Toothpaste gift box packaging mechanism

Abstract

The utility model relates to the field of automatic packaging, and discloses a toothpaste gift box packaging mechanism which comprises an empty gift box goods shelf, a lower box lifting mechanical arm and a loading table. Each layer plate of the empty gift box goods shelf is parallel to each other and is inclined towards the direction of the lower box lifting manipulator; the lower box lifting mechanical arm comprises a lower box transferring belt and a jacking assembly, wherein the lower box transferring belt is used for rotating from the empty gift box goods shelf to the loading table. The jacking assembly is installed between the two belts of the lower box transfer belt and comprises an ejection air cylinder used for vertically stretching out and drawing back, a horizontal telescopic air cylinder used for stretching out and drawing back towards the empty gift box goods shelf and an adsorption component used for sucking gift boxes through negative pressure, and the adsorption component is fixedly installed at the telescopic end of the horizontal telescopic air cylinder. The fixed end of the horizontal telescopic cylinder is fixedly mounted at the telescopic end of the ejection cylinder; the technical problem that empty gift boxes of different specifications cannot be supplied to the same loading station according to order requirements in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the field of automatic packaging, in particular to a toothpaste gift box packaging mechanism. Background Art

[0002] In today's consumer trend of pursuing personalization and customization, the smart experience production line has come into being. It not only integrates advanced automation and intelligent technologies, but also cleverly transforms the production process into a unique user experience, allowing users to witness and participate in the birth process of their customized products.

[0003] In the design of the smart experience production line, in order to fully meet the diverse needs of users, the smart experience production line also meets the needs of users to customize gift boxes of different specifications. For example, the number of toothpaste tubes placed in the toothpaste gift box is different, which means that the gift boxes used to package these toothpaste tubes have different sizes.

[0004] This new consumer trend demands a higher level of flexibility and intelligence in the packaging process, a requirement that traditional toothpaste packaging technology cannot meet. Since all customized products must be produced on the same efficient, integrated intelligent production line and transported to the packaging stage via a unified finished product transportation system, this requires the packaging system to be able to automatically adjust and supply empty gift boxes of different specifications based on real-time order requirements. However, existing technologies are often limited by production line layout and insufficient automation levels, making it difficult to seamlessly switch between the supply of empty gift boxes of different specifications on the same assembly line, and these gift boxes of varying specifications must be loaded at the same loading station.

[0005] The current market is in urgent need of an innovative intelligent packaging solution that can flexibly respond to diverse packaging needs while maintaining efficient production line operation, ensuring that empty gift boxes of various specifications can be accurately delivered to the same packaging station, thus perfectly meeting modern consumers' expectations for personalized and customized products and their production processes. Utility Model Content

[0006] The utility model aims to provide a toothpaste gift box packaging mechanism to solve the technical problem that the existing technology cannot meet the demand of supplying empty gift boxes of different specifications to the same loading station according to order requirements.

[0007] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a toothpaste gift box packaging mechanism, comprising an empty gift box shelf, a lower box lifting manipulator and a loading platform, wherein the lower box lifting manipulator is installed between the empty gift box shelf and the loading platform; the empty gift box shelf is a layer shelf, wherein each layer of the empty gift box shelf is parallel and inclined toward the direction of the lower box lifting manipulator, and the layer of the empty gift box shelf is a double slide bar for supporting both sides of the bottom of the empty gift box, and a stopper is provided at the lower end of each slide bar; the lower box lifting manipulator comprises a lifting module for providing vertical displacement and a lower box transfer module for providing horizontal displacement, and the lower box transfer module is fixedly mounted on the moving part of the lifting module;

[0008] The lower box transfer module includes a lower box transfer belt and a lifting assembly for rotating the lower box from the empty gift box shelf toward the loading platform; the lower box transfer belt is a narrow double belt for supporting the bottom sides of the empty gift box, and the lifting assembly is installed between the double belts of the lower box transfer belt. The lifting assembly includes an ejection cylinder for vertical extension, a horizontal telescopic cylinder for extension toward the empty gift box shelf, and an adsorption component for negative pressure suction of the gift box. The adsorption component is fixedly mounted on the telescopic end of the horizontal telescopic cylinder, and the fixed end of the horizontal telescopic cylinder is fixedly mounted on the telescopic end of the ejection cylinder.

