Collaborative robot box filler

Abstract

The utility model discloses a box filling machine with a collaborative robot. The box filling machine comprises a rack part, a bottle conveying part, a bottle arraying part, a box conveying part and the collaborative robot. The carton conveying part penetrates through the rack in the horizontal direction and is used for conveying empty cartons into a to-be-cartoned position and conveying the cartons to the next station after cartoning. The bottle conveying part penetrates through the bottle arraying part in the horizontal direction and is used for conveying and caching bottled products to be boxed; the bottle arraying part is fixedly installed on the rack and used for integrating and arraying bottled products conveyed to the designated position according to the boxing specification. The collaborative robot is fixedly installed on the rack and used for grabbing and placing the integrated and arranged bottled products into a carton. According to the collaborative robot box filling machine, the automatic box filling process is completed through cooperation of the box conveying part, the bottle conveying part, the bottle arraying part and the collaborative robot, the layout of all parts is well designed, the overall structure is small and exquisite, the occupied space is small, work is stable, efficiency is high, and the productivity is remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic packaging, in particular to a collaborative robot case packing machine. Background Art

[0002] At present, the fully automatic case packing machines widely used in China mainly include two forms: drop type and grasping type. The dropping method is likely to cause the bursting and explosion of the product itself and the product packaging, affecting the product packaging, damaging the machine and polluting the environment, etc. The power sources of the grasping type case packing machine are mainly motors, cylinders, electric cylinders, etc., which are transmitted through synchronous belts, belts, chains, etc. The operation steps are slow, time-consuming, the trajectory is single, and the floor space is small, making it difficult to improve the production capacity. With the development of society and the improvement of people's requirements, customers have raised the requirements for the increase in production capacity and the floor area of the production line. On the market, more compact and efficient mechanisms have gradually emerged to replace the traditional grasping structure, such as the case packing collaborative robot with the authorization announcement number CN216609063U. Inspired by this, the applicant uses the existing case packing collaborative robot to optimize the structure of the case packing machine to solve the problems of low production capacity and large floor space. Content of the Utility Model

[0003] The purpose of the utility model is to provide a collaborative robot case packing machine for the deficiencies of the existing technology. The collaborative robot is used to automatically grab and pack bottles. The overall structure is compact, the floor space is small, and the work is stable and efficient, significantly improving the production capacity.

[0004] The technical solution to achieve the purpose of the utility model is as follows:

[0005] A collaborative robot case packing machine includes a frame, a bottle conveying part, and a collaborative robot, a bottle aligning part, and a box conveying part arranged in sequence from top to bottom. The box conveying part runs through the frame horizontally, and is used for conveying empty cartons into the waiting case packing position and conveying them to the next working position after case packing. The bottle conveying part runs through the bottle aligning part horizontally, and is used for conveying and caching the bottled products to be case packed. The bottle aligning part is fixedly installed on the frame, and is used for integrating and arranging the bottled products conveyed to the designated position according to the case packing specifications. The collaborative robot is fixedly installed on the frame, and is used for grabbing and placing the integrated and arranged bottled products into the carton.

[0006] Further, the collaborative robot includes a robot body and a bottle grabbing assembly. The bottle grabbing assembly includes a connecting component fixedly installed at the gripper end of the robot body and a plurality of suspension rods vertically arranged at the bottom of the connecting component. The lower ends of the suspension rods are fixedly connected with a horizontally arranged suspension plate, and a plurality of vacuum suction cup modules corresponding to the case packing specifications are arranged at the bottom of the suspension plate in an array.

[0007] Further, the connecting component includes a first connecting plate and a second connecting plate. The hanging rod is fixedly connected to the second connecting plate. On both sides of the bottom of the first connecting plate, connecting blocks are symmetrically and fixedly connected. Inside the connecting blocks, there are chutes running through both ends of the connecting blocks along the length direction. The two sides of the second connecting plate are inserted horizontally into the chutes, and quick-locking screws are connected between the second connecting plate and the connecting blocks.

