Combined barrel material box filling machine

Abstract

The utility model provides a combined barrel material box filling machine which comprises a front-end material arranging mechanism, at least one group of box filling arranging devices and a transfer gripper mechanism, the transfer gripper mechanism is arranged above the box filling arranging devices, the front-end material arranging mechanism is arranged at the front ends of the box filling arranging devices, and the front-end material arranging mechanism and the box filling arranging devices are connected in series through a conveying device. The combined barrel material box filling machine is simple in structure and reasonable in design, barrel materials of different specifications are arranged and combined through the material arranging structure at the front end of the box filling body, and then the combined barrel material box filling machine is formed. Then, the barrel material combination is conveyed to the boxing arrangement device through the conveying device to be further arranged in position and form to enable the barrel material combination to meet the grabbing condition, and finally, the barrel material combination is grabbed and transferred into a packaging box at a time through the transferring gripper mechanism, so that the whole process is high in automation degree; automatic arrangement and automatic transferring and boxing of barrel material combinations are achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of packaging equipment, in particular to a combined barrel material case packing machine. Background Art

[0002] Currently, in industrial production, because combination barrels involve two or more combinations, they are manually sorted and then individually packed into cartons, resulting in low efficiency and high labor intensity. With modern automation, direct cartoning of some products using belt conveyors and free-fall is only suitable for products with lower packaging requirements, such as bagged salt. For products with more demanding packaging requirements, mechanical grippers are often used to directly grasp the items and place them in cartons. This mechanical grasping method allows for pre-defined product arrangement within the box, ensuring satisfactory packaging results. Furthermore, to save time and improve production efficiency, mechanical grippers are clearly more effective for grasping multiple products at once. Currently, the most advanced method is a parallel robot combined with an end-effector. Combined with a vision system, it is also more adaptable to unevenly arranged products. However, the number of products that a parallel robot can grasp at once is limited, and its cost is relatively high. Conventional mechanical packing grippers / devices are less suitable for the product range, particularly due to their poor angle adjustment. Utility Model Content

[0003] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of the utility model is to provide a combination barrel material case packing machine, which has a simple structure and reasonable design. The case packing body first arranges and combines barrel materials of different specifications through the material sorting structure at the front end, and then sends the barrel material combination to the case packing and sorting device through the conveying device to further sort the position and shape of the barrel material combination so that it can meet the grasping conditions. Finally, the barrel material combination is grasped and transferred to the packaging box at one time through the transfer gripper mechanism. The whole process has a high degree of automation, which realizes the automatic arrangement and automatic transfer and case packing of the barrel material combination.

[0004] Technical solution: To achieve the above-mentioned purpose, the utility model provides a combined barrel material case packing machine, comprising a front-end material sorting mechanism, at least one set of case sorting devices and a transfer gripping head mechanism, wherein the transfer gripping head mechanism is arranged above the case sorting device, and the front material sorting mechanism is arranged at the front end of the case sorting device, and the two are connected in series through a conveying device;

[0005] The front-end material sorting mechanism includes a robotic arm, a barrel material partitioning mechanism and a first material blocking mechanism. The robotic arm is arranged on the side of the conveying device. The barrel material partitioning mechanism and the first material blocking mechanism are both mounted on the conveying device, and the barrel material partitioning mechanism is located at the front end of the first material blocking mechanism.

[0006] The execution end of the robotic arm is provided with a vacuum suction cup;

[0007] The barrel material partitioning mechanism includes a gantry, a servo slide, a push plate, a lifting stop plate, a first guide plate and a stop cylinder. The gantry is mounted on the conveying device, the servo slide is arranged on the gantry, the push plate is connected to the servo slide, the lifting stop plate is arranged on the gantry, the first guide plate and the stop cylinder are relatively arranged at the front end of the gantry, and the first guide plate is connected to the cylinder; the barrel on the conveying device is cached at the front end of the barrel material partitioning device through the first guide plate and the stop cylinder, and the barrel passing through the barrel material cache device is blocked by the lifting stop plate, and then the private servo slide drives the push plate to push the barrel to the left or right, and the barrel is separated from the barrel material partitioning device.

[0008] The first material stop mechanism includes a frame, a second material guide plate, a flap, and a first material stop. The second material guide plate is connected to a cylinder and is installed on both sides of the conveyor. The second material guide plate is located at the front end of the frame. The flap is rotatably mounted on the frame. Both ends of the flap are connected to the flip cylinder. First swing cylinders are installed on both sides of the bottom of the flap. Both ends of the first material stop are connected to the first swing cylinder. The barrel separated from the barrel material partitioning device is guided by the second material guide plate and clamped to the first material stop. After the barrel material is assembled, the flip cylinder drives the flap to flip, thereby driving the first material stop plate to rotate and rise, and the barrel material assembly leaves the front end material handling mechanism.