[0009] The principle and advantages of this solution are as follows: in actual application, the lifting module of the lower box lifting manipulator drives the lower box transfer belt of the lower box transfer module to align with the lower box outlet of the corresponding layer. At this time, the ejection cylinder is in a retracted state, and the adsorption component is lower than the upper surface of the lower box transfer belt as a whole; the horizontal telescopic cylinder extends to move the slider on the adsorption slide to the end of the adsorption slide close to the empty gift box shelf, so that the suction nozzle contacts and adsorbs the side of the empty gift box; then the ejection cylinder is controlled to extend, so that the adsorption component drives the contact end of the empty gift box to lift up, so that the empty gift box The bottom of this end is higher than the stopper at the lower box outlet, and the horizontal telescopic cylinder contracts, moving the empty gift box away from the lower box transfer belt. At the same time, the upper surface of the lower box transfer belt rotates away from the empty gift box shelf to assist in the transfer of the empty gift box. When the empty gift box is stably placed on the lower box transfer belt, the negative pressure suction nozzle stops adsorption, and the ejection cylinder contracts, so that the adsorption component is completely submerged under the upper surface of the lower box transfer belt. The empty gift box is only driven by the lower box transfer belt to the center of the lower box transfer belt. The lifting module drives the lower box transfer module to move vertically to the height of the loading platform. The transfer drive device continues to work and delivers the empty gift box to the loading platform.

[0010] This solution manages empty gift boxes of different specifications and places them on different layers of the empty gift box shelves. The empty gift boxes on the corresponding layers are transferred by the unloading box lifting robot, so that empty gift boxes of different specifications can be supplied to the same loading station according to order requirements. The solution can automatically adjust and supply empty gift boxes of different specifications according to real-time order requirements to meet the personalized customization needs of different users. In addition, this solution realizes intelligent and fully automatic production without human intervention through precise grasping, moving and releasing.

[0011] As an improvement, the adsorption component includes a bracket member and a nozzle mounting member for installing a negative pressure suction nozzle, the bracket member includes a vertical section and a horizontal section, the bottom end of the vertical section is fixedly installed on the telescopic end of the horizontal telescopic cylinder, the top end of the vertical section is fixedly connected to the horizontal section, and the horizontal section extends from the top end of the vertical section toward the empty gift box shelf.

[0012] The beneficial effect of this improvement is: because the lower box transfer belt is a narrow double belt, the lower box transfer belt is supported by four transfer rollers respectively, and the two transfer rollers at the same end are fixedly connected by a coaxial rotating shaft, then the rotating shaft will block the moving trajectory of the negative pressure suction nozzle, and the vertical section of the bracket structure is always located between the two rotating shafts, the negative pressure suction nozzle is lifted by the vertical section, and the negative pressure suction nozzle is extended outward by the horizontal section, so that the negative pressure suction nozzle passes over the top of the rotating shaft and extends out between the two rotating shafts, so that the negative pressure suction nozzle can contact and adsorb on the side of the empty gift box.

[0013] As an improvement, the suction nozzle mounting component includes a vertical plate and a horizontal plate for supporting the bottom of the empty gift box. The negative pressure suction nozzle is installed on the vertical plate, and the negative pressure suction nozzle faces the empty gift box shelf for adsorbing the side of the empty gift box. The vertical plate is fixedly connected to the extended end of the horizontal section, and the bottom of the vertical plate is fixedly connected to the horizontal plate. The horizontal plate extends from the bottom of the vertical plate toward the empty gift box shelf.

[0014] The beneficial effect of this improvement is that by introducing the horizontal plate design, when the negative pressure suction nozzle attempts to adsorb the side of the empty gift box, the horizontal plate can directly contact and support the bottom of the gift box. This dual support (side adsorption and bottom support) mechanism ensures the stability of the gift box during the grasping process and prevents the adsorption failure caused by the gift box tilting upward due to the side; due to the auxiliary support of the horizontal plate, the negative pressure suction nozzle can more effectively form a seal with the side of the gift box, thereby improving the efficiency of negative pressure absorption. At the same time, the presence of the horizontal plate reduces the shaking and deviation of the gift box during the grasping process, allowing the gift box to be positioned and grasped more accurately, thereby improving the success rate and efficiency of the entire packaging process.

[0015] As an improvement, the loading platform is provided with a loading and transferring module, which includes a loading and transferring belt and a support plate. The loading and transferring belt has the same rotation direction as the lower box transfer belt and is also a narrow double belt; the support plate is fixedly installed between the double belts of the loading and transferring belt and is located at one end of the loading and transferring belt close to the lower box transfer belt. The upper end of the support plate is a plane extending in the direction of the lower box transfer belt, and the upper end plane of the support plate is flush with the upper surface of the loading and transferring belt.

