A parallel robot case packing apparatus
By designing a parallel robotic packing device, and utilizing components such as trusses, clamps, and servo material handling components, the problem of manual material handling in existing equipment has been solved. This has enabled stable conveying and efficient packing without manual handling, reducing costs and improving quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANDONG UNATI ROBOT CO LTD
- Filing Date
- 2025-09-26
- Publication Date
- 2026-07-24
AI Technical Summary
Existing packing equipment lacks effective material handling and conveying devices, resulting in the need for manual handling of goods, which increases labor costs and affects packing quality and efficiency.
Design a parallel robot packing device, including a gantry, a clamping and feeding assembly, a servo feeding assembly, a folding assembly, and a robotic arm. It achieves stable delivery and packing of goods through precise clamping and acceleration actions. Combined with the servo feeding assembly and the parallel gripping robotic arm, it realizes a continuous and efficient feeding process.
It enables stable transportation and efficient packing of goods without manual handling, reducing labor costs and improving packing quality and efficiency.
Smart Images
Figure CN224546465U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of packing equipment technology, and in particular to a parallel robot packing equipment. Background Technology
[0002] Packing equipment is one of the core pieces of equipment in automated packaging production lines. It is used to automatically pack products into cartons, plastic boxes, or turnover boxes according to predetermined rules. It is widely used in industries such as food, beverages, dairy products, pharmaceuticals, daily chemicals, electronics, and e-commerce. It can significantly improve packaging efficiency, reduce labor costs, and ensure packaging quality. In order to improve packing efficiency, existing packing equipment requires the use of parallel robots to pick up the sorted goods and fill them into cartons for storage.
[0003] While parallel robots can significantly improve packing efficiency when packing goods, current equipment suffers from a significant problem: the lack of an effective material handling and conveying device. As a result, goods usually need to be sorted and arranged manually before the parallel robots can pick them up and pack them. This manual input not only increases labor costs but also makes it easy for improper operation to cause unstable placement of goods, thereby affecting packing quality and efficiency. Utility Model Content
[0004] This invention solves the problems in related technologies and proposes a parallel robot packing device.
[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: a parallel robot packing device, including a truss, with a left clamping feeding component and a right clamping feeding component respectively arranged at the left and right ends of one side of the truss, and the left clamping feeding component and the right clamping feeding component are used to transport materials into the interior of the truss. Inside the truss, near the left clamping feeding component and the right clamping feeding component, a left servo material handling component and a right servo material handling component are arranged in sequence along the horizontal direction. A parallel gripping robot arm is fixed on the top surface inside the truss, and the parallel gripping robot arm is used to grip the materials on the left servo material handling component or the right servo material handling component for packing. Inside the truss, away from the left clamping feeding component and the right clamping feeding component, a sealing conveying component is horizontally fixed. Inside the truss, above the sealing conveying component, a left and right folding component and a front and rear folding component are arranged in sequence along the running direction. On the other side of the truss, an empty carton conveying component and a full carton conveying component are respectively arranged at the left and right ends.
[0006] As a preferred embodiment, both the left clamping feeding assembly and the right clamping feeding assembly include two clamping conveying components. The two clamping conveying components are horizontally arranged along the height direction, and the upper clamping conveying component is fixed to the truss by a connecting frame.
[0007] As a preferred embodiment, a guide post is vertically fixed on the side end face of the upper clamping and conveying component of the two clamping and conveying components, and a sliding cylinder is vertically fixed on the side end face of the lower clamping and conveying component of the two clamping and conveying components, and the sliding cylinder is vertically slidably inserted into the guide post.
[0008] As a preferred embodiment, a lead screw is vertically rotatably connected to the side end face of the upper clamping and conveying component of the two clamping and conveying components, and a screw hole block is vertically fixed to the side end face of the lower clamping and conveying component of the two clamping and conveying components, and the screw hole block is threaded through and assembled with the lead screw.
[0009] As a preferred embodiment, the left and right folding assembly includes a fixed arm and a first lever. The fixed arm is horizontally fixed to the inner wall of the truss, and the first lever is hinged to both the front and rear sides of the fixed arm. A cylinder is hinged to both the front and rear sides of the fixed arm, and the output end of the cylinder is hinged to the end of the first lever.