[0009] Furthermore, the box packing and sorting device includes a material sorting mechanism, a second material blocking mechanism, and side baffles. The side baffles are located on both sides of the conveyor device. The material sorting mechanism includes a material sorting rod assembly and a material sorting drive device arranged between the side baffles. The material sorting drive device is connected to the material sorting rod assembly. The second material blocking mechanism includes a plurality of second material blocking plates evenly distributed on the contour of the side baffles.

[0010] The inner side of the side baffle is provided with a chain along its contour, and the second baffles are evenly distributed on the chain, and the chain is connected to the driving device. Multiple second baffles are evenly distributed on the chain and circulate under the drive of the chain.

[0011] Furthermore, the driving device includes a driving gear, a driven gear and a motor, the motor is fixed on the outside of the side fender and connected to the driving gear installed on the inside of the side fender, the driven gear is rotatably installed on the inside of the side fender, and the chain is engaged with the driving gear and the driven gear;

[0012] The material sorting rod assembly includes a group of parallel rods, and two of the rods are fixed by a connecting block; the material sorting drive device includes a material sorting cylinder, a drive shaft and a connecting curved block, the material sorting cylinder is rotatably mounted on the outer side of the side baffle, the material sorting cylinder is rotatably connected to the connecting curved block, and the other end of the connecting curved block is fixedly connected to the drive shaft;

[0013] The drive shaft is fixedly connected to one end of the connecting block via an active connecting rod. The other end of the connecting block is fixedly connected to a driven connecting rod. The other end of the driven connecting rod is rotatably mounted on the side baffle via a shaft coupling bearing. When the material handling cylinder extends, the drive shaft drives the active connecting rod upward, bringing the material handling rod assembly to a higher position to ensure the smooth passage of the barrel material assembly. When the barrel material assembly enters, the material handling cylinder retracts, and the drive shaft drives the material handling rod assembly to act on the barrel material assembly, cooperating with the arc-shaped slots on the material baffle to further adjust the position of the barrel material assembly.

[0014] Furthermore, the box packing and sorting device further comprises at least one first lifting assembly, which comprises a lifting cylinder, a set of lifting frames and a lifting guide block, wherein the lifting frames are arranged opposite to each other, the lower portion of which is connected to the side baffle, and the upper portion is hinged to a set of connecting rods, the upper portion of the connecting rod is connected to a crossbeam, and the crossbeam is connected to the piston rod of the lifting cylinder, and the lifting guide block is mounted on the lifting frame;

[0015] The end of the lifting cylinder is mounted on the gate above the conveyor, and the lifting guide block passes through the guide rod provided on the gate. If the packing and arranging device is not in use or a packing and arranging device of another combination is used, the cylinder is turned on and acts on the lifting frame to lift the entire packing and arranging device.

[0016] Furthermore, the transfer gripper mechanism includes a frame and a transverse movement assembly, a second lifting assembly, and a gripper. The transverse movement assembly is mounted on the frame, and the second lifting assembly is mounted on the transverse movement assembly. The gripper is connected to the second lifting assembly and can move laterally and vertically on the frame. The gripper includes multiple suction cups of different sizes. After cylindrical products of different specifications are arranged on the conveyor, the transverse movement assembly and the second lifting assembly in the scheme move the gripper to the grabbing position. Then, the suction cups of different sizes are used to grab the Yuantong products together, and then the transverse movement assembly and the second lifting assembly transfer them into the packaging box.

[0017] Furthermore, the grab head includes a grab head connection assembly, a receiving plate, a mounting plate and a set of side plates, the upper and lower ends of the grab head connection assembly are respectively connected to the second lifting assembly and the receiving plate, the mounting plate is installed on the lower side of the receiving plate, the side plates are movably connected to both sides of the mounting plate, and the suction cup is installed on the lower side of the mounting plate;

[0018] The gripping head connection assembly is provided with a second swing cylinder and a vacuum device, the second swing cylinder is connected to the receiving plate, and the vacuum device is connected to the suction cup; the receiving plate is connected to the swing cylinder, and under the action of the swing cylinder, the receiving plate and the mechanism thereon can rotate accordingly. When grasping, the rotation direction of the gripping head is aligned with the barrel material combination to be grasped, and after the grasping is stable, the rotation direction is adapted to the packing direction again;

[0019] The side plate is further provided with a clamping head and a clamping drive device, wherein the clamping head is vertically arranged on the side plate, and the clamping drive device is connected to the side plate.