[0016] The beneficial effect of this improvement is that the loading and transferring belts at both ends are formed into arc-shaped support surfaces along the outside of the transfer rollers, and the end of the lower box transfer belt is also an arc-shaped support surface. Because the empty gift boxes are relatively light, and a certain gap is left between the lower box transfer belt and the loading and transferring belt to avoid work interference; in order to prevent the empty gift boxes from being transported between the two, as the bottoms of the empty gift boxes gradually increase as they leave the lower box transfer belt, the center of gravity of the empty gift boxes is suspended in the air, so that the empty gift boxes are no longer supported by the lower box transfer belt, and the empty gift boxes are drooping at the front and tilting at the back. If the empty gift box cannot contact the horizontal upper surface of the loading and transferring belt before tilting, the front side of the empty gift box will first contact the arc surface of the loading and transferring belt, resulting in the empty gift box being unable to be smoothly transferred to the horizontal upper surface of the loading and transferring belt. The setting of the support plate allows a support surface for supporting the bottom of the empty gift box to be set in advance at the arc end of the loading and transferring belt, preventing the empty gift box from tilting and smoothly transitioning to the horizontal upper surface of the loading and transferring belt.

[0017] As an improvement, the loading platform is also provided with a laser marking machine for engraving codes on gift boxes. The laser marking machine is located on one side of the loading and transferring module. The loading and transferring module includes a side baffle for providing support for the side of the loading and transferring belt. The side baffle close to one end of the laser marking machine is fixedly installed on the outside of the loading and transferring belt, and the side baffle away from the end of the laser marking machine is in two sections. One section of the two-section side baffle close to the front end of the loading and transferring belt in the movement direction is connected to a side positioning cylinder, and the other section of the two-section side baffle is fixedly installed on the outside of the loading and transferring belt, and the side positioning cylinder extends toward the laser marking machine.

[0018] The beneficial effect of this improvement is that the gift box is pushed and clamped by the side positioning cylinder to fix the relative position of the gift box and the laser marking machine, thereby facilitating accurate marking by the laser marking machine.

[0019] As an improvement, the loading and transferring module further comprises a front negative pressure nozzle for fixing the gift box body, the front negative pressure nozzle being located at the front end of the movement direction of the loading and transferring belt and between the two belts.

[0020] The beneficial effect of this improvement is that, because the toothpaste gift box has a rectangular body and the lid is a bottomless rectangular shell, the lid covers the body from top to bottom. To prevent the box from moving when the loading robot removes the lid, a front-end negative pressure nozzle is used to suck the lower part of the front side wall of the box body to fix the gift box, making it easier for the loading robot to remove the lid vertically.

[0021] As an improvement, the toothpaste gift box packaging mechanism also includes an upper box lifting robot, which is located at the higher end of the inclined shelf of the empty gift box shelf. The upper box lifting robot includes a lifting module for providing vertical displacement and an upper box transferring module for providing horizontal displacement. The upper box transferring module is fixedly mounted on the moving part of the lifting module. The upper box transferring belt has the same rotation direction as the lower box transferring belt. The upper box transferring belt is a single belt of a whole piece. The width of the upper box transferring belt is greater than or equal to the width of the empty gift box.

[0022] The beneficial effect of this improvement is that the addition of the box lifting robot realizes the automatic replenishment of empty gift boxes, ensuring that there is always a sufficient supply of empty gift boxes on the production line.

[0023] As an improvement, the upper surface of the slide bar is rotatably connected to multiple rollers, the rotation axes of the multiple rollers are parallel to the width of the slide bar, and the multiple rollers are arranged in sequence along the length direction of the slide bar to form a continuous supporting surface for supporting the bottom of the empty gift box.

[0024] The beneficial effects of this improvement are: the design of the roller allows rolling friction to be formed between the bottom of the empty gift box and the roller when the empty gift box moves on the slide bar, thereby significantly reducing the resistance of the empty gift box during movement, making the transportation of the empty gift box smoother and more efficient; the empty gift box will not directly contact the surface of the slide bar during movement, avoiding scratches or wear caused by friction, thereby protecting the appearance quality of the empty gift box.

[0025] As an improvement, the loading platform is further provided with a translation module for providing horizontal displacement, the loading and transferring module is fixedly mounted on the moving part of the horizontal module, and the translation track of the translation module is perpendicular to the moving track of the loading and transferring belt.

[0026] The beneficial effect of this improvement is that the gift boxes on the loading and transferring belt can be loaded and unloaded on the same side of the loading and transferring belt.

[0027] As an improvement, the toothpaste gift box packaging mechanism also includes a loading robot for opening the lid of the gift box and installing the tube body into the empty gift box. The loading robot is located on one side of the loading platform and is arranged opposite to the lower box lifting robot.

[0028] The beneficial effect of this improvement is: the loading robot opens the lid of the empty gift box on the loading and transferring belt, and absorbs the arranged toothpaste tubes in rows and places them into the corresponding slots in the empty gift box on the loading and transferring belt; after the loading is completed, the loading robot buckles the lid of the empty box, and the translation module transports the packaged gift box to the next process, thus completing one toothpaste gift box packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of an embodiment of the present utility model.

[0030] Figure 2 This is a structural diagram of an empty gift box shelf.

[0031] Figure 3 This is a structural diagram of the box lifting robot.

[0032] Figure 4 This is a structural diagram of the lower box lifting robot.

