An automatic folding machine for overhanging packages

Abstract

The utility model relates to packing production technical field especially relates to a kind of automatic folding machine of suspension packing, including rack, fixed rotating device, grabbing device, folding device, first driver and second driver;Fixed rotating device is set on rack;Grabbing device is set above fixed rotating device;First driver is fixed on rack;Second driver is used to drive folding device left and right movement and contact with packing.The utility model fixed rotating device stable control packing position posture, solve folding when packing displacement problem;Grabbing device accurately obtains packing, avoids artificial grabbing inaccuracy;Driver height and folding device position are flexibly adjusted, adapt to different specifications;Folding device precision folding, improve folding quality, reduce manual operation, overall improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of packaging production technology, and in particular to an automatic folding machine for suspended packaging. Background Technology

[0002] In the current packaging production field, the folding process of suspended packaging mostly relies on manual labor. Manual operation is not only inefficient and difficult to meet the needs of large-scale production, but also, due to human factors, it is difficult to guarantee folding accuracy, resulting in inconsistent packaging quality.

[0003] In addition, repetitive work over long periods of time can easily cause worker fatigue, which further affects the folding effect and production efficiency.

[0004] Therefore, how to achieve efficient and precise folding of suspended packaging has become a technical problem that the packaging manufacturing industry urgently needs to solve. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic folding machine for suspended packaging. A fixed rotating device stably controls the position and posture of the packaging, solving the problem of packaging displacement during folding; a gripping device accurately picks up the packaging, avoiding inaccurate manual gripping; a driver flexibly adjusts the height and position of the folding device to adapt to different specifications; and the folding device folds precisely, improving folding quality, reducing manual operation, and overall increasing production efficiency.

[0006] To achieve the above objectives, this utility model provides an automatic folding machine for suspended packaging, comprising a frame, a fixed rotating device, a gripping device, a folding device, a first driver, and a second driver. The fixed rotation device is mounted on the frame and is used to limit and fix the packaging and drive the packaging to rotate; The gripping device is positioned above the fixed rotating device and is used to grip the packaging; The first driver is fixed to the frame and is used to drive the gripping device and the second driver to move up and down; The second driver is used to drive the folding device to move left and right and come into contact with the packaging, thereby folding the various parts of the packaging along their own fold lines.

[0007] Preferably, the fixed rotation device includes a housing, a turntable, a rotation driver, and a limiting block; The outer casing is fixed to the frame; The turntable is rotatably mounted inside the outer casing; The rotary driver is fixed to the frame and drives the turntable to rotate; Two limiting blocks are provided, both of which are fixed to the turntable, and a limiting groove for limiting the packaging is provided between the two limiting blocks.

[0008] Preferably, the limiting block is provided with a vacuum suction hole.

[0009] Preferably, the gripping device includes a robotic arm, a gripping motor, a lifting frame, and a lifting driver; The lifting driver is fixed to the second driver and is used to drive the lifting frame to move up and down; Two robotic arms are provided, and the two robotic arms are used to grasp the packaging; There are two clamping motors, which are respectively fixed to the lifting frame and are used to drive the two robotic arms to move closer or further apart so that the two robotic arms can grasp the packaging.

[0010] Preferably, the lifting frame is equipped with a positioning scanning device for positioning the packaging.

[0011] Preferably, a limit rod is provided at the top of the lifting driver.

[0012] Preferably, the folding device includes a connecting rod and a folding rod, the connecting rod is connected to the second driver, the folding rod is fixed to the connecting rod, and the folding rod has a U-shaped cross-section.

[0013] Preferably, the folding rod is provided with an adjusting pressure rod for adding folding accessories.

[0014] Preferably, a first protective bar is provided on both sides of the second driver, and a second protective bar is slidably disposed between the two first protective bars.

[0015] The beneficial effects of this utility model are: the fixed rotation device stably controls the position and posture of the packaging, solving the problem of packaging displacement during folding; the gripping device accurately picks up the packaging, avoiding inaccurate manual gripping; the driver flexibly adjusts the height and position of the folding device to adapt to different specifications; the folding device folds precisely, improving folding quality, reducing manual operation, and improving overall production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the fixed rotation device of this utility model.

[0018] Figure 3 This is a schematic diagram of the gripping device, folding device, first driver, second driver, and positioning scanning device of this utility model.