[0020] Furthermore, the clamping drive device includes a cylinder, a guide shaft, a guide block, and a connecting rod mechanism connecting the side panels on both sides. The guide block is fixed to the mounting plate, one end of the guide shaft is connected to the inner side of the side panel, and the other end is inserted into the guide block. The connecting rod mechanism includes three mutually hinged connecting rods. The middle part of the connecting rod located in the middle is rotatably connected to the mounting plate, and one end of the connecting rod located at each end is hinged to the corresponding side panel, and the other end is hinged to the connecting rod located in the middle. The end of the cylinder is rotatably mounted on the receiving plate, and the output end of the cylinder is connected to one end of the connecting rod located in the middle of one set of connecting rod mechanisms. The cylinder can be extended and retracted through the connecting rod mechanism to drive the side panels to close or open, and the guide shaft and guide block cooperate to ensure the stability of the side panel movement. During grasping, after the suction cup completes adsorption, the side panels close and the clamping head further clamps the barrel material to improve its stability.

[0021] Furthermore, the transverse movement assembly includes a transverse movement drive motor, a transverse movement synchronous reducer, a synchronous toothed belt, a transverse movement plate, a drive rod and a driven shaft, the transverse movement drive motor is connected to the transverse movement synchronous reducer, the transverse movement synchronous reducer is fixed on the frame, the drive rod is connected to the transverse movement synchronous reducer, the drive rod and the driven shaft are rotatably mounted on the frame, and both ends of the drive shaft and the driven shaft are provided with transmission wheels, and are connected through a synchronous belt transmission, the transverse movement plate is installed on the frame in the form of a slider rail, and the bottom of the transverse movement plate is fixedly connected to the synchronous toothed belt; the transverse movement drive motor transmits power to the synchronous toothed belt, and the synchronous toothed belt drives the transverse movement plate to move along the guide rail on the frame;

[0022] The second lifting assembly includes a lifting motor, a lifting synchronous reducer, a guide wheel and a group of gear rods. The lifting synchronous reducer is installed on the transverse plate. The lifting motor is connected to the lifting synchronous reducer. The guide wheel is installed on the transverse plate through a bearing seat. The gear rod passes through the transverse plate and is connected to the grab head. Gears are provided at both ends of the output shaft of the lifting synchronous reducer. The gears are engaged with the gear rod. The side of the gear rod away from the teeth cooperates with the guide wheel. The lifting motor drives the gear rod to move up and down, thereby driving the grab head to move up and down. The guide wheel maintains the stability of the gear rod when it moves up and down.

[0023] Furthermore, the conveying device includes a main conveyor belt, an auxiliary conveyor belt and a discharge line. The main conveyor belt, the auxiliary conveyor belt and the discharge line are arranged in parallel, and the auxiliary conveyor belt and the discharge line are located on both sides of the main conveyor belt. The barrel material partitioning mechanism, the first material blocking mechanism, the boxing and sorting device and the transfer grabbing head mechanism are arranged on the main conveyor belt. The robotic arm is arranged between the main conveyor belt and the auxiliary conveyor belt. There is a packaging box on the discharge line.

[0024] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0025] 1. The purpose of this utility model is to provide a combined barrel material case packing machine with a simple structure and reasonable design. The case packing body first arranges barrel materials of different specifications into groups through the material sorting structure at the front end. The barrel material groups are then sent to the sorting device through a conveyor device to further adjust the position and shape of the barrel material groups so that they meet the grasping conditions. Finally, the barrel material groups are grasped and transferred into the packaging box at one time by the transfer gripper mechanism. The whole process has a high degree of automation, realizing the automatic arrangement and automatic transfer and case packing of the barrel material groups.

[0026] 2. The cartoning and sorting device disclosed in the present invention is highly efficient in sorting various forms of barrel material combinations for packing. The barrel material combinations are preliminarily sorted by the arc grooves on the material baffle plate, and then further sorted by the material sorting mechanism and the material baffle plate to meet the grasping requirements. The equipment is simple and has low construction and investment costs, high efficiency and manpower savings. Multiple material baffle plates are set on the chain of the cartoning and sorting device, and the chain drives the circular operation to ensure the continuity of operation. At the same time, a first lifting component is also provided. The first lifting component lifts the temporarily non-operating cartoning and sorting device corresponding to different product combinations, thereby improving the compatibility of the equipment.

[0027] 3. The utility model discloses a transfer gripper mechanism. According to the different sizes and heights of the barrel combination, different types of suction cup arrangements are designed to implement gripping. In order to prevent the product from falling under the action of tangential force during the transfer process after gripping, the cylinder drives the connecting rod mechanism to clamp the barrel product around to maintain stable gripping, and finally realizes the one-time gripping and transfer of the barrel combination, which greatly improves production efficiency. The utility model sets multiple groups of transfer gripper mechanisms on the frame, and each group of transfer gripper mechanisms is set with a different suction cup arrangement combination. By setting multiple groups of transfer gripper mechanisms, different transfer gripper mechanisms can be selected according to the different arrangements and combinations of barrel materials of different shapes, thereby improving overall compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a combined barrel material case packing machine of the present utility model;