[0008] Further, the whole-bottle alignment part includes a fixedly arranged whole-bottle tabletop. There is a through groove in the middle of the whole-bottle tabletop. The bottle conveying part runs through the whole-bottle tabletop along the through groove. On the whole-bottle tabletop, there is a bottle blocking component arranged along a direction perpendicular to the through groove with adjustable spacing. There is a bottle pushing component on the side of the bottle blocking component. The bottle pushing component includes a bottle pushing baffle, a left slow-bottle baffle, and a right slow-bottle baffle that are movably arranged along a direction perpendicular to the through groove.

[0009] Further, the bottle blocking component includes an outer bottle blocking plate and an inner bottle blocking plate. There are two outer bottle blocking plates, which are respectively located on both sides of the through groove and fixedly installed on the side of the whole-bottle tabletop. A bottom plate is fixedly arranged below the whole-bottle tabletop. At both ends of the inner bottle blocking plate, support frames are vertically and fixedly connected. At the bottom of the two support frames, a cross frame is connected. Between the two ends of the cross frame and the bottom plate, a first linear guide rail and a locking mechanism are connected.

[0010] Further, the locking mechanism is a cylinder fixedly installed on the cross frame. The piston rod of the cylinder is arranged vertically downward and fixedly connected with a buffer block, and the stroke of the cylinder is greater than the distance between the cross frame and the bottom plate.

[0011] Further, a second linear guide rail is fixedly arranged on the whole-bottle tabletop. There are three sliders on the second linear guide rail. The bottle pushing baffle, the left slow-bottle baffle, and the right slow-bottle baffle are respectively fixedly connected to the three sliders, and driving mechanisms are respectively connected to the ends.

[0012] Further, the bottle conveying part includes a chain plate conveyor. A bottle clamping device is arranged at the entrance of the chain plate conveyor close to the whole-bottle alignment part.

[0013] Further, the bottle clamping device includes a first vertical plate and a second vertical plate that are respectively fixedly and adjustably installed on both sides of the chain plate conveyor. Clamping cylinders are fixedly installed on both the first vertical plate and the second vertical plate. The two clamping cylinders are arranged oppositely, and rubber clamping blocks are fixedly connected to the ends of the piston rods.

[0014] Further, a guiding part is erected above the box conveying part. The guiding part includes a fixedly arranged guiding bracket. Guide rods are symmetrically arranged at both ends of the guiding bracket. A lifting plate is slidably connected between the guide rods, and a lifting frame parallel to the upper part of the lifting plate. A screw rod adjusting component is connected between the lifting plate and the guiding bracket. A lifting cylinder is connected between the lifting frame and the lifting plate, and a box supporting component is connected to the top.

[0015] Furthermore, a board placing part is arranged above the box feeding part and beside the collaborative robot.

[0016] Furthermore, the board placing part includes a partition feeding mechanism and a partition flipping device. The partition flipping device includes a rotating shaft rotatably installed at the outlet of the partition feeding mechanism. A partition placing table is fixedly connected to the rotating shaft, and flipping cylinders are hinged between both ends of the rotating shaft and the partition feeding mechanism.

[0017] Adopting the above technical solutions, the utility model has the following beneficial effects:

[0018] (1) The utility model transports packaging materials to the packaging station through the box feeding part, transports bottled products to the whole bottle arranging part through the bottle feeding part, arranges them in accordance with the packing specifications by the whole bottle arranging part, and then the collaborative robot moves the neatly arranged bottled products into the packaging materials at the packaging station to complete the automatic boxing operation. By using the collaborative robot to automatically grab bottles and box them, the overall structure is small and the floor space occupied is less, and the work is stable and efficient, significantly improving the production capacity.

[0019] (2) The collaborative robot of the utility model is provided with a customized bottle grabbing component. By setting a plurality of vacuum suction cup modules adapted to the packing specifications, it is easy to install and disassemble, and can complete the boxing of all bottled products at one time, improving the boxing efficiency.

