CN107323731B

CN107323731B - Vertical soft bag boxing machine

Info

Publication number: CN107323731B
Application number: CN201710499937.1A
Authority: CN
Inventors: 丁金良
Original assignee: Wuxi Lion Medical Automation Technology Co ltd
Current assignee: Wuxi Lion Medical Automation Technology Co ltd
Priority date: 2017-06-27
Filing date: 2017-06-27
Publication date: 2023-04-07
Anticipated expiration: 2037-06-27
Also published as: CN107323731A

Abstract

The invention discloses a soft bag vertical box filling machine, which comprises a soft bag conveying line, a carton conveying line, a partition plate supply device and a box filling manipulator, wherein the carton conveying line is arranged on the soft bag conveying line; the transported soft bags are arranged in a linear array on the soft bag conveying line, and all the soft bags are in a vertical state; the boxing manipulator comprises a boxing claw and a multi-axis robot used for driving the boxing claw to move between the soft bag transmission line and the carton arranged at a fixed point; the boxing claw comprises a plurality of soft bag claws arranged in a rectangular array, and the transverse density degree and the longitudinal density degree of all the soft bag claws are variable, so that all the soft bag claws can be switched between a gathering state and a dispersing state. The soft bag vertical boxing machine can realize soft bag conveying, soft bag grabbing and carton positioning, change the grabbed soft bags from a dispersed state into a gathering state capable of boxing for boxing, can simultaneously place the partition plate between the two rows of soft bags, realizes the automatic boxing process without human interference in the whole process, and has good stability and high production efficiency.

Description

Vertical case packer for soft bags

Technical Field

The invention relates to the field of automatic packaging machinery, in particular to a vertical soft bag box filling machine.

Background

The packaging technology of infusion products is developed rapidly in recent years, from traditional glass bottles and plastic bottles to plastic soft bag packaging materials, infusion soft bags comprise PVC (Polyvinyl chloride) soft bags and non-PVC soft bags, and the non-PVC soft bags have very low water permeability, air permeability and mobility, and are suitable for packaging most of medicines.

The soft bag has the characteristics of soft texture and difficult orientation, so the difficulty of realizing automation of production and packaging of the soft bag is high, the current soft bag packaging mostly adopts a semi-automatic or pure manual boxing mode, the production efficiency is low, and the labor intensity is high.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the vertical soft bag boxing machine capable of realizing automatic soft bag boxing.

The technical scheme is as follows: in order to achieve the purpose, the soft bag vertical box filling machine comprises a soft bag conveying line and a box filling mechanical arm; the transported soft bags are arranged in a linear array on the soft bag transmission line, and all the soft bags are in a vertical state; the boxing manipulator comprises a boxing claw and a multi-axis robot used for driving the boxing claw to move between the soft bag transmission line and the carton arranged at a fixed point; the boxing claw comprises a plurality of soft bag claws arranged in a rectangular array, and the transverse density degree and the longitudinal density degree of all the soft bag claws are variable, so that all the soft bag claws can be switched between a gathering state and a dispersing state.

Furthermore, the soft bag gripper groups are contained in a plurality of soft bag gripping assemblies, each soft bag gripping assembly comprises a row of soft bag grippers which are arranged in a linear equidistant array mode and have variable density, and all the soft bag gripping assemblies are installed on the gripper base and have variable density.

Furthermore, the grabbing component bases of the two groups of soft bag grabbing components on the two sides are respectively provided with a half frame component, each half frame component comprises a frame side plate and frame end plates hinged to the two ends of the frame side plate, the half frame components can be switched between an unfolding state and a folding state in which the half frame components are folded into a U shape, and when the two half frame components are in the folding state, the two half frame components surround to form a square whole frame.

Furthermore, the soft bag conveying line comprises one or more groups of circulating transmission devices, a plurality of separating units are arranged at equal intervals in the circulating transmission direction of each group of circulating transmission devices, and a storage space capable of temporarily storing the soft bags and keeping the soft bags in a vertical state is defined between adjacent separating units.