[0033] Figure 5 This is a structural diagram of the lower box transfer module.

[0034] Figure 6 It is a structural diagram of the loading and transferring module.

[0035] Figure 7 Schematic diagram of the loading platform.

[0036] Figure 8 Schematic diagram of the loading robot structure.

[0037] Figure 9 Schematic diagram of the structure of the adsorption component. DETAILED DESCRIPTION

[0038] The following is further described in detail through specific implementation methods:

[0039] The figure marks in the drawings of the specification include: empty gift box shelf 1, upper box lifting robot 2, lower box lifting robot 3, loading platform 4, loading robot 5, slide bar 6, block 7, upper box transfer belt 8, upper box entrance 9, lower box exit 10, lower box transfer belt 11, rotating shaft 12, lifting plate 13, adsorption slide rail 14, bracket 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 robot arm 24, rectangular seat 25, cover suction cup 26, tube suction cup 27 and tube seat 28.

[0040] Example

[0041] Basically as attached Figure 1 As shown, a toothpaste gift box packaging mechanism realizes the packaging process of fully automatically loading tubular toothpaste into gift boxes of different specifications, including an empty gift box shelf 1, an upper box lifting robot 2, a lower box lifting robot 3, a loading platform 4 and a loading robot 5.

[0042] As attached Figure 2As shown, the empty gift box shelf 1 is a layered shelf, and different layers of the empty gift box shelf 1 can be used to store empty gift boxes of different specifications. The layers of the empty gift box shelf 1 are parallel and tilted. The higher end of the layer of the empty gift box shelf 1 is the upper box entrance 9, and the lower end of the layer of the empty gift box shelf 1 is the lower box exit 10. The layers of the empty gift box shelf 1 are double slide bars 6 used to support the two sides of the bottom of the empty gift boxes. The bottom middle part of the empty gift boxes placed on the layer bars is suspended; each layer of the layer is provided with a stopper 7 at the end of the lower box exit 10, and each end of the slide bar 6 is fixedly connected to a stopper 7, and the stopper 7 is higher than the slide bar 6. The upper surface of the slide bar 6 is rotatably connected to multiple rollers, and the rotation axes 12 of the multiple rollers are parallel to the width of the slide bar 6. The multiple rollers are arranged in sequence along the length direction of the slide bar 6 to form a continuous support surface for supporting the bottom of the empty gift box, so that the light empty gift boxes can still slide smoothly along the length direction of the slide bar 6.

[0043] The upper box lifting robot 2 receives the empty gift box provided by the box replenishment supply department, and moves it vertically to the corresponding layer of the empty gift box shelf 1 according to the specifications of the empty gift box, and puts the empty gift box into the empty gift box shelf 1 from the upper box entrance 9 of the corresponding layer. The bottom two sides of the empty gift box contact the upper surface of the double slide bar 6, and the empty gift box slides toward the lower box outlet 10 along the inclined surface of the slide bar 6 by 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 in the current position; when the current box is taken away or slides forward, the current empty gift box slides forward accordingly.

[0044] The lower box lifting robot 3 moves vertically to the corresponding layer of the empty gift box shelf 1, takes out the empty gift boxes on that layer from the lower box outlet 10, and provides the empty gift boxes to the loading platform 4. The loading robot 5 opens the lids of the empty gift boxes on the loading platform 4, and sucks the arranged toothpaste tubes in rows and puts them into the corresponding slots in the empty gift boxes on the loading platform 4. After the loading is completed, the loading robot 5 buckles the lids of the empty boxes, and the loading platform 4 transports the packaged gift boxes to the next process, thus completing a toothpaste gift box packaging.

[0045] As attached Figure 3 The upper box lifting robot 2 includes a lifting module and an upper box transferring module. The upper box transferring module is fixedly mounted 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 entrance 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 clamp 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.

[0046] The upper box transfer module includes an upper box transfer belt 8, a transfer mounting frame, a transfer roller, and a transfer drive device. The transfer mounting frame is fixedly connected to the lifting mounting plate. The transfer rollers are located at the inner ends of the upper box transfer belt 8, tightening the upper box transfer belt 8 so that the rotation direction of the upper box transfer belt 8 is the same as the movement direction of the empty gift box; the transfer roller is rotationally connected to the transfer mounting frame, and the transfer drive device is fixedly installed on the transfer mounting frame. The output end of the transfer drive device is connected to the transfer roller, which drives the rotation of the transfer roller to control the upper surface of the upper box transfer belt 8 to move toward the empty gift box frame. The upper box transfer belt 8 is a single-piece belt. 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.

[0047] The lifting module of the upper box lifting robot 2 drives the upper box transfer belt 8 of the upper box transfer module to align with the box outlet surface of the replenishment box supply station. The bottom of the empty gift box sliding out of the replenishment box supply station 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 toward the empty gift box shelf 1. The contact and 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 box entrance 9 on the corresponding layer of the empty gift box shelf 1. The upper box transfer belt 8 aligns with the layer. The transfer drive device continues to work and delivers the empty gift box to the layer.