[0019] The reference numerals in the figures include: 1. Rack; 2. Fixed rotating device; 21. Housing; 22. Turntable; 23. Rotary drive; 24. Limit block; 25. Limit groove; 3. Gripping device; 31. Robotic arm; 32. Clamping motor; 33. Lifting frame; 34. Lifting driver; 35. Limiting rod; 4. Folding device; 41. Connecting rod; 42. Folding rod; 43. Adjusting pressure rod; 5. First driver; 6. Second drive; 61. First protective bar; 62. Second protective bar; 7. Positioning and scanning device. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] like Figures 1 to 3 As shown, the present invention provides an automatic folding machine for suspended packaging, comprising a frame 1, a fixed rotating device 2, a gripping device 3, a folding device 4, a first driver 5, and a second driver 6. The fixed rotation device 2 is installed on the frame 1 to limit and fix the packaging and drive the packaging to rotate; it can stably control the position and posture of the packaging, providing a basis for subsequent operations.

[0022] The gripping device 3 is positioned above the fixed rotating device 2 and is used to grip the packaging. By gripping the packaging with the gripping device 3, the packaging can be accurately obtained, which facilitates subsequent folding operations. The first actuator 5 is fixed to the frame 1 and is used to drive the gripping device 3 and the second actuator 6 to rise and fall. The height of the gripping device 3 and the second actuator 6 can be flexibly adjusted to adapt to different packaging sizes and folding requirements. The first actuator 5 can be an electric screw jack module, which consists of a motor, reducer, screw, and nut. The motor provides power, and after the reducer reduces the speed and increases the torque, it drives the screw to rotate. The screw and nut work together to convert the rotational motion into linear motion, thereby driving the gripping device 3 and the second actuator 6 to rise and fall. Alternatively, the first actuator 5 can be a hydraulic cylinder lifting module, which consists of a hydraulic pump, hydraulic cylinder, control valve, and oil tank. The hydraulic pump draws hydraulic oil from the oil tank, pressurizes it, and delivers it to the hydraulic cylinder, pushing the piston of the hydraulic cylinder to move linearly, thus realizing the rising and falling of the gripping device 3 and the second actuator 6.

[0023] The second driver 6 drives the folding device 4 to move left and right and contact the packaging, thereby folding each part of the packaging along its own folding line. The power output of the second driver 6 moves the folding device 4 horizontally to the appropriate position to contact the packaging, precisely folding each part of the packaging along its own folding line, achieving efficient folding of suspended packaging, reducing manual operation, and improving production efficiency and folding quality. The second driver 6 can be a servo motor paired with a linear guide module. Servo motors have advantages such as high precision, fast response, and good control performance. The servo motor is connected to a lead screw via a coupling, and the lead screw cooperates with a slider mounted on the linear guide. When the servo motor rotates, it drives the lead screw to rotate, causing the slider to move left and right along the linear guide, thereby driving the folding device 4 to move left and right to contact the packaging for folding. The second driver 6 can also be a stepper motor paired with a synchronous belt drive module. Stepper motors can convert electrical pulse signals into corresponding angular or linear displacements. Synchronous belt drives have advantages such as accurate transmission ratio, high transmission efficiency, and compact structure. The stepper motor is connected to the synchronous belt drive mechanism. The stepper motor drives the drive wheel to rotate, which in turn drives the driven wheel to rotate through the synchronous belt, thereby causing the folding device 4 connected to the driven wheel to move left and right in a straight line.

[0024] During operation, the fixed rotating device 2 limits and fixes the packaging and drives it to rotate, changing its angle and position so that the gripping device 3 can grip it and the folding device 4 can fold it. The gripping device 3 grips the packaging during folding to prevent it from falling off. The first driver 5 drives the gripping device 3 and the second driver 6 to rise and fall, adjusting their heights according to a preset folding sequence. The second driver 6 precisely controls the power output based on the preset folding steps and the position information of the folding lines on the packaging, driving the folding device 4 to move left and right. The folding device 4 contacts the packaging and, according to the set force and method, precisely folds the first part of the packaging along its own folding lines, ensuring the angle and shape meet requirements. After the first fold, the second driver 6 continues to drive the folding device 4 to the next folding line, repeating the above folding operation to precisely fold each part of the packaging in sequence until all folding processes of the entire packaging are completed.

[0025] like Figure 2 As shown, the fixed rotation device 2 in this embodiment includes a housing 21, a turntable 22, a rotation driver 23, and a limiting block 24.

[0026] The outer casing 21 is fixed to the frame 1; the outer casing 21 provides a stable support frame for the entire fixed rotating device 2, ensuring the stable installation of the fixed rotating device 2 on the frame 1 and providing a reliable foundation for the operation of the internal structure.

