer of the pallet. At this time, the ejector cylinder is in the retracted state, and the adsorption component is entirely lower than the upper surface of the lower box transfer belt 11; the horizontal telescopic cylinder extends, causing the slider on the adsorption slide rail 14 to move to the end of the adsorption slide rail 14 close to the empty gift box shelf 1; the vertical section is always located between the two rotating shafts 12. The support member 15 lifts and extends the nozzle mounting member outward. At this time, the support member 15 causes the nozzle mounting member to cross over the upper part of the rotating shaft 12 and extend out within the range between the two rotating shafts 12, bringing the negative pressure nozzle into contact with and adsorbing the side of the empty gift box. The horizontal plate 17 is located between the double slide rods 6 and contacts the bottom surface of the empty gift box below the empty gift box.

[0042] Then, control the ejector cylinder to extend, causing the adsorption component to lift the contact end of the empty gift box, making the bottom of this end of the empty gift box higher than the stopper 7 of the lower box outlet 10. The horizontal telescopic cylinder contracts, taking the empty gift box away to the lower box transfer belt 11; at the same time, the upper surface of the lower box transfer belt 11 rotates in the direction away from the empty gift box shelf 1 to assist in the transfer of the empty gift box. When the empty gift box is stably placed on the lower box transfer belt 11, the negative pressure nozzle stops adsorbing, and the ejector cylinder contracts, causing the adsorption component to be entirely below the upper surface of the lower box transfer belt 11. The empty gift box is only driven by the lower box transfer belt 11 to be transferred to the center of the lower box transfer belt 11; the lifting module drives the lower box transfer module to move vertically to the height where the loading table 4 is located. The transfer drive device continues to operate, sending the empty gift box into the loading table 4.

[0043] As shown in the attached Figure 6 and attached Figure 7 As shown, the loading table 4 is provided with a translation module, a loading transfer module, and a laser marking machine 19. The loading table 4 is arranged on the side of the lower box lifting manipulator 3 away from the empty gift box shelf 1. The translation module is installed on the loading table 4, the loading transfer module is installed on the translation module, and the laser marking machine 19 is located at one end of the translation module;

[0044] The translation module is used to move the loading transfer module to the area where the lower box lifting manipulator 3 is located. The loading transfer module receives the empty gift box transported by the lower box lifting manipulator 3. The laser marking machine 19 performs laser engraving on the empty gift box on the loading transfer module, printing the code corresponding to the order information onto the gift box. The loading manipulator 5 performs a series of operations such as opening the lid, loading the toothpaste tube body, and closing the lid on the empty gift box on the loading transfer module. After the gift box packaging is completed, the translation module moves the loading transfer module to the next process, and the loading transfer module moves the packaged gift box out to the next process.

[0045] The movement principle of the translation module is similar to that of the lifting module. The translation module includes a translation driving device, a translation synchronous belt assembly, a translation slide rail 18, and a translation mounting plate. The translation slide rail 18 is fixedly installed on the loading table 4. One end of the translation slide rail 18 is located on one side of the horizontal area where the lower box lifting manipulator 3 is located and is horizontally arranged. The other end of the translation slide rail 18 extends away from the lower box lifting manipulator 3. The laser marking machine 19 is located at one end of the translation slide rail 18 close to the lower box lifting manipulator 3, and the working side of the laser marking machine 19 faces the translation module. The translation mounting plate is slidably connected to the translation slide rail 18 through a slider. The synchronous belt of the translation synchronous belt assembly is arranged parallel to the translation slide rail 18, and one of the pulleys of the synchronous belt assembly is connected to the translation driving device. The belt clip of the synchronous belt assembly is fixedly connected to the translation mounting plate. The translation driving device controls the reciprocating movement of the translation mounting plate along the translation slide rail 18 by driving the rotation of the pulley.

[0046] The loading and transfer module is similar to the lower box transfer module. The loading and transfer module includes a loading and transfer belt 20, a transfer mounting frame, transfer rollers, and a transfer driving device. The transfer mounting frame is fixedly connected to the translation mounting plate. The loading and transfer belt 20 is also a narrow double belt. The loading and transfer belt 20 is supported by four transfer rollers respectively. The two transfer rollers at the same end are fixedly connected by a coaxial rotating shaft 12. The output end of the transfer driving device of the loading and transfer module is connected to one of the rotating shafts 12. The transfer driving device controls the upper surface of the loading and transfer belt 20 to move away from the lower box lifting manipulator 3 by driving the rotation of the transfer rollers.

[0047] The loading and transfer module further includes a support plate 21, side baffles, and a positioning component. The support plate 21 is fixedly installed between the two rotating shafts 12 of the loading and transfer module. The cross-section of the support plate 21 is in the shape of the number "7". The bottom end of the support plate 21 is fixedly installed on one side of the rotating shaft 12 close to the lower box lifting manipulator 3, and the upper end of the support plate 21 is a plane extending from above the rotating shaft 12 towards the lower box lifting manipulator 3. The upper end plane of the support plate 21 is flush with the upper surface of the loading and transfer belt 20.