[0029] Figure 2 This is a schematic diagram of the structure of the barrel material partitioning device in the utility model;

[0030] Figure 3 This is a structural diagram of the first material blocking mechanism in the present utility model;

[0031] Figure 4 This is a structural diagram of the box packing and sorting device in the present invention;

[0032] Figure 5 This is a top view of the box packing and sorting device of the present invention;

[0033] Figure 6 This is a schematic diagram of the assembly of the second baffle plate and the chain in the present utility model;

[0034] Figure 7 This is the positive view of the transfer grabbing head mechanism in the utility model;

[0035] Figure 8 This is a schematic diagram of the structure of the grab head in the utility model;

[0036] Figure 9 This is a schematic diagram of the structure of the second lifting assembly and the transverse movement assembly in the present utility model;

[0037] Figure 10 This is a schematic diagram of the assembly of multiple groups of transfer and grabbing head mechanisms in the present utility model;

[0038] In the figure: 1-front-end material sorting mechanism, 11-mechanical arm, 12-barrel material partitioning mechanism, 121-gantry, 122-servo slide, 123-push plate, 124-lifting baffle plate, 125-first material guide plate, 126-material baffle cylinder, 13-first material baffle mechanism, 131-frame, 132-second material guide plate, 133-flip plate, 1331-flip cylinder, 1332-first swing cylinder, 134-first material baffle plate, 2-packing whole Sorting device, 21- material sorting mechanism, 211- material sorting rod assembly, 212- material sorting drive device, 2121- material sorting cylinder, 2122- driving shaft, 21221- active connecting rod, 21222- driven connecting rod, 2123- connecting block, 22- second material stop mechanism, 221- second material stop plate, 23- side stop plate, 231- chain, 232- active gear, 233- driven gear, 234- motor, 24- first lifting assembly, 2 41-lifting cylinder, 242-lifting frame, 243-lifting guide block, 3-transfer grab head mechanism, 31-frame, 32-transverse movement assembly, 321-transverse movement drive motor, 322-transverse movement synchronous reducer, 323-synchronous toothed belt, 324-transverse movement plate, 325-drive rod, 326-driven shaft, 33-lifting assembly, 331-lifting motor, 332-lifting synchronous reducer, 333-guide wheel, 334-toothed rod, 34-grab Head, 341-suction cup, 342-grab head connection assembly, 3421-swing cylinder, 3422-vacuum device, 343-support plate, 344-mounting plate, 345-side plate, 3451-clamping head, 3452-clamping drive device, 34521-cylinder, 34522-guide shaft, 34523-guide block, 34524-connecting rod mechanism, 4-conveyor device, 41-main conveyor belt, 42-auxiliary conveyor belt, 43-unloading line. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] In a preferred embodiment, Figure 1 As shown, a combined barrel material case packing machine includes a front-end material sorting mechanism 1, at least one set of case sorting devices 2 and a transfer gripping head mechanism 3. The transfer gripping head mechanism 3 is arranged above the case sorting device 2, and the front-end material sorting mechanism 1 is arranged at the front end of the case sorting device 2. The two are connected in series through a conveying device 4.

[0041] The front-end material sorting mechanism 1 includes a robotic arm 11, a barrel material partitioning mechanism 12 and a first material blocking mechanism 13. The robotic arm 11 is arranged on the side of the conveying device 4. The barrel material partitioning mechanism 12 and the first material blocking mechanism 13 are both mounted on the conveying device 4, and the barrel material partitioning mechanism 12 is located at the front end of the first material blocking mechanism 13.

[0042] like Figure 2 、 Figure 3 As shown, the execution end of the robotic arm 11 is provided with a vacuum suction cup;

[0043] The barrel material partitioning mechanism 12 includes a gantry 121, a servo slide 122, a push plate 123, a lifting material stop plate 124, a first material guide plate 125 and a material stop cylinder 126. The gantry 121 is mounted on the conveying device 4, the servo slide 122 is arranged on the gantry 121, the push plate 123 is connected to the servo slide 122, the lifting material stop plate 124 is arranged on the gantry 121, the first material guide plate 125 and the material stop cylinder 126 are relatively arranged at the front end of the gantry 121, and the first material guide plate 125 is connected to the cylinder;

[0044] Further optimization scheme, the first material blocking mechanism 13 includes a frame 131, a second material guide plate 132, a flap 133 and a first material blocking plate 134, the second material guide plate 132 is connected to the cylinder and is arranged on both sides of the conveying device 4, and the second material guide plate 132 is located at the front end of the frame 131, the flap 133 is rotatably arranged on the frame 131, the two ends of the flap 133 are connected to the flip cylinder 1331, and the first swing cylinder 1332 is provided on both sides of the bottom of the flap 133, and the two ends of the first material blocking plate 134 are connected to the first swing cylinder 1332.