[0048] As attached Figure 4 and attached Figure 5 As shown, the lower box lifting robot 3 includes a lifting module and a lower box transfer module. The lower box transfer module is fixedly mounted on a moving part on the lifting module. The lifting module of the lower box lifting robot 3 is the same as the lifting module of the upper box lifting robot 2. The difference is that the lower box transfer module is located at the lower box exit 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 double belts of the lower box transfer belt 11 are used to support the bottom two sides of the empty gift box respectively. The lower box transfer belt 11 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 drive device of the lower box transfer module is connected to one of the rotating shafts 12. The transfer drive device controls the upper surface of the lower box transfer belt 11 to move away from the empty gift box shelf by driving the rotation of the transfer rollers.

[0049] The lower box transfer module also includes a lifting assembly, which includes an ejection cylinder, a horizontal telescopic cylinder and an adsorption component. The ejection cylinder is located in the lower area between the double belts of the lower box transfer belt 11. The ejection cylinder is vertically arranged, and the fixed end of the ejection cylinder is fixedly mounted on the transfer mounting frame. The telescopic end of the ejection cylinder is fixedly connected to a lifting plate 13. The lifting plate 13 is provided with an adsorption slide rail 14 parallel to the slide rod 6. The adsorption component is fixedly mounted on the adsorption slide rail 14 by a slider. The horizontal telescopic cylinder is mounted on the lifting 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 mounted on the end of the adsorption slide rail 14 away from the empty gift box shelf 1, and 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 to the slider of the adsorption slide rail 14.

[0050] The suction component includes a bracket part 15 and a suction nozzle mounting part. The bracket part 15 is fixedly mounted on the slider of the suction slide rail 14, and the suction nozzle mounting part is fixedly mounted on the end of the bracket part 15. A negative pressure suction nozzle for sucking empty gift boxes is installed on the suction nozzle mounting part. The bracket part 15 includes a vertical section and a horizontal section. The bottom end of the vertical section is fixedly connected to the slider, and the top of the vertical section is fixedly connected to the horizontal section. The horizontal section extends from the top of the vertical section toward the empty gift box shelf 1. The suction nozzle mounting part includes a vertical plate 16 and a horizontal plate 17. There are two negative pressure suction nozzles, which are symmetrically mounted on the vertical plate 16, and the suction nozzle faces 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 extended end of the horizontal section. The bottom of the vertical plate 16 is fixedly connected to the horizontal plate 17, and the horizontal plate 17 extends from the bottom of the vertical plate 16 toward the empty gift box shelf 1; the negative pressure suction nozzle is 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 near the side.

[0051] 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. At this time, the ejection cylinder is in a retracted state, and the adsorption component as a whole is lower than the upper surface of the lower box transfer belt 11; the horizontal telescopic cylinder is extended, so that the slider on the adsorption slide 14 moves to the end of the adsorption slide 14 close to the empty gift box shelf 1; the vertical section is always located between the two rotating shafts 12, and the suction nozzle mounting part is lifted and extended outward by the bracket part 15. At this time, the bracket part 15 makes the suction nozzle mounting part pass over the top of the rotating shaft 12 and extend between the two rotating shafts 12, so that the negative pressure suction nozzle contacts and adsorbs the side of the empty gift box, and the horizontal plate 17 is located between the double slide bars 6, and is located below the empty gift box and contacts the bottom surface of the empty gift box;

[0052] The ejection cylinder is then controlled to extend, causing the suction component to lift the contact end of the empty gift box, so that the bottom of the empty gift box is higher than the stopper 7 of the lower box outlet 10. The horizontal telescopic cylinder contracts, moving the empty gift box to the lower box transfer belt 11. At the same time, the upper surface of the lower box transfer belt 11 rotates away from the empty gift box shelf 1, assisting 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 suction nozzle stops suction, and the ejection cylinder contracts, causing the suction component to be completely submerged below the upper surface of the lower box transfer belt 11. The empty gift box is then driven solely 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 of the loading platform 4. The transfer drive device continues to operate, delivering the empty gift box to the loading platform 4.

[0053] As attached Figure 6 and attached Figure 7 As shown, the loading platform 4 is provided with a translation module, a loading and transferring module and a laser marking machine 19. The loading platform 4 is arranged on the side of the lower box lifting robot 3 away from the empty gift box shelf 1. The translation module is installed on the loading platform 4, the loading and transferring module is installed on the translation module, and the laser marking machine 19 is located at one end of the translation module.

