Case packer

Abstract

The utility model discloses a cartoner, including frame, install the manipulator on the top surface of frame, the below of manipulator is provided with material conveying line and carton conveying line, the manipulator is placed in the carton with material grabbing, the lower extreme of manipulator installs cartoning fixture, the cartoning fixture includes flexible sucking disc, the flexible sucking disc includes connecting portion, flexible portion and adsorption part, the adsorption part is contacted adsorption with packing bag, the connecting portion is used to install on the hand bottom plate, the flexible portion includes a plurality of clamping pieces, single the clamping piece includes upper pressure piece and lower pressure piece, there is elasticity between upper pressure piece and lower pressure piece, the utility model discloses through the deformation of flexible portion, makes adsorption part adhere on packing bag, makes a plurality of flexible sucking disc can stably suck on packing bag, has guaranteed to the clamping stability of packing bag, avoided the situation of falling bag caused when clamping or moving liquid to shake.

Description

Technical Field

[0001] This utility model relates to the technical field of boxing equipment for liquid packaging, specifically a boxing machine. Background Technology

[0002] Existing robotic arms can only stably grip solid materials. When gripping packaging bags filled with liquid, the liquid will shake during the movement, causing the force point between the gripper and the packaging bag to change. This further affects the gripper's holding force on the packaging bag, making it difficult for the gripper to stably grip the liquid-filled packaging bag and easily causing the bag to fall off. Therefore, this case packing machine was designed. Utility Model Content

[0003] The purpose of this invention is to provide a case packing machine that, through the deformation of the flexible part, allows the adsorption part to adhere to the packaging bag, enabling multiple flexible suction cups to stably adhere to the packaging bag, ensuring the stability of the gripping of the packaging bag, and avoiding the situation where the bag falls off due to liquid shaking during gripping or movement.

[0004] This utility model provides the following technical solution: a case packing machine, including a frame, a robotic arm mounted on the top surface of the frame, a material conveying line and a carton conveying line arranged below the robotic arm, the robotic arm gripping and placing materials into the carton, characterized in that: a case packing fixture is mounted at the lower end of the robotic arm, the case packing fixture including a flexible suction cup, the flexible suction cup including a connecting part, a flexible part and an adsorption part, the adsorption part contacting and adsorbing the packaging bag, the connecting part being used to install on the gripper base plate, the flexible part including multiple clamping pieces, each clamping piece including an upper pressure piece and a lower pressure piece, the upper pressure piece and the lower pressure piece being elastic.

[0005] To improve the rigidity of the upper and lower pressure plates, both the upper and lower pressure plates are conical in shape and are symmetrically distributed vertically.

[0006] To improve the load-bearing capacity of the flexible part, ribs are uniformly formed on the surface of the upper pressing sheet, and the ribs are distributed in a circumferential array.

[0007] To make the deformation of the adsorption part fit the packaging bag better, multiple patches are uniformly formed on the upper surface of the adsorption part. The patches are distributed in a circumferential array, and multiple grooves are formed on each patch.

[0008] To adjust the height of the gripper unit so that only one packaging bag is gripped in a single gripping action, the packing fixture also includes a gripper mounting base. Multiple gripper units are fixed to the lower end of the gripper mounting base. Each gripper unit includes a gripper cylinder and a gripper base plate. Multiple flexible suction cups are connected to the lower end of the gripper base plate. Multiple cylinder mounting plates are fixed to the lower end of the gripper mounting base. One side of each cylinder mounting plate is connected to a gripper cylinder. The output end of each gripper cylinder is connected to the gripper base plate. The number of gripper base plates and gripper cylinders is the same.

[0009] For conveying cartons, the carton conveyor line includes a conveyor frame, with rotating rollers rotatably connected to both ends of the conveyor frame via bearings. Gears are fixed on the rotating rollers, and the gears are connected to each other via a chain. Connecting ears are fixed on the side of the chain, and a carton pusher plate is fixed to the upper end of the connecting ears.

[0010] To limit the side movement of the carton and improve the applicability of the carton conveyor line, a sliding plate is installed on the surface of the conveyor frame. The sliding plate is located on one side of the chain, and a guard plate slides on the sliding plate. A drive device is installed on the side of the conveyor frame, and the drive device pushes the guard plate to slide on the sliding plate.

[0011] To adjust the position of the guard plate, the driving device includes a guide rail mounting bracket installed on the side of the conveyor frame. Guide rails are fixed at both ends of the guide rail mounting bracket, and sliders slide on the guide rails. A pusher is fixed at the upper end of the slider, and one end of the pusher is connected to the guard plate. A pusher cylinder is also installed on the guide rail mounting bracket, and the output end of the pusher cylinder is connected to the pusher.