[0027] The turntable 22 is rotatably mounted inside the outer casing 21, so that the turntable 22 can rotate relative to the outer casing 21, in preparation for subsequently rotating the packaging.

[0028] The rotary driver 23 is fixed to the frame 1 and drives the turntable 22 to rotate; the power generated by the rotary driver 23 is used to precisely control the rotation of the turntable 22, thereby driving the packaging to rotate stably.

[0029] Two limiting blocks 24 are provided, both of which are fixed to the turntable 22. A limiting groove 25 for limiting the packaging is provided between the two limiting blocks 24. The two limiting blocks 24 form a specific limiting groove 25, which precisely limits the packaging and prevents it from shifting during rotation.

[0030] The rotary driver 23 can use a common servo motor as the rotary driver 23. The servo motor has the characteristics of high precision and fast response, and can accurately control the rotation angle and speed of the turntable 22. The rotary driver 23 can also use a stepper motor. The stepper motor is controlled by pulse signals and can achieve relatively accurate positioning and rotation control.

[0031] The limiting block 24 can be made of metal, such as stainless steel, which has high strength and wear resistance and can ensure that it will not deform after long-term use. Alternatively, the limiting block 24 can be made of engineering plastic, such as polyoxymethylene (POM), which has good self-lubrication and low cost and can meet general limiting requirements.

[0032] In this embodiment, the limiting block 24 is provided with a vacuum suction hole. When the vacuum suction hole is connected to a vacuum generator to generate negative pressure, it will generate an adsorption force on the package placed in the limiting block 24 or the limiting groove 25; this enhances the fixing effect on the package and prevents the package from shifting or shaking due to centrifugal force or other reasons during rotation, thereby more stably controlling the position and posture of the package and providing a more reliable foundation for subsequent gripping and folding operations.

[0033] like Figure 3 As shown, the gripping device 3 in this embodiment includes a robotic arm 31, a clamping motor 32, a lifting frame 33, and a lifting driver 34.

[0034] The lifting driver 34 is fixed to the second driver 6 and is used to drive the lifting frame 33 to lift and lower; drive the lifting frame 33 to perform stable lifting and lowering operations so that the robotic arm 31 can reach a suitable height to grab packages at different positions.

[0035] Two robotic arms 31 are provided, which are used to grasp the packaging; the robotic arms 31 accurately obtain the packaging, which facilitates the subsequent folding operation.

[0036] Two gripping motors 32 are provided, each fixed to the lifting frame 33. They drive the two robotic arms 31 to move closer or further apart, enabling the two robotic arms 31 to grip the packaging. The rotation of the gripping motors 32 causes the robotic arms 31 to move relative to each other, allowing the spacing between the robotic arms 31 to be flexibly adjusted according to the size of the packaging, thus achieving precise gripping of packaging of different sizes.

[0037] Specifically, the clamping motor 32 drives the two robotic arms 31 to move closer or further apart through a transmission component, such as a gear-rack transmission structure or a lead screw-nut transmission structure.

[0038] When using a gear-rack transmission structure, a rack is installed on each robotic arm 31, with the two racks parallel and their tooth surfaces facing each other. A gear is installed on the output shaft of the clamping motor 32, positioned between the two racks and meshing with them simultaneously. When the clamping motor 32 rotates clockwise, the motor output shaft drives the gear to rotate clockwise (assuming a view from above the motor). According to the meshing transmission principle of gears and racks, the two racks meshing with the gear will move in opposite directions. For example, the left rack moves to the left, and the right rack moves to the right, thus causing the two robotic arms 31 to move away from each other. When the clamping motor 32 rotates counterclockwise, the motor output shaft drives the gear to rotate counterclockwise. At this time, the two racks will move in opposite directions, that is, the left rack moves to the right, and the right rack moves to the left, causing the two robotic arms 31 to move closer together.

[0039] In the screw-nut drive structure, a double-ended reverse screw is used, meaning the screw has two sections of threads with opposite directions of rotation. A nut is fixed to each robotic arm 31, and the two nuts respectively engage with the two sections of threads with different directions of rotation on the double-ended reverse screw. A clamping motor 32 is connected to the double-ended reverse screw via a coupling. When the clamping motor 32 starts and rotates clockwise, it drives the double-ended reverse screw to rotate clockwise (assuming a view from the motor end). Because the two nuts engage with threads with opposite directions of rotation, according to the characteristics of the screw-nut drive, one nut will move to the left along the screw, and the other nut will move to the right, thus causing the two robotic arms 31 to move away from each other. When the clamping motor 32 reverses, the double-ended reverse screw rotates counterclockwise, and the two nuts will move towards the center, causing the two robotic arms 31 to move closer together.