[0010] As a preferred embodiment, the front and rear hinge assembly includes a support arm and a second lever. The support arm is horizontally fixed to the inner wall of the truss, and the second lever is rotatably connected to both the front and rear ends of the support arm. Cylinders are hinged to both the front and rear sides of the support arm, and the output end of the cylinder is hinged to the end of the second lever.
[0011] As a preferred embodiment, both the left servo material handling assembly and the right servo material handling assembly include a conveying assembly and a receiving box. The conveying assembly in the left servo material handling assembly and the right servo material handling assembly is horizontally fixed in the truss, and the receiving box is horizontally fixed on the conveyor belt of the conveying assembly.
[0012] As a preferred embodiment, a flattening gantry is vertically fixed on the top surface of the sealing conveyor assembly near the side of the full carton conveyor assembly, and a pressing plate is vertically installed in the flattening gantry. A pushing cylinder is vertically fixed on the top surface of the flattening gantry, and the output end of the pushing cylinder is fixed on the top surface of the pressing plate.
[0013] As a preferred embodiment, a pusher slide is slidably installed at the tail end of the empty carton conveying assembly toward the sealing conveying assembly, and the pusher slide is pushed by a cylinder to move the carton toward the sealing conveying assembly by translating at the tail end of the empty carton conveying assembly.
[0014] As a preferred embodiment, a pusher cylinder is horizontally fixed on the top surface of the sealing conveyor assembly near the end of the full carton conveyor assembly, and the pusher cylinder is used to push the carton toward the full carton conveyor assembly.
[0015] Compared with existing technologies, the beneficial effects of this utility model are as follows: The left clamping and feeding assembly at the left end of the truss is mainly used to smooth and clamp the incoming material, enabling it to smoothly enter the left servo feeding assembly. Similarly, the right clamping and feeding assembly on the right side plays a similar role, ensuring that the incoming product can be smoothly guided and enter the receiving box of the right servo feeding assembly. The parallel left and right servo feeding assemblies together form two feeding assemblies for alternating feeding, cooperating with the parallel gripping robotic arm to achieve continuous feeding. Through precise clamping and acceleration actions, the left and right clamping devices work alternately, ensuring that the incoming product can be stably transported to the designated position, achieving a continuous and efficient feeding process in conjunction with the parallel gripping robotic arm. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model from a first-view perspective;
[0017] Figure 2 This is a schematic diagram of the overall structure of the present invention from a second perspective;
[0018] Figure 3 This is the overall front view of this utility model;
[0019] Figure 4 This is an overall side view of the present invention;
[0020] Figure 5 This is a top view of the entire utility model.
[0021] In the diagram: 1. Truss; 11. Sealing conveyor assembly; 12. Flattening gantry; 13. Press plate; 14. Pushing cylinder; 2. Left clamping feeding assembly; 21. Clamping conveyor component; 22. Guide column; 23. Lead screw; 3. Left servo feeding assembly; 31. Receiving box; 4. Right clamping feeding assembly; 5. Right servo feeding assembly; 6. Parallel gripping robotic arm; 7. Empty carton conveying assembly; 71. Push slide bar; 8. Left and right folding assembly; 81. First lever; 9. Front and rear folding assembly; 91. Second lever; 10. Full carton conveying assembly. 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.
[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0024] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.
[0025] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.
[0026] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0027] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.