The carton conveying line comprises a roller line, at least one boxing station used for arranging the cartons at fixed points is arranged on the roller line, and a blocking mechanism used for blocking the cartons and a carton supporting mechanism used for positioning the cartons are arranged at the boxing station.

Furthermore, the box supporting mechanism comprises a square frame, four corners of the top of the square frame are respectively provided with a box supporting element, the box supporting elements can rotate relative to the square frame and axially translate on a rotating shaft of the square frame, the box supporting elements are switched back and forth between a first position state and a second position state, and in the first position state, the box supporting elements are in a position state higher than the upper end of the carton; in the second position, the box supporting element extends into the carton and supports against one corner of the carton.

Furthermore, the box packing machine further comprises a partition plate supply device, and partition plate claws are arranged between two adjacent soft bag grabbing assemblies on the box packing claws.

Further, the separator supply device includes a separator storage unit, a pusher unit, and a separator separating unit; the push plate unit comprises a push plate which can translate relative to the clapboard storage unit and can directionally push the clapboards stored in the clapboard storage unit, and the translation of the push plate is driven by a driving device; the separation unit of the clapboard is arranged in front of the push plate pushing direction and outside the storage unit of the clapboard, and the direction of separating the clapboard is parallel to the translation direction of the push plate unit.

Further, the storage unit comprises a storage unit base and lateral limiting units arranged on two sides above the storage unit base, and the push plate translates between the lateral limiting units on two sides; blocking pieces used for blocking the edges of the partition boards are arranged on one sides, close to the partition board separating units, of the two lateral limiting units; the partition board separation unit comprises a sucker assembly.

Furthermore, the soft bag gripper comprises a gripper seat body and a first clamping jaw finger and a second clamping jaw finger which are rotatably installed on the gripper seat body, a telescopic execution element is further arranged on the gripper seat body, and the first clamping jaw finger and the second clamping jaw finger are respectively connected with a telescopic rod of the telescopic execution element through a first connecting rod and a second connecting rod.

Further, the multi-axis robot comprises a main beam, wherein two ends of the main beam are fixed relative to the ground through fixing elements respectively; the main beam is at least provided with a group of vertical moving arms, the vertical moving arms can independently move in the X-axis direction and the Z-axis direction relative to the main beam, and the boxing claws are arranged at the lower ends of the vertical moving arms.

Has the beneficial effects that: the soft bag vertical boxing machine can realize soft bag conveying, soft bag grabbing and carton positioning, change the grabbed soft bags into a boxing-available gathering state from a dispersing state for boxing, can simultaneously place a partition plate between two rows of soft bags, realizes an automatic boxing process without human interference in the whole process, and has good stability and high production efficiency.

Drawings

FIG. 1 is a general structure plan view of a vertical soft bag box filling machine;

FIG. 2 is a general structure front view of a vertical soft bag boxing machine;

FIG. 3 is a perspective view of a flexible bag transfer line;

FIG. 4 is a top view of a flexible bag transfer line;

FIG. 5 is a block diagram of a partition unit;

FIG. 6 is a perspective view of a carton conveying line;

FIG. 7 is a front view of the carton conveying line;

FIG. 8 is a front view of a separator supply device;

FIG. 9 is a perspective view of a separator supply assembly;

FIG. 10 is a top view of a separator supply assembly;

FIG. 11 is a front view of the case gripper;

FIG. 12 is a perspective view of a case loading gripper;

FIG. 13 is a view showing the structure of a soft bag claw;

FIG. 14 is a block diagram of a multi-axis robot;