[0012] Compared with the prior art, the beneficial effects achieved by this utility model are:

[0013] (1) By deforming the flexible part, the adsorption part is attached to the packaging bag, so that multiple flexible suction cups can be stably attached to the packaging bag, ensuring the stability of the gripping of the packaging bag and avoiding the situation of the bag falling off due to the shaking of the liquid when gripping or moving.

[0014] (2) By connecting multiple clamp cylinders to the lower end of the clamp mounting base, the clamp cylinders control the lifting and lowering of multiple clamp units, so that a single clamping action can only clamp one packaging bag, avoiding interference caused by clamping multiple packaging bags at the same time, which affects the clamping stability. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1This is a perspective view of the overall structure of this utility model;

[0017] Figure 2 This is a front view of the overall structure of this utility model;

[0018] Figure 3 This is a perspective view of the packing fixture of this utility model;

[0019] Figure 4 This is a perspective view of the flexible suction cup of this utility model;

[0020] Figure 5 This is a perspective view of the box conveyor line of this utility model;

[0021] In the diagram: 1. Frame; 2. Robotic arm; 3. Material conveyor line; 4. Carton conveyor line; 41. Conveyor frame; 42. Gear; 43. Rotating roller; 44. Chain; 45. Connecting lug; 46. Carton pusher plate; 47. Guide rail mounting frame; 48. Guide rail; 49. Slider; 410. Pusher frame; 411. Guard plate; 412. Slide plate; 413. Push cylinder; 5. Packing fixture; 51. Fixture mounting base; 52. Cylinder mounting plate; 53. Fixture cylinder; 54. Grip base plate; 55. Flexible suction cup; 551. Connecting part; 552. First clamping piece; 553. Second clamping piece; 554. Adsorption part; 555. Rib; 556. Patch. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figures 1 to 4This utility model provides a technical solution: a case packing machine, including a frame 1. A six-axis robotic arm 2 is bolted to the top surface of the frame 1. A material conveying line 3 and a carton conveying line 4 are arranged below the robotic arm 2. The material conveying line 3 is used to grip packaging bags containing liquid, and the carton conveying line 4 is used to transport cartons. The robotic arm 2 grips the material and places it inside the carton. A case packing clamp 5 is installed at the lower end of the robotic arm 2. The case packing clamp 5 grips the liquid packaging bags, ensuring the stability of the grip and reducing the occurrence of bags falling off. The case packing clamp 5 includes a flexible suction cup 55, which includes a connecting part 551, a flexible part, and an adsorption part 554. The adsorption part 554 contacts and adsorbs the packaging bag. The connecting part 551 is used to install on the gripper base plate 54. The flexible part includes multiple clamping plates, and each clamping plate includes an upper pressure plate and a lower pressure plate. There is elasticity between the upper and lower pressure plates. Both the upper and lower pressure plates are conical and symmetrically distributed. When the packaging bag is adsorbed by the flexible suction cup 55, the deformation of a single clamping plate makes the packaging bag and the adsorption part 554 stick together. At the same time, the elasticity between the upper and lower pressure plates will cause the flexible suction cup 55 to return to its original position, making it convenient to grip the next package. The setting of multiple clamping plates further increases the amount of deformation. In this embodiment, there are two clamping plates, including a first clamping plate 552 and a second clamping plate 553. Ribs 555 are uniformly formed on the surface of the upper pressure plate of the second clamping plate 553. The ribs 555 are distributed in a circumferential array, which enhances the rigidity and load-bearing capacity of the upper pressure plate. The deformation of the clamping plate allows the flexible suction cup 55 to completely adhere to the packaging bag, avoiding the packaging bag from falling off due to the shaking of the internal liquid caused by clamping or moving.

[0024] like Figure 4 As shown, multiple patches 556 are uniformly formed on the upper surface of the adsorption part 554. The patches 556 are distributed in a circumferential array. Multiple grooves are formed on each patch 556. When the adsorption part 554 is attached to the packaging bag, the adsorption part 554 deforms with the grooves as creases, so that the adsorption part 554 is attached to the surface of the packaging bag.

[0025] like Figure 3 As shown, the packing fixture 5 also includes a fixture mounting base 51. Multiple gripper units are fixed to the lower end of the fixture mounting base 51. Each gripper unit includes a gripper cylinder 53 and a gripper base plate 54. Multiple flexible suction cups 55 are connected to the lower end of the gripper base plate 54. Multiple cylinder mounting plates 52 are fixed to the lower end of the fixture mounting base 51 by bolts. One side of each cylinder mounting plate 52 is connected to the gripper cylinder 53 by bolts. The output end of the gripper cylinder 53 is connected to the gripper base plate 54. The number of gripper base plates 54 and gripper cylinders 53 is the same. The extension and retraction of different gripper units are controlled by the gripper cylinders 53, so that only one packaging bag can be gripped in a single gripping action, thereby avoiding interference when multiple packaging bags are gripped together.