[0020] (3) The utility model realizes the quick disassembly and assembly of the connection component by setting two connecting plates with opening chutes and adding quick locking screws, facilitating the replacement of different specifications of bottle grabbing components, meeting the requirements of different packing specifications, and improving the specification switching efficiency.

[0021] (4) The whole bottle table surface of the whole bottle arranging part of the utility model is separated into left and right parts by the bottle feeding part, thus forming two whole bottle areas. By adopting the method of pushing the bottles once for every row of bottles fed in, it can be pushed in two directions, saving the waiting time for grabbing bottles or the waiting time for pushing the bottles, saving the grabbing waiting time of the collaborative robot, and thus improving the boxing efficiency. At the same time, two slow bottle baffle plates are provided, which are respectively used for slowing down the bottles in the two whole bottle areas and move synchronously when the bottle pushing baffle plate acts, preventing the bottles from falling over during the bottle pushing process and improving the reliability of the whole bottle.

[0022] (5) The whole bottle component of the utility model realizes the adjustable distance between the inner bottle blocking plates through the first linear guide rail, thus meeting the whole bottle requirements of different packing specifications, and is provided with a locking mechanism composed of a cylinder and a buffer block. The position of the inner bottle blocking plate can be automatically adjusted by an external driving mechanism such as a servo motor, and the buffer block is driven by the cylinder to press down against the bottom plate to achieve quick locking. The structure is simple and the locking efficiency is high.

[0023] (6) The utility model drives the baffle to move through three drivers, one driver is used to push the bottle, and two drivers are respectively used to buffer the bottle. While realizing the automatic bottle-pushing operation, one buffer-driving moves synchronously with the bottle-pushing action to ensure that the bottle will not fall over during bottle-pushing. And a second linear guide rail is used to realize the sliding of the three baffles at the same time, simplifying the structure and saving the equipment cost.

[0024] (7) The utility model is additionally provided with a guiding part, so that after the packaging material is conveyed to the packaging station, the opening of the carton can be supported, making the packing operation more convenient.

[0025] (8) The utility model is additionally provided with a plate placing part. The automatic feeding of the partition board is realized through the combined use of a flipping cylinder and a suction cup, and the placing of the partition board in the carton is automatically completed under the cooperation of a collaborative robot, eliminating manual operation and realizing the full-automatic packing operation, further improving the packing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the utility model be more clearly understood, the following further details the utility model according to specific embodiments in conjunction with the drawings, wherein:

[0027] Figure 1 is a schematic structural diagram of the utility model;

[0028] Figure 2 is a schematic structural diagram of the plate placing part of the utility model;

[0029] Figure 3 is a schematic structural diagram of the guiding part of the utility model;

[0030] Figure 4 is a schematic structural diagram of the bottle aligning part of the utility model;

[0031] Figure 5 is Figure 1 a partial enlarged view of A in

[0032] The reference numerals in the drawings are:

[0033] frame 1;

[0034] bottle conveying part 2, chain plate conveyor 2-1, bottle clamping device 2-2, first vertical plate 2-2-1, second vertical plate 2-2-2, clamping cylinder 2-2-3, rubber clamping block 2-2-4;

[0035] collaborative robot 3, robot body 3-1, bottle gripping assembly 3-2, suspension rod 3-2-1, first connecting plate 3-2-2, second connecting plate 3-2-3, connecting block 3-2-4, quick locking screw 3-2-5, suspension plate 3-2-6, vacuum suction cup module 3-2-7;

[0036] Whole bottle alignment part 4, whole bottle tabletop 4-1, bottle blocking assembly 4-2, outer bottle blocking plate 4-2-1, inner bottle blocking plate 4-2-2, bottom plate 4-2-3, support frame 4-2-4, cross frame 4-2-5, first linear guide 4-2-6, locking mechanism 4-2-7, bottle pushing assembly 4-3, bottle pushing baffle 4-3-1, left bottle buffering baffle 4-3-2, right bottle buffering baffle 4-3-3, second linear guide 4-4;

[0037] Carton conveying part 5;

[0038] Guiding part 6, guiding bracket 6-1, guide rod 6-2, lifting plate 6-3, lifting frame 6-4, screw rod adjusting assembly 6-5, lifting cylinder 6-6, box supporting assembly 6-7;

[0039] Plate placing part 7, partition feeding mechanism 7-1, partition flipping device 7-2, rotating shaft 7-2-1, partition placing table 7-2-2, flipping cylinder 7-2-3. Specific implementation mode

[0040] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the specification drawings and specific implementation modes.