[0028] like Figures 1 to 5As shown, a parallel robot packing device includes a truss 1. A left clamping feeding assembly 2 and a right clamping feeding assembly 4 are respectively arranged at the left and right ends of one side of the truss 1. The left clamping feeding assembly 2 and the right clamping feeding assembly 4 are used to convey materials into the interior of the truss 1. A left servo material handling assembly 3 and a right servo material handling assembly 5 are arranged horizontally along the side of the truss 1 near the left clamping feeding assembly 2 and the right clamping feeding assembly 4. A parallel gripping robotic arm 6 is fixed to the top surface of the interior of the truss 1, and the parallel gripping robotic arm 6 is used to grip the left servo material handling assembly 3. Alternatively, materials can be packed on the right servo feeding assembly 5. Inside the truss 1, on the side furthest from the left clamping feeding assembly 2 and the right clamping feeding assembly 4, a sealing conveyor assembly 11 is horizontally fixed. Inside the truss 1, above the sealing conveyor assembly 11, are sequentially arranged left and right folding assemblies 8 and front and rear folding assemblies 9 along the running direction. On the other side of the truss 1, empty carton conveying assemblies 7 and full carton conveying assemblies 10 are respectively arranged at the left and right ends. The left clamping feeding assembly 2 at the left end of the truss 1 is mainly used to smooth and clamp the incoming material, allowing it to smoothly enter the left servo feeding assembly 3. Similarly, the right clamping feeding assembly 4 on the right side plays a similar role, ensuring that the incoming product can be smoothly guided and enter the receiving box of the right servo feeding assembly 5. The parallel left servo feeding assembly 3 and right servo feeding assembly 5 together form two feeding assemblies for alternating feeding, cooperating with the parallel gripping robotic arm 6 to achieve continuous feeding. Through precise clamping and acceleration actions, the left and right clamping devices work alternately to ensure that the incoming products can be stably transported to the designated position. In conjunction with the parallel gripping robotic arm, a continuous and efficient feeding process is achieved.
[0029] In one embodiment, such as Figure 1 and 2 As shown, both the left clamping feed assembly 2 and the right clamping feed assembly 4 include two clamping conveying components 21. The two clamping conveying components 21 are horizontally arranged along the height direction, and the upper clamping conveying component 21 is fixed to the truss 1 via a connecting frame. A guide post 22 is vertically fixed to the side end face of the upper clamping conveying component 21, and a sliding cylinder is vertically fixed to the side end face of the lower clamping conveying component 21, with the sliding cylinder and guide post 22 vertically slidably inserted. A lead screw 23 is vertically rotatably connected to the side end face of the upper clamping conveying component 21, and a screw hole block is vertically fixed to the side end face of the lower clamping conveying component 21, with the screw hole block and lead screw 23 threadedly connected together.
[0030] In one embodiment, such as Figure 1 and 2As shown, the left and right folding assembly 8 includes a fixed arm and a first lever 81. The fixed arm is horizontally fixed to the inner wall of the truss 1, and the first lever 81 is hinged to both the front and rear sides of the fixed arm. A cylinder is hinged to both the front and rear sides of the fixed arm, and the output end of the cylinder is hinged to the end of the first lever 81. The starting cylinder in the left and right folding assembly 8 pulls the first lever 81 to deflect on the fixed arm. The first lever 81 is responsible for moving and opening the cardboard on the left and right sides of the carton, ensuring that the carton is fully opened, thereby increasing the stability of the product and the flatness during packing.
[0031] In one embodiment, such as Figure 1 and 2 As shown, in one embodiment, as Figure 1 and 2 As shown, the front and rear folding assembly 9 includes a support arm and a second lever 91. The support arm is horizontally fixed on the inner wall of the truss 1, and the front and rear ends of the support arm are rotatably connected to the second lever 91. The front and rear sides of the support arm are hinged with cylinders, and the output end of the cylinder is hinged to the end of the second lever 91. The starting cylinder in the front and rear folding assembly 9 pulls the second lever 91 to deflect on the support arm. The second lever 91 is responsible for opening and closing and spreading the cardboard on the left and right sides of the carton to ensure that the carton is fully opened, thereby increasing the stability of the product and the flatness during packing.
[0032] In one embodiment, such as Figure 1 and 2 As shown, both the left servo material handling assembly 3 and the right servo material handling assembly 5 include a conveying assembly and a receiving box 31. The conveying assembly in the left servo material handling assembly 3 and the right servo material handling assembly 5 is horizontally fixed in the truss 1, and the receiving box 31 is horizontally fixed on the conveyor belt of the conveying assembly. The receiving box 31 is horizontally fixed on the conveyor belt of the conveying assembly in the left servo material handling assembly 3 and the right servo material handling assembly 5 for storing product materials.
[0033] In one embodiment, such as Figure 1 and 2 As shown, a flattening gantry 12 is vertically fixed on the top surface of the sealing conveyor assembly 11 near the side of the full carton conveyor assembly 10. A pressing plate 13 is vertically arranged in the flattening gantry 12. A pushing cylinder 14 is vertically fixed on the top surface of the flattening gantry 12, and the output end of the pushing cylinder 14 is fixed on the top surface of the pressing plate 13. The sealing conveyor assembly 11 conveys the carton filled with products to the bottom of the flattening gantry 4. At this time, the cylinder drives the pressing plate 3 to press down, flattening the products in the carton, ensuring that the products are neat and tight after the carton is full.