[0048] Since the loading and transfer belts 20 at both ends are formed into an arc-shaped supporting surface along the outer surface of the transfer rollers, and the end of the lower box transfer belt 11 is also an arc-shaped supporting surface. Since the empty gift box is relatively light and there is a certain gap between the lower box transfer belt 11 and the loading and transfer belts 20 to avoid working interference; to prevent the center of gravity of the empty gift box from being suspended as the bottom of the empty gift box leaving the lower box transfer belt 11 gradually increases during the transfer process between the two, resulting in the empty gift box no longer being supported by the lower box transfer belt 11, with the front end of the empty gift box drooping and the rear end tilting upwards. If the empty gift box cannot contact the horizontal upper surface of the loading and transfer belt 20 before tilting, the front side of the empty gift box will first contact the arc surface of the loading and transfer belt 20, causing the empty gift box to not be smoothly transferred to the horizontal upper surface of the loading and transfer belt 20. The setting of the support plate 21 enables a support surface for supporting the bottom of the empty gift box to be provided in advance at the arc end of the loading and transfer belt 20, preventing the empty gift box from tilting and smoothly transitioning to the horizontal upper surface of the loading and transfer belt 20.

[0049] The positioning assembly includes a side positioning cylinder 22 and a front-end negative pressure suction nozzle 23. Side baffles are provided on both outer sides of the double belts of the loading and transfer belt 20 on the transfer mounting frame, and the side baffles are used to provide a supporting force for the side surface of the loading and transfer belt 20; among them, the side baffle near one end of the laser marking machine 19 is fixedly connected to the transfer mounting frame, and the side baffle far from one end of the laser marking machine 19 is in two sections. The section near the front end of the two-section side baffle is connected to the transfer mounting frame through the side positioning cylinder 22, and the section near the rear end of the two-section side baffle is fixedly connected to the transfer mounting frame.

[0050] The fixed end of the side positioning cylinder 22 is fixedly connected to the transfer mounting frame, and the telescopic end of the side positioning cylinder 22 is fixedly connected to the section near the front end of the two-section side baffle. The side positioning cylinder 22 expands and contracts in the direction of the laser marking machine 19, and the side positioning cylinder 22 is used to push and clamp the gift box to fix the relative position of the gift box and the laser marking machine 19.

[0051] Since the toothpaste gift box is a rectangular box body, the lid of the gift box is a rectangular shell without a bottom surface, and the lid of the gift box covers and wraps the box body of the gift box from top to bottom. To prevent the box body from moving when the loading manipulator 5 pulls out the lid, the front-end negative pressure suction nozzle 23 is used to fix the box body. The front-end negative pressure suction nozzle 23 is located at the front end of the loading and transfer belt 20 and between the double belts. The suction nozzle of the front-end negative pressure suction nozzle 23 faces the gift box and is used to adsorb the lower part of the side wall at the front end of the box body of the gift box to fix the gift box. Facilitating the loading manipulator 5 to vertically pull out the lid of the gift box.

[0052] The translation module of the loading platform 4 drives the loading and transfer module to move to the area where the lower box lifting manipulator 3 is located, facilitating the alignment of the lower box transfer belt 11 with the loading transfer belt 20. The transfer drive devices of the lower box lifting manipulator 3 and the loading transfer module drive the upper surfaces of the lower box transfer belt 11 and the loading transfer belt 20 to rotate away from the empty gift box shelf 1. The empty gift box is transferred from the lower box transfer belt 11 to the loading transfer belt 20. The front end of the empty gift box abuts against the front end negative pressure suction nozzle 23, the side positioning cylinder 22 extends, pushing the empty gift box tightly towards the laser marking machine 19, and the front end negative pressure suction nozzle 23 operates to fix the gift box after being pushed tightly. The laser marking machine 19 identifies and engraves the outer surface of the gift box.

[0053] After engraving is completed, the loading manipulator 5 pulls out the lid of the gift box upward to open the box, places the arranged toothpaste tubes into the slots inside the gift box to complete the loading of the toothpaste; after placement is completed, the loading manipulator 5 then closes the lid, and the translation module drives the loading and transfer module to move to the next process, and the loaded transfer module unloads the packaged gift box.

[0054] As shown in the Figure 8 and Figure 9 figure, the loading manipulator 5 is located on the other side of the transfer table close to the lower box lifting manipulator 3. The loading manipulator 5 sucks the arranged toothpaste groups at the finished product outlet according to the order information and places them together into the gift box on the loading platform 4. The loading manipulator 5 includes a six-axis robotic arm 24 and an adsorption module, and the adsorption module is installed at the end of the robotic arm.

[0055] The six-axis robotic arm 24 includes a base axis, a shoulder axis, an arm axis, an elbow axis, a first wrist axis, and a second wrist axis. Each axis is connected in sequence through a connecting arm to achieve free movement in three-dimensional space; among them, the adsorption module is fixedly installed at the end of the connecting arm of the second wrist axis.