[0041] (Embodiment 1)

[0042] As Figures 1 to 5 shown in the collaborative robot cartoning machine, which includes a frame 1, a bottle conveying part 2, a collaborative robot 3, a whole bottle alignment part 4 and a carton conveying part 5, wherein the collaborative robot 3, the whole bottle alignment part 4 and the carton conveying part 5 are arranged in sequence from top to bottom. The carton conveying part 5 is arranged horizontally through the frame 1 for conveying empty cartons into the waiting cartoning position and conveying them to the next working station to the packaging station after cartoning. The bottle conveying part 2 is arranged horizontally through the whole bottle alignment part 4 for conveying and caching the bottled products to be cartoned. The whole bottle alignment part 4 is fixedly installed on the frame 1 for integrating and arranging the bottled products conveyed to the specified position according to the cartoning specifications. The collaborative robot 3 is fixedly installed on the frame 1 for moving the integrated and arranged bottled products into the following packaging materials. Through a specific position layout, the overall structure is small and the floor space is less. The collaborative robot 3 is used to automatically grab bottles and carton them to complete automatic cartoning, with stable work and high efficiency, significantly improving the production capacity.

[0043] Specifically, a guiding part 6 and a plate placing part 7 are fixedly installed in sequence along the conveying direction above the carton conveying part 5. The guiding plate 6 is arranged at the packaging station to support the mouth of the conveyed carton, making the cartoning operation more convenient. The plate placing part 7 is located on the side of the collaborative robot to realize the automatic feeding of partitions and automatically complete the placement of partitions under the cooperation of the collaborative robot 3, eliminating manual operation and realizing full-automatic cartoning operation, further improving the cartoning efficiency.

[0044] Among them, the guiding part 6 includes a fixedly arranged guiding bracket 6-1. Guide rods 6-2 are symmetrically arranged at both ends of the guiding bracket 6-1. A lifting plate 6-3 and a lifting frame 6-4 parallel to and above the lifting plate 6-3 are slidably connected between the two guide rods 6-2. A screw rod adjusting assembly 6-5 is connected between the lifting plate 6-3 and the guiding bracket 6-1. A lifting cylinder 6-6 is connected between the lifting frame 6-4 and the lifting plate 6-3, and a box supporting assembly 6-7 is connected to the top. The initial height is adjusted through the screw rod adjusting assembly 6-5, and the lifting cylinder 6-6 drives the lifting frame 6-4 to move, so as to drive the box supporting assembly 6-7 to insert into and pull out of the carton.

[0045] The plate placing part 7 includes a partition feeding mechanism 7-1 and a partition flipping device 7-2. The partition feeding mechanism 7-1 belongs to the prior art, and its detailed structure is described in detail in the patent document with the authorization publication number CN 114056690 B, which will not be elaborated here. The partition flipping device 7-2 includes a rotating shaft 7-2-1 rotatably installed at the outlet of the partition feeding mechanism 7-1. A partition placing table 7-2-2 is fixedly connected to the rotating shaft 7-2-1, and flipping cylinders 7-2-3 are hinged between both ends and the partition feeding mechanism 7-1. The rotating shaft 7-2-1 is driven to rotate by the flipping cylinders 7-2-3, so as to lay flat the partitions in a vertical state conveyed by the partition feeding mechanism 7-1 and wait for boxing.

