Manipulator box filler

Abstract

The mechanical arm box filling machine comprises a carton conveying device, a product conveying device and a mechanical arm which are installed independently, a detachable bottle sucking and transferring mechanism is installed on the mechanical arm, and the detachable bottle sucking and transferring mechanism comprises a cross beam, a supporting assembly fixed to the cross beam, a bottle sucking device fixed to the supporting assembly and an air cylinder. The cross beam is provided with a linear guide rail and a plurality of pairs of linear sliding blocks, so that on one hand, all parts on the detachable transfer mechanism can be integrally replaced or partially replaced according to actual product boxing requirements, and the requirements of suction of different products, one-time boxing quantity, site layout and the like can be met more flexibly; on the other hand, different movement tracks and grabbing ranges can be adapted by changing the shapes and lengths of the linear guide rails and the linear sliding blocks, and therefore when different boxing arrangement modes and numbers are needed, the bottle suction device can be flexibly matched.

Description

Technical Field

[0001] The utility model relates to the technical field of a manipulator case packing machine, in particular to a manipulator case packing machine with a flexible assembly and replacement product grabbing mechanism. Background Art

[0002] A cartoning machine is a device that packs products into boxes. In an automatic packaging line, the cartoning machine is the core of the entire line system. With the improvement of production automation level, robotic cartoning machines are popular in the market. At present, some automatic robotic gripping cartoning machines in bottled beverage production have their product transportation, carton transportation, robotic arms and other components integrated and installed on the same workbench, which is not conducive to flexible assembly according to the site. Moreover, their robotic arms on the product gripping mechanism are mostly customized gripping single product or single box product packing supporting mechanisms, which are inefficient and difficult to match when the product packing arrangement and quantity change. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a manipulator case packing machine with a flexible assembly and replacement of product grabbing mechanisms.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] A robot cartoning machine comprises a carton conveying device, a product conveying device and a robot which are independently installed. The carton conveying device is provided with a bottle guide frame. The robot comprises a base, a turntable, a first, a second and a third robot arm and a mounting portion which are connected in sequence. The mounting portion is provided with a detachable bottle suction and transfer mechanism. The detachable bottle suction and transfer mechanism comprises a crossbeam, a support assembly, a bottle suction device and a cylinder. A linear guide rail and a plurality of pairs of linear sliders are provided on the crossbeam. The support assembly comprises a bottom frame and two side plates connected at both ends of the bottom frame. Each of the side plates is connected to a pair of linear sliders. The bottom frame is provided with the bottle suction device. The bottle suction device absorbs the product on the product conveying device and then positions and guides the product through the bottle guide frame and places it into the carton. An air path is connected between the bottle suction device and the cylinder. The product conveying device, the carton conveying device, the robot and the cylinder are electrically connected to an external control device.

[0006] Furthermore, the turntable is connected to the base, the first robotic arm is fixedly connected to the turntable by bolts, the first robotic arm can rotate with the turntable, the first end of the second robotic arm is fixedly connected to the first robotic arm and the second end is movably connected to the first end of the third robotic arm, the first end of the third robotic arm can rotate in a vertical direction along the connection and the second end is movably connected to the first end of the mounting part, the second end of the mounting part is provided with a mounting seat, and the mounting seat is connected to the detachable suction bottle transfer mechanism through a connecting aluminum block.

[0007] Furthermore, the connecting aluminum block is provided with a mounting hole, and the mounting seat is provided with a mounting column. After the mounting hole is connected to the mounting column, the connecting aluminum block and the detachable suction bottle transfer mechanism rotate around the mounting column.

[0008] Furthermore, a driving device is provided at the connection between the turntable and the first robotic arm, the connection between the first robotic arm and the second robotic arm, the connection between the second robotic arm and the third robotic arm, the connection between the third robotic arm and the mounting part, and the connection between the mounting seat and the connecting aluminum block, and the driving device is connected to the control device.

[0009] Furthermore, a partition bar is provided in the middle of the bottle guide frame, which divides the bottle guide frame into two introduction frames. Each of the introduction frames corresponds to a set of the bottle suction device. Correspondingly, the product conveying device conveys the products contained in two cartons each time. There are 2 sets of the bottle suction device and the support assembly.

[0010] Furthermore, each of the import frames is provided with a detachable guide plate toward the inner side of the carton.

[0011] Furthermore, the bottle suction device includes 6 mounting frames and 4 bottle suction assemblies mounted on the mounting frames, and both ends of each mounting frame are mounted on the bottom frame and fixedly connected thereto.