[0045] like Figure 4-Figure 6As shown, the boxing and sorting device 2 includes a material sorting mechanism 21, a second material blocking mechanism 22, and side baffles 23. The side baffles 23 are located on both sides of the conveyor. The material sorting mechanism 21 includes a material sorting rod assembly 211 and a material sorting drive device 212 arranged between the side baffles 23. The material sorting drive device 212 is connected to the material sorting rod assembly 211. The second material blocking mechanism 22 includes a plurality of second material blocking plates 221 evenly distributed on the contour of the side baffles 23.

[0046] A chain 231 is provided on the inner side of the side baffle 23 along its contour. The second material baffles 221 are evenly distributed on the chain 231 . The chain 231 is connected to a driving device.

[0047] The driving device includes a driving gear 232, a driven gear 233 and a motor 234. The motor 234 is fixed to the outside of the side baffle 23 and connected to the driving gear 232 installed on the inside of the side baffle 23. The driven gear 233 is rotatably installed on the inside of the side baffle 23. The chain 231 is engaged with the driving gear 232 and the driven gear 233.

[0048] The material sorting rod assembly 211 includes a group of parallel rods, two of which are fixed by a connecting block; the material sorting drive device 212 includes a material sorting cylinder 2121, a drive shaft 2122 and a connecting curved block 2123, the material sorting cylinder 2121 is rotatably mounted on the outer side of the side baffle 23, the material sorting cylinder 2121 is rotatably connected to the connecting curved block 2123, and the other end of the connecting curved block 2123 is fixedly connected to the drive shaft 2122;

[0049] The driving shaft 2122 is fixedly connected to one end of the connecting block through the active connecting rod 21221, and the other end of the connecting block is fixedly connected to the driven connecting rod 21222. The other end of the driven connecting rod 21222 is rotatably mounted on the side baffle 23 through a shaft coupling bearing.

[0050] The box packing and sorting device 2 further includes at least one first lifting assembly 24, which includes a lifting cylinder 241, a set of lifting frames 242, and a lifting guide block 243. The lifting frames 242 are arranged opposite to each other, and their lower parts are connected to the side baffles 23, and their upper parts are hinged to a set of connecting rods. The upper parts of the connecting rods are connected to a crossbeam, and the crossbeam is connected to the piston rod of the lifting cylinder 241. The lifting guide block 243 is installed on the lifting frame 242;

[0051] The end of the lifting cylinder 241 is installed on the gate above the conveying device 4, and the lifting guide block 243 passes through the guide rod provided on the gate.

[0052] like Figure 7-10As shown, the transfer gripper mechanism 3 includes a frame 31 and a transverse movement component 32, a second lifting component 33 and a gripper 34. The transverse movement component 32 is installed on the frame 31, and the second lifting component 33 is installed on the transverse movement component 32. The gripper 34 is connected to the second lifting component 33. The gripper 34 can move horizontally and vertically on the frame 31. The gripper 34 includes multiple suction cups 341 of different models.

[0053] The gripping head 34 includes a gripping head connecting assembly 342, a receiving plate 343, a mounting plate 344, and a set of side plates 345. The upper and lower ends of the gripping head connecting assembly 342 are connected to the second lifting assembly 33 and the receiving plate 343, respectively. The mounting plate 344 is mounted on the lower side of the receiving plate 343. The side plates 345 are movably connected to both sides of the mounting plate 344. The suction cup 341 is mounted on the lower side of the mounting plate 344.

[0054] The gripping head connecting assembly 342 is provided with a second swing cylinder 3421 and a vacuum device 3422 . The second swing cylinder 3421 is connected to the receiving plate 343 , and the vacuum device 3422 is connected to the suction cup 341 .

[0055] The side plate 345 is further provided with a clamping head 3451 and a clamping drive device 3452 . The clamping head 3451 is vertically provided on the side plate 345 , and the clamping drive device 3452 is connected to the side plate 345 .

[0056] The clamping drive device 3452 includes a cylinder 34521, a guide shaft 34522, a guide block 34523 and a connecting rod mechanism 34524 connecting the side plates 345 on both sides. The guide block 34523 is fixed on the mounting plate 344, one end of the guide shaft 34522 is connected to the inner side of the side baffle 345, and the other end is inserted into the guide block 34523. The connecting rod mechanism 34524 includes three mutually hinged connecting rods, the middle part of the middle connecting rod is rotatably connected to the mounting plate 344, one end of the connecting rod at both ends is hinged to the corresponding side baffle 345, and the other end is hinged to the connecting rod located in the middle. The end of the cylinder 34521 is rotatably mounted on the receiving plate 343, and the output end of the cylinder 34521 is connected to one end of the connecting rod located in the middle of one group of connecting rod mechanisms 34524.