[0054] The translation module is used to move the loading and transferring module to the area where the lower box lifting robot 3 is located, and the loading and transferring module receives the empty gift boxes transported by the lower box lifting robot 3. The laser marking machine 19 laser engraves the empty gift boxes on the loading and transferring module, and prints the label corresponding to the order information on the gift box. The loading robot 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 and transferring module. After the gift box packaging is completed, the translation module moves the loading and transferring module to the next process, and the loading and transferring module moves the packaged gift box out to the next process.

[0055] The movement principles of the translation module and the lifting module are similar. The translation module includes a translation drive device, a translation synchronous belt assembly, a translation slide 18 and a translation mounting plate. The translation slide 18 is fixedly mounted on the loading platform 4, and one end of the translation slide 18 is located on one side of the horizontal area where the lower box lifting robot 3 is located, and is arranged horizontally. The other end of the translation slide 18 extends away from the lower box lifting robot 3. The laser marking machine 19 is located on the translation slide 18 close to one end of the lower box lifting robot 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 18 through a slider, and the synchronous belt of the translation synchronous belt assembly is arranged parallel to the translation slide 18, and one of the pulleys of the synchronous belt assembly is connected to the translation drive device, and the belt clamp of the synchronous belt assembly is fixedly connected to the translation mounting plate. The translation drive device controls the reciprocating movement of the translation mounting plate along the translation slide 18 by driving the rotation of the pulley.

[0056] The loading and transferring module is similar to the lower box transferring module. The loading and transferring module includes a loading and transferring belt 20, a transferring mounting frame, a transferring roller and a transferring drive device. The transferring mounting frame is fixedly connected to the translation mounting plate. The loading and transferring belt 20 is also a narrow double belt. The loading and transferring belt 20 is supported by four transferring rollers respectively. The two transferring rollers at the same end are fixedly connected by a coaxial rotating shaft 12. The output end of the transferring drive device of the loading and transferring module is connected to one of the rotating shafts 12; the transferring drive device controls the upper surface of the loading and transferring belt 20 to move away from the lower box lifting robot 3 by driving the rotation of the transferring roller.

[0057] The loading and transferring module also includes a support plate 21, a side baffle and a positioning assembly. The support plate 21 is fixedly installed between the two rotating shafts 12 of the loading and transferring 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 robot 3, and the upper end of the support plate 21 is a plane extending from the top of the rotating shaft 12 toward the lower box lifting robot 3. The upper end plane of the support plate 21 is flush with the upper surface of the loading and transferring belt 20.

[0058] Because the loading and transferring belts 20 at both ends are formed into arc-shaped support surfaces along with the outer surface of the transfer roller, and the end of the lower box transfer belt 11 is also an arc-shaped support surface. Because the empty gift boxes are relatively light, and a certain gap is left between the lower box transfer belt 11 and the loading and transferring belt 20 to avoid work interference; in order to prevent the empty gift boxes from being transported between the two, as the bottoms of the empty gift boxes gradually increase as they leave the lower box transfer belt 11, the center of gravity of the empty gift boxes is suspended in the air, so that the empty gift boxes are no longer supported by the lower box transfer belt 11, and the empty gift boxes are drooping at the front end and tilting at the back end. If the empty gift box cannot contact the horizontal upper surface of the loading and transferring belt 20 before tilting, the front side of the empty gift box will first contact the arc surface of the loading and transferring belt 20, resulting in the empty gift box being unable to be smoothly transferred to the horizontal upper surface of the loading and transferring belt 20. The setting of the support plate 21 enables a support surface for supporting the bottom of the empty gift box to be set in advance at the curved end of the loading and transferring belt 20, thereby preventing the empty gift box from tilting and smoothly transitioning to the horizontal upper surface of the loading and transferring belt 20.

[0059] The positioning assembly includes a side positioning cylinder 22 and a front negative pressure suction nozzle 23. The transfer mounting frame is provided with side baffles on the outer sides of the double belts of the loading and transferring belt 20. The side baffles are used to provide support for the sides of the loading and transferring belt 20; among them, the side baffle close to the end of the laser marking machine 19 is fixedly connected to the transfer mounting frame, and the side baffle away from the end of the laser marking machine 19 is in two sections. The section close to 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 close to the rear end of the two-section side baffle is fixedly connected to the transfer mounting frame.

[0060] 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 a section of the two-section side baffle close to the front end. The side positioning cylinder 22 is telescoped toward 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.

[0061] Because the toothpaste gift box is rectangular, and the lid is a bottomless rectangular shell, the lid covers the gift box from top to bottom. To prevent the box from moving when the loading robot 5 removes the lid, a front negative pressure suction nozzle 23 is used to secure the box. This nozzle is located at the front end of the loading and transfer belt 20 and between the two belts. The nozzle of the front negative pressure suction nozzle 23 faces the gift box and is used to secure the gift box by sucking the lower portion of the front side wall of the gift box. This facilitates the loading robot 5 to remove the gift box lid vertically upward.