[0012] Furthermore, the bottle suction assembly includes a bottle suction sleeve and a suction head, a hollow sleeve is connected between the bottle suction sleeve and the suction head, an air path passes through the bottle suction sleeve from top to bottom, the upper part of the bottle suction sleeve is connected to the through hole on the mounting frame, and the air path is connected to the cylinder, the suction head is an inverted trumpet-shaped suction head, and a cavity for accommodating the bottle head is provided inside the suction head. When the air path bottle suction is started, negative pressure is formed in the hollow sleeve to absorb the bottle head into the cavity.

[0013] Furthermore, support feet extend upward at both ends of the side panels, and the support assembly is fixedly connected to the linear slider through the support feet. After the support assembly is fixedly connected to the linear slider, the linear slider is connected to the upper and lower sides of the linear guide rail through a fixed optical axis.

[0014] Furthermore, an adjacent side plate between two sets of the support assemblies fixes the cylinder, and the two adjacent side plates are fixedly connected by a connecting piece to control the distance between the two support assemblies.

[0015] The cartoning machine of the present invention installs a detachable bottle suction and transfer mechanism on the manipulator. The detachable bottle suction and transfer mechanism includes a crossbeam, a support assembly fixed on the crossbeam, a bottle suction device and a cylinder fixed on the support assembly. The crossbeam is provided with a linear guide and multiple pairs of linear sliders. In this way, on the one hand, the various components on the detachable transfer mechanism can be replaced as a whole or in part according to the actual product packing requirements, which can more flexibly respond to different product suction, one-time packing quantity and site layout requirements. On the other hand, by changing the shape and length of the linear guide and the linear slider, it can adapt to different motion trajectories and grasping ranges, so that when different packing arrangements and quantities are required, the bottle suction device can be flexibly matched. The utility model also designs that the carton conveying device, the product conveying device and the manipulator are installed independently of each other, so that the cartoning machine can be further flexibly assembled according to site conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of the robotic case packing machine of the present invention;

[0018] Figure 2 This is a schematic diagram of a detachable suction bottle transfer mechanism;

[0019] Figure 3 It is a plan view of the carton conveying device. DETAILED DESCRIPTION

[0020] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0021] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "first," "second," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended solely for the purpose of describing specific embodiments and are not intended to limit this invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] See Figures 1 to 3 A robot cartoning machine embodiment, the cartoning machine in this embodiment includes a carton conveying device 1, a product conveying device 2 and a robot 3 installed independently of each other, the carton conveying device 1 is provided with a bottle guide frame 11, the robot 3 includes a base 31, a turntable 32, a first, a second, and a third robot arm 33, 34, 35 and a mounting portion 36 connected in sequence, the mounting portion 36 is provided with a detachable bottle suction transport mechanism, the detachable bottle suction transport mechanism includes a crossbeam 371, a support assembly 372, a bottle suction device 373 and a cylinder 374, and a linear guide rail 3 is provided on the crossbeam. 711 and multiple pairs of linear sliders 3712, the support assembly 372 includes a bottom frame 3721 and two side plates 3722 connected at both ends of the bottom frame, each side plate 3722 is connected to a pair of linear sliders 3712, the bottom frame 3721 is equipped with a bottle suction device 373, the bottle suction device 373 absorbs the product on the product conveying device 2 and then positions and guides it into the carton through the bottle guide frame 11, an air path is connected between the bottle suction device 373 and the cylinder 374, the product conveying device 2, the carton conveying device 1, the manipulator 3, and the cylinder 374 are electrically connected to the external control device.

[0024] This embodiment installs a detachable bottle suction and transfer mechanism on the manipulator, which includes a crossbeam 371, a support assembly 372 fixed on the crossbeam 371, a bottle suction device 373 fixed on the support assembly, and a cylinder 374. The crossbeam 371 is provided with a linear guide 3711 and multiple pairs of linear sliders 3712. In this way, on the one hand, the crossbeam 371, the support assembly 372, the bottle suction device 373 and other components on the detachable transfer mechanism can be replaced as a whole or partially according to the actual product packing requirements, which can more flexibly respond to different product suction, the number of boxes packed at a time and the site layout requirements. On the other hand, by changing the shape and length of the linear guide 3711 and the linear slider 3712, different motion trajectories and grasping ranges can be adapted, so that the bottle suction device can be flexibly matched when different box arrangement methods and quantities are required. In addition, the design of independently installing the carton conveying device 1, the product conveying device 2 and the manipulator 3 enables the carton packing machine to be further flexibly assembled according to site conditions.