FIG. 15 is a block diagram of an XZ transition assembly.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The vertical soft bag boxing machine shown in fig. 1 and fig. 2 comprises a frame 1, a soft bag conveying line 2, a carton conveying line 3, a partition plate supply device 4 and a boxing manipulator 5. The soft bag transmission line 2 is used for transmitting soft bags, the soft bags are arranged on the soft bag transmission line 2 in a linear array mode and are in a vertical state, and the soft bag transmission line 2 can simultaneously transmit a plurality of rows of soft bags; the carton conveying line 3 comprises a roller line 31, at least one boxing station is arranged on the roller line 31, and a carton supporting mechanism 32 for keeping the carton in a stretched state is arranged at the boxing station; the transmission direction of the soft bag transmission line 2 is parallel to the transmission direction of the roller line 31. The case packer manipulator 5 is installed and is used for snatching the soft bag on the soft bag transmission line 2 in batches and send into the carton on the vanning station that is located drum line 31 in frame 1 and carry out the vanning operation, case packer manipulator 5 includes multiunit clamping jaw subassembly, the group number of clamping jaw subassembly corresponds with the row number of the soft bag that soft bag transmission line 2 can be transmitted simultaneously, be equipped with the baffle claw hand 55 that is used for snatching the baffle between two sets of adjacent clamping jaw subassemblies, baffle feeding mechanism 4 is used for storing the baffle and snatchs the single separation of baffle confession baffle claw hand 55.

The detailed construction of each component is as follows:

as shown in fig. 3-4, the soft bag conveying line 2 includes a frame 24 and one or more sets of circulating transmission devices 21 installed on the frame 24, specifically, a synchronous belt, a flat belt or a conveying chain, in this embodiment, a synchronous belt with good synchronism, low noise and good stability is adopted; a plurality of partition units 22 are equidistantly arranged in the circulating transmission direction of the circulating transmission device 21, a storage space capable of temporarily storing the soft bag and keeping the soft bag in a vertical state is defined between the adjacent partition units 22, the storage space is wide in the middle and narrow at two ends, and the partition units 22 are lower than the soft bag in height, so that the upper end of the soft bag is exposed out of the storage space for the gripping of the boxing manipulator 5. The two sides of each group of the circulating transmission devices 21 in the conveying direction are provided with holding side plates 23, the partition units 22 move between the holding side plates 23 on the two sides of the circulating transmission devices 21, and the holding side plates 23 can effectively prevent the soft bags from being inclined too much and even falling out of the storage space.

As shown in fig. 5, the partition unit 22 includes a bottom plate 221 fixed on the endless transmission device 21 (i.e., a timing belt) and a partition 222 vertically fixed on the bottom plate 221, rollers 223 are disposed on both sides of the bottom plate 221, and the rollers 223 on both sides of the partition unit 22 can roll along a pressure-bearing rail disposed on the frame 24 during the movement of the partition unit 22 along with the endless transmission device 21, so that the endless transmission device 21 does not bear the self weight of the partition unit 22, and the load of the endless transmission device 21 is reduced; the partition 222 is in the shape of a saddle with a narrowed middle and wider ends, but this shape is only preferable for the partition 222, and the shape of the partition 222 is not limited to this shape, and may be a square storage space formed by a common flat plate engaging with the holding side plates 23 on both sides, or may be another shape.

As shown in fig. 6 and 7, the carton conveying line 3 includes a roller line 31, at least two parallel guide rods 34 are disposed on two sides above the roller line 31, the carton moves between the guide rods 34 on the two sides, the guide rods 34 can not only prevent the carton from deviating, but also play a role in screening, prevent the carton from being misplaced in length and width, and affect automatic carton loading, if the carton is misplaced, the carton is blocked by the guide rods 34, and in order to facilitate the carton to enter between the guide rods 34 on the two sides, an oblique angle groove is disposed on an end portion of the same side of the guide rods 34 on the two sides, so that a distance between the guide rods 34 gradually narrows from width in a direction in which the carton enters between the guide rods 34. At least one boxing station is arranged on the roller line 31, and a box supporting mechanism 32 for positioning the cartons and a blocking mechanism 33 for blocking the cartons are arranged at each boxing station.