[0026] like Figure 5As shown, the carton conveyor line 4 includes a conveyor frame 41. Both ends of the conveyor frame 41 are rotatably connected to rotating rollers 43 via bearings. A sprocket is fixed to one end of the rotating roller 43. A motor is fixed to the inner wall of the conveyor frame 41. The output end of the motor is connected to the sprocket via a chain to drive the rotating roller 43 to rotate. Gears 42 are fixed to the rotating roller 43. The gears 42 are connected to each other via a chain 44. A connecting ear 45 is fixed to the side of the chain 44. A carton pusher plate 46 is fixed to the upper end of the connecting ear 45. The rotation of the rotating roller 43 controls the movement of the chain 44. Furthermore, the connecting ear 45 drives the carton pusher plate 46 to move, pushing the carton to move and collecting the packed cartons.

[0027] A slide plate 412 is welded and fixed to the surface of the conveyor frame 41. The slide plate 412 is located on one side of the chain 44. A guard plate 411 slides on the slide plate 412. A drive device is installed on the side of the conveyor frame 41. The drive device pushes the guard plate 411 to slide on the slide plate 412. The guard plate 411 moves on the slide plate 412 to position one side of the carton. At the same time, the movement of the guard plate 411 can position the side of different cartons, which has a wide range of applications.

[0028] like Figure 5 As shown, the driving device includes a guide rail mounting bracket 47 fixed to the side of the conveyor frame 41 by bolts. Guide rails 48 are fixed to both ends of the guide rail mounting bracket 47 by bolts. A slider 49 slides on the guide rails 48. A pusher 410 is fixed to the upper end of the slider 49 by bolts. One end of the pusher 410 is connected to the guard plate 411. A pusher cylinder 413 is also installed on the guide rail mounting bracket 47. A bracket is welded to the guide rail mounting bracket 47. The pusher cylinder 413 is fixed to the bracket by bolts. The output end of the pusher cylinder 413 is connected to the pusher 410. The output end of the pusher cylinder 413 controls the pusher 410 to move along the guide rails 48, and controls the position of the guard plate 411 on the slide plate 412, thereby limiting one side of the carton.

[0029] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A case packing machine, comprising a frame, a robotic arm mounted on the top surface of the frame, and a material conveying line and a carton conveying line arranged below the robotic arm, wherein the robotic arm grips and places materials into a carton, characterized in that: The lower end of the robotic arm is equipped with a packing fixture, which includes a flexible suction cup. The flexible suction cup includes a connecting part, a flexible part, and an adsorption part. The adsorption part contacts and adsorbs the packaging bag. The connecting part is used to be installed on the gripper base plate. The flexible part includes multiple clamping pieces. Each clamping piece includes an upper pressure plate and a lower pressure plate. The upper pressure plate and the lower pressure plate are elastic.

2. The case packing machine according to claim 1, characterized in that: Both the upper and lower pressure plates are conical in shape and are symmetrically distributed vertically.

3. The case packing machine according to claim 2, characterized in that: The surface of the upper pressing sheet is uniformly formed with ridges, which are distributed in a circumferential array.

4. The case packing machine according to claim 1, characterized in that: Multiple patches are uniformly formed on the upper surface of the adsorption part. The patches are distributed in a circumferential array, and multiple grooves are formed on each patch.

5. The case packing machine according to claim 1, characterized in that: The packing fixture also includes a fixture mounting base. The lower end of the fixture mounting base is fixed with multiple gripper units. Each gripper unit includes a fixture cylinder and a gripper base plate. Multiple flexible suction cups are connected to the lower end of the gripper base plate. The lower end of the fixture mounting base is fixed with multiple cylinder mounting plates. One side of each cylinder mounting plate is connected to a fixture cylinder. The output end of each fixture cylinder is connected to the gripper base plate. The number of gripper base plates and fixture cylinders is the same.

6. The case packing machine according to claim 1, characterized in that: The carton conveyor line includes a conveyor frame, with rotating rollers rotatably connected to both ends of the conveyor frame via bearings. Gears are fixed on the rotating rollers, and the gears are connected to each other via a chain. Connecting ears are fixed on the side of the chain, and a carton push plate is fixed to the upper end of the connecting ears.

7. The case packing machine according to claim 6, characterized in that: A slide plate is mounted on the surface of the conveyor frame, the slide plate is located on one side of the chain, a guard plate slides on the slide plate, and a drive device is mounted on the side of the conveyor frame, the drive device pushes the guard plate to slide on the slide plate.

8. The case packing machine according to claim 7, characterized in that: The driving device includes a guide rail mounting bracket installed on the side of the conveyor frame. Guide rails are fixed at both ends of the guide rail mounting bracket, and sliders slide on the guide rails. A pusher is fixed at the upper end of the slider, and one end of the pusher is connected to the guard plate. A pusher cylinder is also installed on the guide rail mounting bracket, and the output end of the pusher cylinder is connected to the pusher.

Images