[0062] The translation module of the loading platform 4 drives the loading transfer module to the area where the lower box lifting robot 3 is located, so that the lower box transfer belt 11 is aligned with the loading transfer belt 20. The lower box lifting robot 3 and the transfer drive device of 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, and 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 negative pressure suction nozzle 23, and the side positioning cylinder 22 extends, pressing the empty gift box toward the laser marking machine 19. The front negative pressure suction nozzle 23 operates to fix the tightened gift box, and the laser marking machine 19 identifies and marks the outer surface of the gift box.

[0063] After the imprinting is completed, the loading robot 5 pulls the lid of the gift box upwards to open the box, and places the arranged toothpaste tubes into the slots in the gift box to complete the loading of the toothpaste; after the placement is completed, the loading robot 5 closes the lid again, and the translation module actively loads the transfer module to move to the next process, and the loading and transfer module unloads the packaged gift box.

[0064] As attached Figure 8 and attached Figure 9 As shown, the loading robot 5 is located on the other side of the transfer platform near the lower box lifting robot 3. The loading robot 5 picks up the toothpaste sets arranged according to the order information at the finished product outlet and places them together in the gift box on the loading platform 4. The loading robot 5 includes a six-axis robot arm 24 and a suction module, which is installed at the end of the robot arm.

[0065] 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 second wrist axis connecting arm.

[0066] 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 in the rectangular seat 25. The second wrist axis connecting arm is fixedly connected to one of the side walls of the rectangular seat 25. The first suction cup assembly is fixedly installed on the other side wall of the rectangular seat 25, and the side wall is opposite to the side wall where the second wrist axis connecting arm is located. The second suction cup assembly is fixedly installed on the side wall of the rectangular seat 25 that is perpendicular to the surface where the first suction cup assembly is located.

[0067] The first suction cup assembly includes four lid suction cups 26 for sucking the gift box lid. These are located at the four corners of the rectangular seat 25. The second suction cup assembly includes tube suction cups 27 for sucking the toothpaste tube. These suction cups 27 are arranged in pairs for sucking a single toothpaste tube. There are four groups of tube suction cups 27, each spaced apart by the six-axis robotic arm 24 toward the first suction cup assembly. A tube seat 28 is located between the two tube suction cups 27 in a single group. If the toothpaste tube is a rotating cylindrical tube, the bottom end of the tube seat 28 is fixedly connected to the rectangular seat 25. The top of the tube seat 28 has an inwardly concave curved surface that matches the curvature of the toothpaste tube's side. The height of the tube suction cups 27 is the same as the lowest point of the inwardly concave curved surface.

[0068] Because the sides of the toothpaste tube are curved, the universal suction cup deforms with the tube's sides during suction, becoming concave in the middle. This results in a strong suction force in the center of the cup against the toothpaste sidewalls, while the sides are relatively weak. In this case, if the toothpaste tube is shaken, the sides of the suction cup and the toothpaste attachment area are prone to air leakage, causing the tube to fall off.

[0069] When the tube suction cup 27 absorbs the side of the toothpaste tube, the toothpaste tube is located in the curved surface of the tube seat 28. The curved surface provides additional support to the toothpaste tube body to prevent the toothpaste tube body from shaking to both sides during the absorption process and thus avoid falling off.

[0070] The six-axis robotic arm 24 of the loading robot 5 moves the first adsorption component to the lid of the empty gift box on the loading platform 4, and the lid suction cup 26 adsorbs the gift box lid, and the six-axis robotic arm 24 controls the first adsorption component to move upward, pulls out the gift box lid and opens it; the six-axis robotic arm 24 then moves the second adsorption component to the toothpaste tube supply area, and four groups of tube suction cups 27 simultaneously adsorb the four arranged toothpaste tubes; the six-axis robotic arm 24 aligns the four toothpaste tubes on the second adsorption component with the inner groove of the gift box and places them stably in the gift box, and finally closes the lid of the first adsorption component from top to bottom to complete the packaging of the toothpaste gift box.

[0071] The above description is merely an embodiment of the present invention, and the commonly known specific technical solutions and / or features of 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 variations and improvements can be made, which should also be considered as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection claimed in this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Toothpaste gift box packaging mechanism, characterized by: It includes an empty gift box shelf, a lower box lifting robot and a loading platform. The lower box lifting robot is installed between the empty gift box shelf and the loading platform. The empty gift box shelf is a layer shelf. The layers of the empty gift box shelf are parallel and inclined toward the lower box lifting robot. The layers of the empty gift box shelf are double slide bars for supporting the bottom sides of the empty gift boxes. The lower end of each slide bar is provided with a stopper. The lower box lifting robot includes a lifting module for providing vertical displacement and a lower box transfer module for providing horizontal displacement. The lower box transfer module is fixedly installed on the moving part of the lifting module. The lower box transfer module includes a lower box transfer belt and a lifting assembly for rotating the lower box from the empty gift box shelf to the loading platform; The lower box transfer belt is a narrow double belt used to support the bottom sides of the empty gift box. The jacking assembly is installed between the double belts of the lower box transfer belt. The jacking assembly includes an ejection cylinder for vertical extension, a horizontal telescopic cylinder for extension toward the empty gift box shelf, and an adsorption component for negative pressure absorption of the gift box. The adsorption component is fixedly installed on the telescopic end of the horizontal telescopic cylinder, and the fixed end of the horizontal telescopic cylinder is fixedly installed on the telescopic end of the ejection cylinder.