[0025] In a specific implementation scheme of this embodiment, the turntable 32 is movably connected to the base 31, and the first arm 33 of the manipulator 3 is fixedly connected to the turntable 32 by bolts. The first arm 33 can rotate with the turntable, so that the entire manipulator 3 can be positioned between the product conveying device 2 and the carton conveying device 1 arranged according to the site through the first arm 33 rotating with the turntable 32; the first end of the second arm 34 of the manipulator 3 is fixedly connected to the first arm 33 and the second end is movably connected to the first end of the third arm 35, the first end of the third arm 35 can rotate in the vertical direction along the connection and the second end is movably connected to the first end of the mounting portion 36, so that the second arm 3 4 and the third robotic arm 35 can flexibly suck the products on the product conveying device 2, and transfer them to the carton conveying device 1 through the cooperation of the first robotic arm 33, and can also flexibly place the sucked products in the bottle guide frame 11 on the carton conveying device 1; the second end of the mounting portion 36 of the robotic arm 3 is provided with a mounting seat, and the mounting seat 361 is connected to the detachable bottle suction and transfer mechanism through the connecting aluminum block 362. Furthermore, the connecting aluminum block 362 is provided with a mounting hole, and the mounting seat 361 is provided with a mounting column. After the mounting hole is connected to the mounting column, the connecting aluminum block 362 and the detachable bottle suction and transfer mechanism rotate around the mounting column. In this way, the positioning position is adjusted when the robotic arm 3 sucks the products and packs the products.

[0026] In the above scheme, a driving device is provided at the connection between the turntable 32 and the first robotic arm 33, the connection between the first robotic arm 33 and the second robotic arm 34, the connection between the second robotic arm 34 and the third robotic arm 35, the connection between the third robotic arm 35 and the mounting portion 36, and the connection between the mounting seat 361 and the connecting aluminum block 362. The driving device is connected to the control device, thereby realizing the automation of operations between the various components. Furthermore, the control device adopts PLC control.

[0027] In a specific implementation scheme of this embodiment, a partition bar 12 is provided in the middle of the bottle guide frame 11, and the partition bar 12 divides the bottle guide frame 11 into two introduction frames. Each introduction frame corresponds to a set of bottle suction devices 373. Correspondingly, the product conveying device 2 conveys products contained in two cartons each time, and there are two sets of bottle suction devices 373 and support components 372.

[0028] Furthermore, each import frame is equipped with a detachable guide plate toward the inside of the carton. When the carton specifications are different, the products can be accurately placed in the carton simply by replacing the guide plate.

[0029] In the specific implementation of this embodiment, the bottle suction device 373 includes six mounting brackets 3731 and four bottle suction assemblies 3732 mounted on the mounting brackets. Each mounting bracket 3731 is mounted on the bottom frame 3721 at both ends and fixedly connected thereto. The bottle suction assembly 3732 includes a bottle suction sleeve 3733 and a suction head 3734. A hollow sleeve 3735 is connected between the bottle suction sleeve 3733 and the suction head 3734. The bottle suction sleeve 3733 has an air passage running through it from top to bottom. The upper portion of the bottle suction sleeve 3733 is connected to the through hole on the mounting bracket 3731 and connects the air passage to the cylinder. The suction head is an inverted trumpet-shaped suction head with a cavity inside to accommodate the bottle head. The inverted trumpet shape can accommodate a larger area of ​​the bottle head to prevent shaking, collision, and falling during transportation.

[0030] During use, the manipulator 3 rotates to the product conveying device 2 and aligns the suction head with the product to be packed. When the air circuit is started to suck the bottle, negative pressure is formed in the hollow sleeve 3735 to suck the bottle head into the cavity of the suction head 3734. The manipulator 3 transfers the sucked product to the carton conveying device 1, aligns it with the bottle guide frame 11 and places it into the carton. After that, the air circuit is closed, the product is separated from the suction head, and the manipulator enters the next bottle sucking operation.

[0031] In the first embodiment of this embodiment, legs 3723 extend upward from both ends of the side panels 3722. The support assembly 372 is fixedly connected to the linear slider 3712 via the legs 3723. After the support assembly 372 and the linear slider 3712 are fixedly connected, the linear slider 3712 is connected to the upper and lower sides of the linear guide rail 3711 via a fixed optical axis. It should be noted that in this embodiment, different numbers of sliders 3712 can be installed on the linear guide rail 3711, depending on the product packaging arrangement and quantity, thereby connecting different numbers of support assemblies to set up the corresponding bottle suction device. Furthermore, the linear guide rail 3711 can also be provided with a limit structure to limit the slider within a certain distance.