[0040] Among them, the lifting driver 34 can be an electric push rod. The electric push rod drives the lead screw to rotate through the motor, converting the rotational motion into linear motion, and pushing the lifting frame 33 to rise and fall. It has the advantages of simple structure, convenient control and large thrust. The lifting driver 34 can also be a hydraulic cylinder. The hydraulic cylinder uses the pressure of hydraulic oil to drive the piston to move and realize the lifting function. It is suitable for scenarios that require large thrust and smooth movement.

[0041] The clamping motor 32 can be a stepper motor, which can precisely control the rotation angle, thereby accurately controlling the moving distance of the robotic arm 31 and achieving precise gripping; the clamping motor 32 can also be a servo motor, which has the characteristics of fast response speed, high precision, and wide speed range, and can better meet the precise control requirements of the clamping action of the robotic arm 31.

[0042] like Figure 3 As shown, the lifting frame 33 in this embodiment is equipped with a positioning scanning device 7 for positioning the packaging. The positioning scanning device 7 determines the packaging's position, size, posture, and other parameters by emitting specific types of signals (such as lasers, infrared rays, etc.) and receiving reflected signals, or by acquiring image information of the packaging using image acquisition technology, and then processing and analyzing it through internal algorithms. This provides accurate position information for the robotic arm 31 to precisely grasp the packaging, ensuring that the robotic arm 31 can quickly and accurately reach the packaging's location for grasping operations, effectively improving the success rate and efficiency of grasping, avoiding grasping errors caused by uncertain packaging positions, and solving the problem of inaccurate positioning affecting subsequent production processes in traditional grasping methods.

[0043] The positioning and scanning device 7 can employ a lidar module based on the time-of-flight (TOF) principle. It calculates the distance to the packaging by measuring the time it takes for the laser to travel from emission to reception of the reflected light, and then determines the spatial position of the packaging by combining this with scanning angle information. For example, SLAMTEC's RPLIDAR series lidar offers advantages such as high measurement accuracy, fast scanning speed, and strong anti-interference capabilities, enabling it to quickly and accurately acquire the packaging's position information.

[0044] The positioning and scanning device 7 can also be an industrial camera combined with image processing algorithms to achieve the positioning and scanning function. The industrial camera can acquire high-resolution images of the packaging, and then use image recognition algorithms (such as deep learning-based object detection algorithms) to identify and locate the packaging in the image. For example, Basler industrial cameras, combined with open-source image processing libraries such as OpenCV, can achieve precise positioning of packaging of different shapes and colors, suitable for scenarios where there are certain recognition requirements for packaging appearance.

[0045] like Figure 3As shown, the lifting drive 34 in this embodiment is provided with a limit rod 35 at its top. The limit rod 35 sets a fixed physical boundary for the upward stroke of the lifting frame 33. When the lifting frame 33 rises to contact the limit rod 35, the lifting frame 33 cannot continue to move upward due to the blocking effect of the limit rod 35. This effectively prevents the lifting frame 33 from colliding with other components due to excessive rising, or from exceeding the reasonable working range designed for the equipment, thereby protecting the equipment from damage and ensuring that components such as the gripping device 3 operate within a safe stroke. This improves the stability and reliability of equipment operation and solves the problem of equipment failure and production accidents that may be caused by uncontrolled stroke of the lifting frame 33.

[0046] like Figure 3 As shown, the folding device 4 in this embodiment includes a connecting rod 41 and a folding rod 42. The connecting rod 41 is connected to the second actuator 6, and the folding rod 42 is fixed to the connecting rod 41. The cross-section of the folding rod 42 is U-shaped. With the power provided by the second actuator 6, the connecting rod 41 can move according to a set motion trajectory, thereby driving the folding rod 42 to move. This enables the second actuator 6 to drive the folding device 4 to move left and right. The U-shaped folding rod 42 can better fit the folding part of the packaging, and under the action of the connecting rod 41, it applies appropriate pressure and guiding force to the packaging. This accurately completes the folding operation of the packaging, improves the accuracy and efficiency of folding, and solves the problems of uneven folding and low efficiency caused by unreasonable structure in traditional folding methods.