[0046] The bottle conveying part 2 includes a chain conveyor 2-1 and a bottle clamping device 2-2. The whole bottle arranging part 4 includes a fixedly arranged whole bottle table 4-1. A through groove is provided in the middle of the whole bottle table 4-1. The chain conveyor 2-1 is arranged along the through groove and penetrates through the whole bottle table, so as to divide the whole bottle table into left and right parts, thus forming two whole bottle areas. Bottle blocking assemblies 4-2 are arranged on the whole bottle table 4-1 along a direction perpendicular to the through groove and with adjustable spacing. A bottle pushing assembly 4-3 is arranged on the side of the bottle blocking assemblies 4-2. The length of the boxing specification is limited by the bottle blocking assemblies 4-2, and the whole row of bottles conveyed by the chain conveyor 2-1 is pushed out by the bottle pushing assembly 4-3 and cooperates with the bottle blocking assemblies 4-2 to complete the arrangement of the boxing specification.

[0047] The bottle blocking assembly 4-2 includes an outer bottle blocking plate 4-2-1 and an inner bottle blocking plate 4-2-2. There are two outer bottle blocking plates 4-2-1, which are respectively located on both sides of the through groove and fixedly installed on the side of the whole bottle table 4-1. The bottle clamping device 2-2 is installed at the entrance of the chain conveyor near the whole bottle row part 4, that is, between the two outer bottle blocking plates 4-2-1. The bottle clamping device 2-2 includes a first vertical plate 2-2-1 and a second vertical plate 2-2-2 that are respectively fixedly installed and adjustably installed on both sides of the chain conveyor 2-1 through a screw rod structure. Clamping cylinders 2-2-3 are fixedly installed on both the first vertical plate and the second vertical plate. The two clamping cylinders are arranged oppositely, and rubber clamping blocks 2-2-4 are fixedly connected to the ends of the piston rods, so as to clamp the subsequent bottles when the number of bottles transported to the whole bottle row part 4 reaches the packing specification, playing a role of blocking. A bottom plate 4-2-3 is fixedly provided below the whole bottle table 4-1. The two ends of the inner bottle blocking plate 4-2-2 are vertically fixedly connected with support frames 4-2-4. The bottoms of the two support frames 4-2-4 are connected with a cross frame 4-2-5. First linear guide rails 4-2-6 and locking mechanisms 4-2-7 are connected between the two ends of the cross frame 4-2-5 and the bottom plate 4-2-3. The locking mechanism 4-2-7 is a cylinder fixedly installed on the cross frame. The piston rod of the cylinder is arranged vertically downward and fixedly connected with a buffer block, and the stroke of the cylinder is greater than the distance between the cross frame and the bottom plate. The distance between the inner bottle blocking plates can be adjusted through the first linear guide rails 4-2-6, so as to meet the whole bottle requirements of different packing specifications. A locking mechanism 4-2-7 composed of a cylinder and a buffer block is provided. The position of the inner bottle blocking plate is automatically adjusted by manual adjustment or a driving mechanism such as an external servo motor, and the buffer block is driven by the cylinder to press downward against the bottom plate to achieve rapid locking. The structure is simple and the locking efficiency is high.

[0048] The bottle pushing assembly 4-3 includes a bottle pushing baffle 4-3-1, a left bottle buffering baffle 4-3-2 and a right bottle buffering baffle 4-3-3 that are movably arranged along a direction perpendicular to the through groove. A second linear guide rail 4-4 is fixedly provided on the whole bottle table 4-1. There are three sliders on the second linear guide rail. The bottle pushing baffle 4-3-1, the left bottle buffering baffle 4-3-2 and the right bottle buffering baffle 4-3-3 are respectively fixedly connected to the three sliders, and driving mechanisms are respectively connected to the ends. The baffles are driven to move through the three drives to realize automatic bottle pushing operation, and the sliding of the three baffles is realized by one second linear guide rail at the same time, which simplifies the structure and saves the equipment cost. The driving mechanism is a common existing mechanism, and can adopt motor drive, pneumatic drive, etc., which will not be elaborated here.