[0057] The transverse movement assembly 32 includes a transverse movement drive motor 321, a transverse movement synchronous reducer 322, a synchronous toothed belt 323, a transverse movement plate 324, a driving rod 325 and a driven shaft 326. The transverse movement drive motor 321 is connected to the transverse movement synchronous reducer 322, and the transverse movement synchronous reducer 322 is fixed on the frame 31. The driving rod 325 is connected to the transverse movement synchronous reducer 322. The driving rod 325 and the driven shaft 326 are rotatably mounted on the frame 31, and both ends of the driving shaft 325 and the driven shaft 326 are provided with transmission wheels and are connected by synchronous belt transmission. The transverse movement plate 324 is installed on the frame 31 in the form of a slider rail, and the bottom of the transverse movement plate 324 is fixedly connected to the synchronous toothed belt 323.

[0058] The second lifting assembly 33 includes a lifting motor 331, a lifting synchronous reducer 332, a guide wheel 333 and a group of gear rods 334. The lifting synchronous reducer 332 is installed on the transverse plate 324. The lifting motor 331 is connected to the lifting synchronous reducer 332. The guide wheel 333 is installed on the transverse plate 324 through a bearing seat. The gear rod 334 passes through the transverse plate 324 and is connected to the grab head 34. Gears are provided at both ends of the output shaft of the lifting synchronous reducer 332. The gears are engaged with the gear rod 334. The side of the gear rod 334 away from the tooth pressure cooperates with the guide wheel 333.

[0059] Please refer again Figure 1 The conveying device 4 includes a main conveyor belt 41, an auxiliary conveyor belt 42 and a discharge line 43. The main conveyor belt 41, the auxiliary conveyor belt 42 and the discharge line 43 are arranged in parallel, and the auxiliary conveyor belt 42 and the discharge line 43 are located on both sides of the main conveyor belt 41. The barrel material partitioning mechanism 12 and the first material blocking mechanism 13 and the boxing and sorting device 2 and the transfer grabbing head mechanism 3 are arranged on the main conveyor belt 41. The robotic arm 11 is arranged between the main conveyor belt 41 and the auxiliary conveyor belt 42. There are packaging boxes on the discharge line 43.

[0060] In addition, if Figure 3 and Figure 4 As shown, in this embodiment, both the first baffle plate 134 and the second baffle plate 221 are provided with arc-shaped slots adapted to barrel materials of different specifications.

[0061] The working principle of the combined barrel material packing machine provided by the utility model is as follows:

[0062] After the loading and unloading of the large barrels, the lifting plate 123 is driven by the main conveyor 41 and the guide plate 125, and the lifting plate 124 is driven by the lifting plate 124, and the lifting plate 124 is driven by the lifting plate 124.

[0063] The second baffle plate 221 at the front end of the sorting device blocks the barrel material so that the barrel material is stuck in its arc-shaped groove. The motor 234 drives the second baffle plate 221 to move back to the grabbing position through the chain 231 and stops to block the barrel material again. At this time, the material sorting cylinder 2121 starts to retract, and the driving shaft 2122 rotates clockwise through the connecting block 2123, thereby rotating the active connecting rod 21221 and the driven connecting rod 21222. The material sorting rod assembly 211 rotates and contacts the barrel material and applies a certain force. The position of the barrel material combination is sorted through the arc-shaped groove on the material sorting rod assembly 211 and the second material baffle plate 221. The material sorting cylinder 2121 drives the material sorting rod assembly 2121 back to its original position. At the same time, the transfer and loading grab head mechanism 3 can pack the barrel material combination into a box. The next group of barrel material combinations contacts the second baffle plate 221 moved to the front end again, and the cycle continues.

[0064] When the barrel product is assembled in place, the lifting motor 331 in the second lifting assembly 33 is started, and the gear rod 334 is driven downward by the lifting synchronous reducer 332, thereby driving the gripping head 34 to move downward until it contacts the surface of the barrel. At this time, the vacuum device 3422 is started to make the suction cup 341 adsorb the top surface of the barrel, and the piston rod of the cylinder 34521 extends out and drives the side plate 345 through the connecting rod mechanism 34524 so that the clamping head 3451 clamps the barrel from the side; then the second lifting assembly 33 drives the gripping head 34 to rise to the set height, and then the swing cylinder 3421 is started to make the barrel The barrel assembly turns, the transverse drive motor 321 starts to drive the synchronous toothed belt 323 through the transverse synchronous reducer 322, and the synchronous toothed belt 23 carries the transverse plate 324 and then moves transversely along the guide rail on the frame 31 to the top of the packaging box, and then moves down through the second lifting assembly 33 to the packaging box to grasp the barrel. The vacuum device 3422 is closed, the cylinder 34521 retracts the side plate 345 and opens to place the barrel into the packaging box. The packaging box is unloaded along the unloading line 43, and finally the gripping head 34 returns to the grasping position through the second lifting assembly 33 and the transverse assembly 32 to prepare for the next grasping.