[0032] In a specific implementation of this embodiment, an adjacent side plate 3722 between two sets of support assemblies 372 fixes the cylinder 374 , and the two adjacent side plates 3722 are fixedly connected by a connecting piece to control the distance between the two support assemblies 372 .

[0033] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A robotic case packing machine, characterized in that: It includes a carton conveying device, a product conveying device and a manipulator that are installed independently of each other. The carton conveying device is provided with a bottle guide frame. The manipulator includes a base, a turntable, a first manipulator arm, a second manipulator arm, a third manipulator arm and a mounting portion that are connected in sequence. The mounting portion is installed with a detachable bottle suction and transfer mechanism. The detachable bottle suction and transfer mechanism includes a crossbeam, a support assembly, a bottle suction device and a cylinder. The crossbeam is provided with a linear guide rail and multiple pairs of linear sliders. The support assembly includes a bottom frame and two side plates connected at both ends of the bottom frame. Each of the side plates is connected to a pair of linear sliders. The bottom frame is equipped with the bottle suction device. The bottle suction device absorbs the product on the product conveying device and then positions and guides it into the carton through the bottle guide frame. An air path is connected between the bottle suction device and the cylinder. The product conveying device, carton conveying device, manipulator and cylinder are electrically connected to an external control device.

2. The robot packing machine according to claim 1, characterized in that: The turntable is connected to the base, the first robotic arm is fixedly connected to the turntable by bolts, the first robotic arm can rotate with the turntable, the first end of the second robotic arm is fixedly connected to the first robotic arm and the second end is movably connected to the first end of the third robotic arm, the first end of the third robotic arm can rotate in a vertical direction along the connection and the second end is movably connected to the first end of the mounting part, the second end of the mounting part is provided with a mounting seat, and the mounting seat is connected to the detachable suction bottle transfer mechanism through a connecting aluminum block.

3. The robot packing machine according to claim 2, characterized in that: The connecting aluminum block is provided with a mounting hole, and the mounting seat is provided with a mounting column. After the mounting hole is connected to the mounting column, the connecting aluminum block and the detachable suction bottle transport mechanism can rotate around the mounting column together.

4. The robot packing machine according to claim 3, characterized in that: A driving device is provided at the connection between the turntable and the first robotic arm, the connection between the first robotic arm and the second robotic arm, the connection between the second robotic arm and the third robotic arm, the connection between the third robotic arm and the mounting part, and the connection between the mounting seat and the connecting aluminum block. The driving device is connected to the control device.

5. The robot case packing machine according to claim 4, characterized in that: A partition bar is provided in the middle of the bottle guide frame, which divides the bottle guide frame into two introduction frames. Each introduction frame corresponds to a set of the bottle suction device. Correspondingly, the product conveying device conveys the products contained in two cartons each time. There are 2 sets of the bottle suction device and the support assembly.

6. The robot case packing machine according to claim 5, characterized in that: Each of the import frames is provided with a detachable guide plate toward the inner side of the carton.

7. The robot case packing machine according to claim 1, characterized in that: The bottle suction device includes 6 mounting frames and 4 bottle suction assemblies sleeved on the mounting frames. Both ends of each mounting frame are mounted on the bottom frame and fixedly connected thereto.

8. The robot case packing machine according to claim 7, characterized in that: The bottle suction assembly includes a bottle suction sleeve and a suction head. A hollow sleeve is connected between the bottle suction sleeve and the suction head. An air path passes through the bottle suction sleeve from top to bottom. The upper part of the bottle suction sleeve is connected to the mounting frame and is connected to the cylinder through the air path. The suction head is an inverted trumpet-shaped suction head. A cavity for accommodating the bottle head is provided inside the suction head. When the air path is started to suck the bottle, negative pressure is formed in the hollow sleeve to absorb the bottle head into the cavity.

9. The robot case packing machine according to claim 8, characterized in that: Support legs extend upward at both ends of the side panels, and the support assembly is fixedly connected to the linear slider via the support legs. After the support assembly is fixedly connected to the linear slider, the linear slider is connected to the upper and lower sides of the linear guide rail via a fixed optical axis.

10. The robot case packing machine according to claim 9, characterized in that: An adjacent side plate between two sets of the support assemblies fixes the cylinder, and the two adjacent side plates are fixedly connected by a connecting piece to control the distance between the two support assemblies.

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