[0049] The collaborative robot 3 includes a robot body 3-1 and a bottle-gripping assembly 3-2. The bottle-gripping assembly 3-2 includes a connection assembly fixedly installed at the gripper end of the robot body 3-1 and a plurality of suspension rods 3-2-1 vertically provided at the bottom of the connection assembly. The connection assembly includes a first connecting plate 3-2-2 and a second connecting plate 3-2-3. At both sides of the bottom of the first connecting plate 3-2-2, connection blocks 3-2-4 are symmetrically fixedly connected. Inside the connection blocks 3-2-4, there are chutes penetrating through both ends of the connection blocks 3-2-4 along the length direction. Both sides of the second connecting plate 3-2-3 are inserted horizontally into the chutes, and quick-lock screws 3-2-5 are connected between the second connecting plate 3-2-3 and the connection blocks 3-2-4. A plurality of suspension rods 3-2-1 are all fixedly connected to the bottom of the second connecting plate 3-2-3. At the lower end of the suspension rod 3-2-1, a horizontally arranged suspension plate 3-2-6 is fixedly connected. At the bottom of the suspension plate 3-2-6, a plurality of vacuum suction cup modules 3-2-7 corresponding to the packing specifications are arranged in a row. Through the vacuum suction cup modules, the packing of all bottled products can be completed at one time, improving the packing efficiency. By providing two slidingly matched connecting plates and adding quick-lock screws, the quick disassembly and assembly of the connection assembly can be realized, facilitating the replacement of bottle-gripping assemblies of different specifications, meeting the requirements of different packing specifications, and improving the specification switching efficiency.

[0050] The working process of this embodiment: The empty carton is conveyed by the carton conveying part 5. The bottles are conveyed to the bottle alignment part 4 through the chain conveyor 2-1. When the number of bottles in a row reaches the set requirement, the bottle pushing baffle 4-3-1 and the left bottle buffer baffle 4-3-2 jointly push the bottles to the bottle alignment area on the left side to prevent the bottles from tipping over. After the bottle pushing is completed, the bottle pushing baffle 4-3-1 returns to its original position and waits to push the next row, and so on, until the set number of aligned bottles is completed. While the bottles are being aligned, the collaborative robot 3 operates according to the set stroke trajectory command. First, it sucks the partition of the plate placing part 6 and places it into the carton, then comes above the left bottle alignment area, grabs the bottles at one time and places them into the carton, and then continues to grab a partition and place it into the carton. From sucking the partition to placing the partition, to grabbing and placing the bottles and then placing the partition again, it is a complete cycle for packing the first carton. Since the middle bottle pushing baffle 4-3-1 has already filled the left bottle alignment area first, while the packing operation is in progress, the bottle pushing baffle 4-3-1 cooperates with the right bottle buffer baffle 4-3-3 to fill the right bottle alignment area, preparing in advance for packing the second carton, realizing the collaborative robot to reciprocally and cyclically grab the bottles and pack them on the left and right platforms. In actual operation, the collaborative robot does not need to wait for the bottles to enter and can perform the next bottle-grabbing operation, saving the time of waiting for bottle-grabbing and improving the work efficiency and production capacity.

[0051] The utility model conveys packaging materials to the packaging station through the box feeding part 5, conveys bottled products to the whole bottle arranging part through the bottle feeding part 2, arranges them according to the packing specifications by the whole bottle arranging part 4, and then the collaborative robot 3 moves the neatly arranged bottled products into the packaging materials at the packaging station to complete the automatic packing operation. The collaborative robot 3 is used to automatically grasp the bottles and pack them. The overall structure is small and occupies less space, and it works stably and efficiently, significantly improving the production capacity.

[0052] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the utility model. It should be understood that the above are only specific embodiments of the utility model and are not used to limit the utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the utility model shall be included within the protection scope of the utility model.

Claims

1. A collaborative robot case-packing machine, characterized in that: It includes a frame, a bottle conveying part, a collaborative robot, a bottle aligning part, and a box conveying part which are arranged in sequence from top to bottom. The box conveying part runs through the frame horizontally and is used to convey empty cartons into the waiting packing positions and then convey them to the next working station after packing. The bottle conveying part runs through the bottle aligning part horizontally and is used to convey and buffer the bottled products to be packed. The bottle aligning part is fixedly installed on the frame and is used to integrate and arrange the bottled products conveyed to the designated positions according to the packing specifications. The collaborative robot is fixedly installed on the frame and is used to grab and place the integrated and arranged bottled products into the cartons.