[0065] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as within the scope of protection of the present invention.

Claims

1. A combined barrel packing machine, characterized in that: It comprises a front-end material handling mechanism (1), at least one set of box packing and sorting devices (2) and a transfer and grabbing head mechanism (3), wherein the transfer and grabbing head mechanism (3) is arranged above the box packing and sorting device (2), and the front-end material handling mechanism (1) is arranged at the front end of the box packing and sorting device (2), and the two are connected in series via a conveying device (4); The front-end material sorting mechanism (1) comprises a mechanical arm (11), a barrel material partitioning mechanism (12) and a first material blocking mechanism (13); the mechanical arm (11) is arranged on the side of the conveying device (4); the barrel material partitioning mechanism (12) and the first material blocking mechanism (13) are both mounted on the conveying device (4); and the barrel material partitioning mechanism (12) is located at the front end of the first material blocking mechanism (13).

2. A combined barrel packing machine according to claim 1, characterized in that: The execution end of the robotic arm (11) is provided with a vacuum suction cup; The barrel material partitioning mechanism (12) includes a gantry (121), a servo slide (122), a material pusher (123), a lifting material stopper (124), a first material guide plate (125) and a material stopper cylinder (126), wherein the gantry (121) is mounted on the conveying device (4), the servo slide (122) is arranged on the gantry (121), the material pusher (123) is connected to the servo slide (122), the lifting material stopper (124) is arranged on the gantry (121), the first material guide plate (125) and the material stopper cylinder (126) are arranged relative to each other at the front end of the gantry (121), and the first material guide plate (125) is connected to the cylinder; The first material blocking mechanism (13) comprises a frame (131), a second material guide plate (132), a flap (133) and a first material blocking plate (134). The second material guide plate (132) is connected to the cylinder and is arranged on both sides of the conveying device (4). The second material guide plate (132) is located at the front end of the frame (131). The flap (133) is rotatably arranged on the frame (131). Both ends of the flap (133) are connected to the turning cylinder (1331). First swing cylinders (1332) are provided on both sides of the bottom of the flap (133). Both ends of the first material blocking plate (134) are connected to the first swing cylinder (1332).

3. The combined barrel packing machine according to claim 1, characterized in that: The box packing and arranging device (2) includes a material sorting mechanism (21), a second material blocking mechanism (22), and side baffles (23), wherein the side baffles (23) are located on both sides of the conveying device, the material sorting mechanism (21) includes a material sorting rod assembly (211) and a material sorting drive device (212) arranged between the side baffles (23), and the material sorting drive device (212) is connected to the material sorting rod assembly (211), and the second material blocking mechanism (22) includes a plurality of second material blocking plates (221) uniformly distributed on the contour of the side baffles (23); A chain (231) is provided on the inner side of the side baffle (23) along its contour, the second baffle plates (221) are evenly distributed on the chain (231), and the chain (231) is connected to a driving device.

4. A combined barrel packing machine according to claim 3, characterized in that: The driving device includes a driving gear (232), a driven gear (233) and a motor (234); the motor (234) is fixed to the outside of the side baffle (23) and connected to the driving gear (232) installed on the inside of the side baffle (23); the driven gear (233) is rotatably installed on the inside of the side baffle (23); and the chain (231) is meshed with the driving gear (232) and the driven gear (233); The material sorting rod assembly (211) includes a group of parallel rods, and two of the rods are fixed by a connecting block; the material sorting drive device (212) includes a material sorting cylinder (2121), a drive shaft (2122) and a connecting curved block (2123); the material sorting cylinder (2121) is rotatably mounted on the outside of the side baffle (23); the material sorting cylinder (2121) is rotatably connected to the connecting curved block (2123); and the other end of the connecting curved block (2123) is fixedly connected to the drive shaft (2122); The drive shaft (2122) is fixedly connected to one end of the connecting block via an active connecting rod (21221), the other end of the connecting block is fixedly connected to a driven connecting rod (21222), and the other end of the driven connecting rod (21222) is rotatably mounted on the side baffle (23) via a shaft coupling bearing.

5. The combined barrel packing machine according to claim 4, characterized in that: The box packing and sorting device (2) further comprises at least one first lifting assembly (24), the first lifting assembly (24) comprising a lifting cylinder (241), a group of lifting frames (242) and a lifting guide block (243), the lifting frames (242) being arranged relative to each other, the lower portion of which is connected to the side baffle (23), and the upper portion of which is hinged to a group of connecting rods, the upper portion of which is connected to a crossbeam, the crossbeam being connected to the piston rod of the lifting cylinder (241), and the lifting guide block (243) being mounted on the lifting frame (242); The end of the lifting cylinder (241) is mounted on a gate above the conveying device (4), and the lifting guide block (243) passes through a guide rod provided on the gate.