[0034] In one embodiment, such as Figure 1 and 2As shown, a pusher rod 71 is slidably mounted at the tail end of the empty carton conveying assembly 7 towards the sealing conveying assembly 11. The pusher rod 71, via a cylinder, moves the carton towards the sealing conveying assembly 11 by translating at the tail end of the empty carton conveying assembly 7. The main function of the empty carton conveying assembly 6 is to supply empty cartons, ensuring they are continuously conveyed to the next process as needed. The empty carton conveying assembly 6 transports empty cartons to the feed end of the sealing conveying assembly 11. When a carton reaches the designated position, the pusher assembly 71 is activated, accurately pushing the empty carton onto the sealing conveying assembly 11, thus achieving smooth carton transport. First, the empty carton conveying device 6 continuously supplies empty cartons, ensuring uninterrupted operation of the production line. Second, when an empty carton reaches the designated position before the sealing conveying assembly 11, the pusher assembly 71 is activated, pushing the carton onto the sealing conveying assembly 11 with precise thrust. This ensures timely and accurate carton supply at each step, improving the overall efficiency and reliability of the production line.
[0035] In one embodiment, such as Figure 1 and 2 As shown, a pusher cylinder 14 is horizontally fixed on the top surface of the sealing conveyor assembly 11 near one end of the full carton conveyor assembly 10. The pusher cylinder 14 is used to push the carton toward the full carton conveyor assembly 10. The flattened carton is pushed onto the full carton conveyor assembly 10 by the pusher cylinder 14 and then conveyed to continue, thus completing the complete carton loading process.
[0036] The working principle of this utility model:
[0037] First, the left clamping feeding assembly 2 at one end of the middle truss 1 is used to smooth and clamp the incoming material, ensuring that the product can be fed into the receiving box of the left servo feeding assembly 3. At the same time, the right clamping feeding device 4 is also used to smooth and clamp the incoming material, ensuring that the product can be fed into the receiving box 31 of the right servo feeding device 5. The left servo feeding assembly 3 and the right servo feeding device 5, which are set up in parallel, are two feeding devices that feed the product at intervals. This can work in conjunction with the parallel gripping robotic arm 6 to grip the product and continuously feed it.
[0038] Then, the empty carton conveying device 6 is used to supply empty cartons. After the empty carton conveying device 6 conveys the empty carton to the feed end of the sealing conveying component 11, the pushing component 71 is activated to push the empty carton onto the sealing conveying component 11.
[0039] Secondly, the combined gripping robotic arm 6 can pick up the products in the receiving box 31 of the left servo feeding component 3 and the right servo feeding device 5 and put them into the carton conveyed by the sealing conveyor component 11 for packing.
[0040] Meanwhile, during loading, the left and right folding components 8 open and close the cardboard on the left and right sides of the carton, and then the front and rear folding components 9 open and close the cardboard on the front and rear sides of the carton, ensuring that the carton is fully opened later and guaranteeing the stability of the product packing.
[0041] Finally, after the carton is packed, the carton is conveyed to the flattening gantry 12 by the full carton conveyor 9. The cylinder on the flattening gantry 12 is activated to drive the pressing plate 13 to press down and flatten the product. After flattening, the full carton is pushed onto the full carton conveyor assembly 10 by the pushing cylinder 14 and conveyed away, thus completing the carton loading operation.
[0042] The above are preferred embodiments of this utility model. Those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments described above. Any obvious improvements, substitutions or modifications made by those skilled in the art based on this utility model shall fall within the protection scope of this utility model.