[0056] The adsorption module includes a rectangular seat 25, a first suction cup assembly, and a second suction cup assembly. Vacuum system components such as a vacuum pump, pipes, and valves are installed inside the rectangular seat 25. The connecting arm of the second wrist axis is fixedly connected to one side wall of the rectangular seat 25. The first suction cup assembly is fixedly installed on the other side wall of the rectangular seat 25, and this side wall is arranged opposite to the side wall where the connecting arm of the second wrist axis is located. The second suction cup assembly is fixedly installed on the side wall of the rectangular seat 25 perpendicular to the plane where the first suction cup assembly is located.

[0057] The first suction cup assembly includes a lid suction cup 26 for sucking the lid of the gift box. There are four lid suction cups 26, which are sequentially distributed at the four corners of the side wall of the rectangular base 25 where they are located. The second suction cup assembly includes a tube suction cup 27 for sucking the toothpaste tube body. The tube suction cups 27 are grouped in pairs for adsorbing a single toothpaste tube body. There are four groups of tube suction cups 27, and each group of tube suction cups 27 is arranged at intervals in the direction of the first suction cup assembly by the six-axis robotic arm 24. A tube base 28 is provided between the two tube suction cups 27 in a single group. If the toothpaste tube is a rotary cylindrical toothpaste tube, the bottom end of the tube base 28 is fixedly connected to the rectangular base 25, and the top end of the tube base 28 is an inwardly concave arc surface, which coincides with the side arc of the toothpaste tube body. The height where the tube suction cup 27 is located is the same as the height of the lowest point of the inwardly concave arc surface.

[0058] Since the side of the toothpaste tube body is an arc surface, during the adsorption process of the general suction cup, the suction cup will be squeezed and deformed along with the side of the tube to form an inwardly concave shape in the middle section. As a result, the adsorption force of the center of the suction cup on the toothpaste side wall is too strong, while the two sides are relatively weak. In this case, if the toothpaste tube body is shaken, it is indeed easy for the two sides of the suction cup to leak air at the adsorption place with the toothpaste, which may lead to the detachment of the toothpaste tube body.

[0059] When the tube suction cup 27 adsorbs the side of the toothpaste tube, the toothpaste tube is located within the arc surface of the tube base 28. The arc surface provides an additional supporting force for the toothpaste tube body, preventing the toothpaste tube body from shaking to both sides during the adsorption process and thus avoiding detachment.

[0060] The six-axis robotic arm 24 of the loading robotic arm 5 moves the first adsorption assembly to the lid of the empty gift box on the loading table 4. The lid suction cup 26 adsorbs the lid of the gift box, and the six-axis robotic arm 24 controls the first adsorption assembly to move upward to pull out and open the lid of the gift box. Then the six-axis robotic arm 24 moves the second adsorption assembly to the toothpaste tube body supply place, and the four groups of tube suction cups 27 simultaneously adsorb the four arranged toothpaste tube bodies. The six-axis robotic arm 24 aligns the four toothpaste tube bodies on the second adsorption assembly with the inner groove of the gift box and gently places them in the gift box. Finally, the lid of the first adsorption assembly is covered from top to bottom, and the packaging of the toothpaste gift box is completed.

[0061] The above are only the embodiments of the present invention. Specific technical solutions and / or common knowledge such as well-known characteristics in the solution are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to explain the content of the claims.

Claims

1. A toothpaste loading robot, characterized in that: It includes a six-axis robotic arm and an adsorption module, the adsorption module includes a rectangular seat for installing a vacuum system component, a first suction cup assembly for completing opening and closing of the cover, and a second suction cup assembly for completing filling of the product. The end of the six-axis robotic arm is fixedly connected to one of the side walls of the rectangular seat, the first suction cup assembly is fixedly installed on the other side wall of the rectangular seat, and the side wall is arranged opposite to the side wall where the six-axis robotic arm is located, and the second suction cup assembly is fixedly installed on the side wall of the rectangular seat perpendicular to the surface where the first suction cup assembly is located.

2. A toothpaste loading robot according to claim 1, characterized in that: The second suction cup assembly includes tube body suction cups, which are arranged in groups of two for adsorbing a single toothpaste tube. There are multiple groups of tube body suction cups, and each group of tube body suction cups is arranged in sequence from the six-axis robotic arm toward the first suction cup assembly.

3. A toothpaste loading robot according to claim 2, characterized in that: A tube body seat is provided between the two tube body suction cups of a single group, the bottom end of the tube body seat is fixedly connected to the rectangular seat, and the top end of the tube body seat is a concave arc surface, which is consistent with the side curvature of the toothpaste tube body.

4. A toothpaste loading robot according to claim 3, characterized in that: The height of the tube body suction cup is the same as the height of the lowest point of the inwardly concave arc surface.

5. A toothpaste loading robot according to claim 1, characterized in that: The first suction cup assembly includes a cover suction cup, and the cover suction cups are multiple, and the multiple cover suction cups are symmetrically installed on the side wall of the rectangular seat.

6. A toothpaste loading robot according to claim 5, characterized in that: There are four cover suction cups, which are sequentially distributed at the four corners of the side wall of the rectangular seat.

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