6. The combined barrel packing machine according to claim 1, characterized in that: The transfer gripping head mechanism (3) comprises a frame (31), a transverse movement component (32), a second lifting component (33) and a gripping head (34), wherein the transverse movement component (32) is mounted on the frame (31), the second lifting component (33) is mounted on the transverse movement component (32), the gripping head (34) is connected to the second lifting component (33), and the gripping head (34) can move laterally and vertically on the frame (31), and the gripping head (34) comprises a plurality of suction cups (341) of different models.

7. The combined barrel packing machine according to claim 6, characterized in that: The gripping head (34) comprises a gripping head connecting assembly (342), a receiving plate (343), a mounting plate (344) and a set of side plates (345), wherein the upper and lower ends of the gripping head connecting assembly (342) are respectively connected to the second lifting assembly (33) and the receiving plate (343), the mounting plate (344) is mounted on the lower side of the receiving plate (343), the side plates (345) are movably connected to both sides of the mounting plate (344), and the suction cup (341) is mounted on the lower side of the mounting plate (344); The gripping head connection assembly (342) is provided with a second swing cylinder (3421) and a vacuum device (3422), the second swing cylinder (3421) is connected to the receiving plate (343), and the vacuum device (3422) is connected to the suction cup (341); The side plate (345) is further provided with a clamping head (3451) and a clamping drive device (3452). The clamping head (3451) is vertically arranged on the side plate (345), and the clamping drive device (3452) is connected to the side plate (345).

8. The combined barrel packing machine according to claim 7, characterized in that: The clamping drive device (3452) includes a cylinder (34521), a guide shaft (34522), a guide block (34523) and a connecting rod mechanism (34524) connecting the side plates (345) on both sides. The guide block (4523) is fixed on the mounting plate (44). One end of the guide shaft (4522) is connected to the inner side of the side baffle (45), and the other end is inserted into the guide block (4523). The connecting rod mechanism (4524) includes three mutually hinged connecting rods. The middle part of the connecting rod located in the middle is rotatably connected to the mounting plate (44). One end of the connecting rod located at both ends is hinged to the corresponding side baffle (45), and the other end is hinged to the connecting rod located in the middle. The end of the cylinder (4521) is rotatably mounted on the receiving plate (43). The output end of the cylinder (4521) is connected to one end of the connecting rod located in the middle of one group of connecting rod mechanisms (4524).

9. The combined barrel packing machine according to claim 6, characterized in that: The transverse shift assembly (32) includes a transverse shift drive motor (321), a transverse shift synchronous reducer (322), a synchronous toothed belt (323), a transverse shift plate (324), a drive rod (325), and a driven shaft (326). The transverse shift drive motor (321) is connected to the transverse shift synchronous reducer (322). The transverse shift synchronous reducer (322) is fixed on the frame (31). The drive rod (325) is connected to the transverse shift synchronous reducer (322). The drive rod (325) and the driven shaft (326) are rotatably mounted on the frame (31). Both ends of the drive shaft (25) and the driven shaft (26) are provided with transmission wheels and are connected through a synchronous belt transmission. The transverse shift plate (324) is mounted on the frame (31) in the form of a slider rail. The bottom of the transverse shift plate (324) is fixedly connected to the synchronous toothed belt (323). The second lifting assembly (33) includes a lifting motor (331), a lifting synchronous reducer (332), a guide wheel (333) and a group of gear rods (334), wherein the lifting synchronous reducer (32) is mounted on the transverse plate (24), the lifting motor (331) is connected to the lifting synchronous reducer (332), the guide wheel (333) is mounted on the transverse plate (324) through a bearing seat, the gear rod (334) passes through the transverse plate (324) and is connected to the gripping head (34), gears are provided at both ends of the output shaft of the lifting synchronous reducer (332), the gears are meshed with the gear rod (334), and the side of the gear rod (334) away from the teeth cooperates with the guide wheel (333).

10. The combined barrel packing machine according to claim 6, characterized in that: The conveying device (4) includes a main conveyor belt (41), an auxiliary conveyor belt (42) and a discharge line (43). The main conveyor belt (41), the auxiliary conveyor belt (42) and the discharge line (43) are arranged in parallel, and the auxiliary conveyor belt (42) and the discharge line (43) are located on both sides of the main conveyor belt (41). The barrel material partitioning mechanism (12) and the first material blocking mechanism (13) and the boxing and sorting device (2) and the transfer grabbing mechanism (3) are arranged on the main conveyor belt (41). The mechanical arm (11) is arranged between the main conveyor belt (41) and the auxiliary conveyor belt (42). There are packaging boxes on the discharge line (43).

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