[0047] like Figure 3 As shown, the folding rod 42 in this embodiment is provided with an adjusting pressure rod 43 for adding folding accessories. By adjusting the pressure rod 43, folding accessories can be flexibly added to the folding rod 42 according to the thickness, material, and folding requirements of the packaging. With the assistance of folding accessories, it can better adapt to packaging of different specifications and characteristics, ensuring that the folding action is accurate and stable, improving the quality and consistency of folding, and solving the problem that the traditional folding device 4 cannot adapt to packaging differences, resulting in poor folding effect.

[0048] Specifically, the adjusting rod 43 is a threaded adjusting rod 43. The main body of the threaded adjusting rod 43 can be made of metal, such as stainless steel, to ensure strength and durability. A threaded structure is provided at the connection between the adjusting rod 43 and the folding rod 42. By rotating the adjusting rod 43, the mounting position of the adjusting rod 43 on the folding rod 42 can be moved up and down, thereby realizing the adjustment of pressure and distance.

[0049] like Figure 3As shown, in this embodiment, the second actuator 6 is provided with first protective rods 61 on both sides, and a second protective rod 62 is slidably disposed between the two first protective rods 61. The first protective rods 61 construct a relatively fixed boundary frame surrounding the second actuator 6. The second protective rod 62 can slide within the track range set by the first protective rods 61. On one hand, the first protective rods 61 on both sides can prevent large external objects from directly colliding with the second actuator 6, providing initial protection; on the other hand, the slidably disposed second protective rod 62 can adjust its position according to actual needs, further flexibly blocking small objects or debris that may enter the working area of ​​the second actuator 6, enhancing the comprehensiveness and adaptability of the protection, effectively protecting the second actuator 6 from external interference and damage, and ensuring stable operation of the equipment.

[0050] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. An automatic folding machine for suspended packaging, characterized in that, It includes a frame (1), a fixed rotating device (2), a gripping device (3), a folding device (4), a first driver (5), and a second driver (6); The fixed rotation device (2) is mounted on the frame (1) and is used to limit and fix the packaging and drive the packaging to rotate. The gripping device (3) is positioned above the fixed rotating device (2) and is used to grip the packaging; The first driver (5) is fixed on the frame (1) and is used to drive the gripping device (3) and the second driver (6) to lift and lower. The second driver (6) is used to drive the folding device (4) to move left and right and come into contact with the packaging, thereby folding the various parts of the packaging along their own fold lines.

2. The automatic folding machine for suspended packaging according to claim 1, characterized in that, The fixed rotating device (2) includes a housing (21), a turntable (22), a rotating driver (23), and a limiting block (24). The outer casing (21) is fixed to the frame (1); The turntable (22) is rotatably disposed inside the outer casing (21); The rotary driver (23) is fixed to the frame (1) and drives the turntable (22) to rotate; There are two limiting blocks (24), both of which are fixed to the turntable (22), and a limiting groove (25) for limiting the packaging is provided between the two limiting blocks (24).

3. The automatic folding machine for suspended packaging according to claim 2, characterized in that, The limiting block (24) is provided with a vacuum suction hole.

4. The automatic folding machine for suspended packaging according to claim 1, characterized in that, The gripping device (3) includes a robotic arm (31), a clamping motor (32), a lifting frame (33), and a lifting driver (34). The lifting driver (34) is fixed to the second driver (6) and is used to drive the lifting frame (33) to rise and fall; Two robotic arms (31) are provided, and the two robotic arms (31) are used to grasp the packaging; Two clamping motors (32) are provided, and the two clamping motors (32) are respectively fixed to the lifting frame (33) to drive the two robotic arms (31) to move closer or further away from each other, so as to enable the two robotic arms (31) to grasp the packaging.

5. The automatic folding machine for suspended packaging according to claim 4, characterized in that, The lifting frame (33) is equipped with a positioning scanning device (7) for positioning the packaging.

6. The automatic folding machine for suspended packaging according to claim 4, characterized in that, A limit rod (35) is provided on the top of the lifting drive (34).

7. The automatic folding machine for suspended packaging according to claim 1, characterized in that, The folding device (4) includes a connecting rod (41) and a folding rod (42). The connecting rod (41) is connected to the second driver (6), and the folding rod (42) is fixed to the connecting rod (41). The cross-section of the folding rod (42) is U-shaped.

8. The automatic folding machine for suspended packaging according to claim 7, characterized in that, The folding rod (42) is provided with an adjusting pressure rod (43) for adding folding accessories.

9. The automatic folding machine for suspended packaging according to claim 1, characterized in that, The second driver (6) is provided with a first protective rod (61) on both sides, and a second protective rod (62) is slidably disposed between the two first protective rods (61).

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