2. The collaborative robot case-packing machine according to claim 1, wherein: The collaborative robot includes a robot body and a bottle grasping component. The bottle grasping component includes a connecting component fixedly installed at the gripper end of the robot body and a plurality of suspension rods vertically arranged at the bottom of the connecting component. The lower ends of the suspension rods are fixedly connected with a horizontally arranged suspension plate, and a plurality of vacuum suction cup modules corresponding to the packing specifications are arranged at the bottom of the suspension plate in sequence.

3. The collaborative robot case-packing machine according to claim 2, characterized in that: The connecting component includes a first connecting plate and a second connecting plate. The suspension rods are fixedly connected with the second connecting plate. At both sides of the bottom of the first connecting plate, connecting blocks are symmetrically fixedly connected. A chute running through both ends of the connecting block along the length direction is arranged inside the connecting block. The two sides of the second connecting plate are inserted into the chute horizontally and quick locking screws are connected between the second connecting plate and the connecting block.

4. A collaborative robot case packing machine according to claim 1, characterized in that: The bottle aligning part includes a fixedly arranged bottle aligning tabletop. A through groove is arranged in the middle of the bottle aligning tabletop. The bottle conveying part runs through the bottle aligning tabletop along the through groove. On the bottle aligning tabletop, a bottle blocking component with adjustable spacing is arranged along the direction perpendicular to the through groove. A bottle pushing component is arranged at the side of the bottle blocking component. The bottle pushing component includes a bottle pushing baffle, a left bottle buffering baffle, and a right bottle buffering baffle which are movably arranged along the direction perpendicular to the through groove.

5. The collaborative robot case packer according to claim 4, wherein: The bottle blocking component includes an outer bottle blocking plate and an inner bottle blocking plate. There are two outer bottle blocking plates, which are respectively located on both sides of the through groove and fixedly installed at the side of the bottle aligning tabletop. A bottom plate is fixedly arranged below the bottle aligning tabletop. The two ends of the inner bottle blocking plate are vertically fixedly connected with support frames. A cross frame is connected at the bottom of the two support frames. A first linear guide rail and a locking mechanism are connected between the two ends of the cross frame and the bottom plate.

6. The collaborative robot case packer according to claim 5, wherein: The locking mechanism is a cylinder fixedly installed on the cross frame. The piston rod of the cylinder is arranged vertically downward and fixedly connected with a buffer block, and the stroke of the cylinder is greater than the distance between the cross frame and the bottom plate.

7. A collaborative robot case-packing machine according to claim 4, characterized in that: A second linear guide rail is fixedly arranged on the bottle aligning tabletop. Three sliders are arranged on the second linear guide rail. The bottle pushing baffle, the left bottle buffering baffle, and the right bottle buffering baffle are respectively fixedly connected with the three sliders and driving mechanisms are respectively connected at their ends.

8. The collaborative robot case-packing machine according to claim 1, wherein: The bottle conveying part includes a chain conveyor, and a bottle clamping device is arranged at the entrance of the chain conveyor close to the bottle aligning part.

9. The collaborative robot case-packing machine according to claim 1, wherein: A guiding part is erected above the box conveying part. The guiding part includes a fixedly arranged guiding support. Guide rods are symmetrically arranged at both ends of the guiding support. A lifting plate and a lifting frame parallel to the upper part of the lifting plate are slidably connected between the guide rods. A lead screw adjusting component is connected between the lifting plate and the guiding support. A lifting cylinder is connected between the lifting frame and the lifting plate, and a box supporting component is connected at the top.

10. A collaborative robot case packing machine according to claim 1, characterized in that: Above the box input section, a plate placement section is installed on the side of the collaborative robot.

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