Claims
1. A parallel robot packing device, characterized in that, The system includes a truss (1), with a left clamping feeding assembly (2) and a right clamping feeding assembly (4) respectively provided on the left and right ends of one side of the truss (1). The left clamping feeding assembly (2) and the right clamping feeding assembly (4) are used to transport materials into the interior of the truss (1). Inside the truss (1), near the left clamping feeding assembly (2) and the right clamping feeding assembly (4), a left servo material handling assembly (3) and a right servo material handling assembly (5) are arranged in sequence along the horizontal direction. A parallel gripping robotic arm (6) is fixed on the top surface inside the truss (1). The robotic arm (6) is used to grab materials from the left servo feeding assembly (3) or the right servo feeding assembly (5) and pack them into boxes. The sealing conveyor assembly (11) is horizontally fixed on the side of the truss (1) away from the left clamping feeding assembly (2) and the right clamping feeding assembly (4). The left and right folding assemblies (8) and the front and rear folding assemblies (9) are arranged sequentially above the sealing conveyor assembly (11) along the running direction. The empty carton conveying assembly (7) and the full carton conveying assembly (10) are respectively arranged on the left and right ends of the other side of the truss (1).
2. The parallel robot packing equipment according to claim 1, characterized in that: The left clamping feed assembly (2) and the right clamping feed assembly (4) each include two clamping conveying components (21). The two clamping conveying components (21) are arranged horizontally along the height direction, and the clamping conveying component (21) located at the upper part of the two clamping conveying components (21) is fixed on the truss (1) by a connecting frame.
3. The parallel robot packing equipment according to claim 2, characterized in that: The upper clamping and conveying component (21) of the two clamping and conveying components (21) has a guide post (22) vertically fixed on its side end face, and the lower clamping and conveying component (21) of the two clamping and conveying components (21) has a sliding cylinder vertically fixed on its side end face, and the sliding cylinder is vertically slidably inserted into the guide post (22).
4. The parallel robot packing equipment according to claim 3, characterized in that: The upper clamping and conveying component (21) of the two clamping and conveying components (21) is vertically rotatably connected to a lead screw (23) on its side end face, and the lower clamping and conveying component (21) of the two clamping and conveying components (21) is vertically fixed to a screw hole block on its side end face, and the screw hole block and the lead screw (23) are threaded through and assembled.
5. The parallel robot packing equipment according to claim 1, characterized in that: The left and right folding assembly (8) includes a fixed arm and a first lever (81). The fixed arm is horizontally fixed on the inner wall of the truss (1), and the first lever (81) is hinged to both the front and rear sides of the fixed arm. A cylinder is hinged to both the front and rear sides of the fixed arm, and the output end of the cylinder is hinged to the end of the first lever (81).
6. The parallel robot packing equipment according to claim 1, characterized in that: The front and rear folding assembly (9) includes a support arm and a second lever (91). The support arm is horizontally fixed on the inner wall of the truss (1), and the front and rear ends of the support arm are rotatably connected to the second lever (91). The front and rear sides of the support arm are hinged with cylinders, and the output end of the cylinder is hinged to the end of the second lever (91).
7. A parallel robot packing device according to claim 1, characterized in that: The left servo material handling assembly (3) and the right servo material handling assembly (5) both include a conveying assembly and a receiving box (31). The conveying assembly in the left servo material handling assembly (3) and the right servo material handling assembly (5) is horizontally fixed in the truss (1), and the receiving box (31) is horizontally fixed on the conveyor belt of the conveying assembly.
8. A parallel robot packing device according to claim 1, characterized in that: A flattening gantry (12) is vertically fixed on the top surface of the sealing conveyor assembly (11) near the side of the full carton conveyor assembly (10), and a pressing plate (13) is vertically arranged in the flattening gantry (12). A pushing cylinder (14) is vertically fixed on the top surface of the flattening gantry (12), and the output end of the pushing cylinder (14) is fixed on the top surface of the pressing plate (13).
9. A parallel robot packing device according to claim 1, characterized in that: The tail end of the empty carton conveying assembly (7) is slidably mounted with a pusher slide rod (71) toward the sealing conveying assembly (11), and the pusher slide rod (71) is pushed by a cylinder to move the carton toward the sealing conveying assembly (11) by translating at the tail end of the empty carton conveying assembly (7).
10. A parallel robot packing device according to claim 7, characterized in that: A pusher cylinder (14) is horizontally fixed on the top surface of the sealing conveyor assembly (11) near one end of the full carton conveyor assembly (10), and the pusher cylinder (14) is used to push the carton toward the full carton conveyor assembly (10).