2. The toothpaste gift box packaging mechanism according to claim 1, characterized in that: The adsorption component includes a bracket part and a nozzle mounting part for installing a negative pressure suction nozzle. The bracket part includes a vertical section and a horizontal section. The bottom end of the vertical section is fixedly installed on the telescopic end of the horizontal telescopic cylinder. The top end of the vertical section is fixedly connected to the horizontal section. The horizontal section extends from the top end of the vertical section toward the empty gift box shelf.

3. The toothpaste gift box packaging mechanism according to claim 2, characterized in that: The suction nozzle mounting component includes a vertical plate and a horizontal plate for supporting the bottom of the empty gift box. The negative pressure suction nozzle is installed on the vertical plate, and the negative pressure suction nozzle faces the empty gift box shelf for adsorbing the side of the empty gift box. The vertical plate is fixedly connected to the extended end of the horizontal section, and the bottom of the vertical plate is fixedly connected to the horizontal plate. The horizontal plate extends from the bottom of the vertical plate toward the empty gift box shelf.

4. The toothpaste gift box packaging mechanism according to claim 1, characterized in that: The loading platform is provided with a loading and transferring module, which includes a loading and transferring belt and a support plate. The loading and transferring belt has the same rotation direction as the lower box transferring belt and is also a narrow double belt; the support plate is fixedly installed between the double belts of the loading and transferring belt and is located at one end of the loading and transferring belt close to the lower box transferring belt. The upper end of the support plate is a plane extending in the direction of the lower box transferring belt, and the upper end plane of the support plate is flush with the upper surface of the loading and transferring belt.

5. The toothpaste gift box packaging mechanism according to claim 4, characterized in that: The loading platform is also provided with a laser marking machine for imprinting codes on gift boxes. The laser marking machine is located on one side of the loading and transferring module. The loading and transferring module includes a side baffle for providing support for the side of the loading and transferring belt. The side baffle close to one end of the laser marking machine is fixedly installed on the outside of the loading and transferring belt, and the side baffle away from the end of the laser marking machine is in two sections. One section of the two-section side baffle close to the front end of the loading and transferring belt in the movement direction is connected to a side positioning cylinder, and the other section of the two-section side baffle is fixedly installed on the outside of the loading and transferring belt, and the side positioning cylinder extends toward the laser marking machine.

6. The toothpaste gift box packaging mechanism according to claim 4, characterized in that: The loading and transferring module also includes a front negative pressure suction nozzle for fixing the gift box body, and the front negative pressure suction nozzle is located at the front end of the movement direction of the loading and transferring belt and is located between the two belts.

7. The toothpaste gift box packaging mechanism according to claim 1, characterized in that: The toothpaste gift box packaging mechanism also includes an upper box lifting robot, which is located at the higher end of the inclined layer plate of the empty gift box shelf. The upper box lifting robot includes a lifting module for providing vertical displacement and an upper box transferring module for providing horizontal displacement. The upper box transferring module is fixedly installed on the moving part of the lifting module. The upper box transferring belt has the same rotation direction as the lower box transferring belt. The upper box transferring belt is a single belt of a whole piece. The width of the upper box transferring belt is greater than or equal to the width of the empty gift box.

8. The toothpaste gift box packaging mechanism according to claim 1, characterized in that: The upper surface of the slide bar is rotatably connected to a plurality of rollers, the rotation axes of the plurality of rollers are parallel to the width of the slide bar, and the plurality of rollers are arranged in sequence along the length direction of the slide bar to form a continuous supporting surface for supporting the bottom of the empty gift box.

9. The toothpaste gift box packaging mechanism according to claim 6, characterized in that: The loading platform is also provided with a translation module for providing horizontal displacement. The loading and transferring module is fixedly mounted on the moving component of the horizontal module. The translation track of the translation module is perpendicular to the moving track of the loading and transferring belt.

10. The toothpaste gift box packaging mechanism according to claim 1, characterized in that: The toothpaste gift box packaging mechanism also includes a loading robot for opening the cover of the gift box and installing the tube body into the empty gift box. The loading robot is located on one side of the loading platform and is arranged opposite to the lower box lifting robot.

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