The box supporting mechanism 32 comprises a square frame 321, four corners of the top of the square frame 321 are respectively provided with a box supporting element 322, the box supporting elements 322 can rotate relative to the square frame 321 and can axially translate on the rotating shaft of the square frame, the box supporting elements 322 are switched back and forth between a first position state and a second position state, in the first position state, the box supporting elements 322 are in a position state higher than the upper end of the carton, and the box supporting elements 322 are close to the middle position of the square frame 321; in the second position, the box supporting element 322 extends into the carton and abuts against a corner of the carton, which is close to the edge of the square frame 321 relative to the square frame 321. The specific implementation mode is as follows: the box supporting elements 322 are divided into two groups and are respectively installed on the two rotating shafts 323, the box supporting elements 322 are circumferentially fixed relative to the rotating shafts 323 and can axially slide relative to the rotating shafts 323, the sliding of the box supporting elements is driven by a first air cylinder 324, specifically, a cylinder seat of the first air cylinder 324 is fixed on the rotating shafts 323, and an expansion rod of the first air cylinder 324 is used for supporting the box supporting elements 322; the rotating shaft 323 can rotate relative to the square frame 321, and the rotation of the rotating shaft 323 is driven by the second air cylinder 325, specifically, the first connecting rod 326 is fixed on the rotating shaft 323, the cylinder seat of the second air cylinder 325 is rotatably connected relative to the square frame 321, and the telescopic rod of the second air cylinder 325 is hinged with one end of the first connecting rod 326.

The blocking mechanism 33 comprises a third cylinder 331 and a baffle 332 driven by the third cylinder 331 to perform translational motion, wherein a cylinder base of the third cylinder 331 is fixed on a bracket of the roller line 31.

In this embodiment, two boxing stations are disposed on the roller line 31, and each boxing station is provided with a blocking mechanism 33, and in addition, a blocking mechanism 33 is disposed before the first boxing station in the conveying direction of the roller line 31 for suspending the carton from entering the boxing station and releasing the carton.

As shown in fig. 8-10, the separator supplying device 4 includes a separator storage unit 41, a push plate unit 42 for pushing the separator stored in the separator storage unit 41 to a fixed direction, and a separator separating unit 43, wherein the push plate unit 42 includes a push plate 421 capable of translating relative to the separator storage unit 41, the translation direction of the push plate 421 is perpendicular to the plane of the separator, the translation movement of the push plate 421 is driven by a driving device, specifically, the driving device includes an elastic element 422, the elastic element 422 may be a spring, in this embodiment, the elastic element 422 is a rubber rope, one end of the rubber rope is tied to the push plate 421, and the other end of the rubber rope is fixed relative to the assembly base after passing through a pulley 423 rotatably connected to the separator storage unit 41.

The partition board storage unit 41 comprises a storage unit base 411 and lateral limiting units 412 erected on two sides above the base 411, the lateral limiting units 412 are located on two sides of the moving direction of the push board 421, blocking pieces 413 used for blocking the edges of the partition boards are mounted on the lateral limiting units 412 and one sides of the base 411 close to the partition board separating unit 43, and in the moving direction of the push board 421, the projection area of the blocking pieces 413 on the partition boards stored in the partition board storage unit 41 is far smaller than the area of the partition boards. The stopper piece 413 functions to restrict the movement of the partition stored in the partition storage unit 41, and when the partition separating unit 43 separates the partition in contact with the stopper piece 413 from the partition storage unit 41, the partition is deformed to get out of the restriction of the stopper piece 413.

The partition separating unit 43 comprises a suction cup assembly 431 which can translate relative to the partition storing unit 41, in the present embodiment, the translation direction of the suction cup assembly 431 is parallel to the translation direction of the push plate 421, the translation of the suction cup assembly 431 is guided by a slide 433 mounted on the suction cup assembly 431 and a slide 434 fixed relative to the partition storing unit 41, and is driven by a separating cylinder 435. In another embodiment, the translation direction of the suction cup assembly 431 may also be a vertical direction, so as to vertically separate the partition board out of the partition board storage unit 41.

The translation of the push plate 421 is implemented as follows: the pusher unit 42 further includes at least two guide rods 427 fixed to the separator storage unit 41, linear bearings 424 corresponding to the number of the guide rods 427 are fixed to the pusher 421, and the linear bearings 424 are slidably connected to the guide rods 427.

In order to facilitate the replacement of the separator by pulling the push plate 421 back to the original position after the supply of the separator in the separator storage unit 41 is completed, the push plate 421 is provided with a pull handle 425 and a hook 426, the pull handle 425 can facilitate a user to pull the push plate 421 back to the initial position, and the hook 426 can enable the push plate 421 to temporarily hook a certain part on the device to fix the push plate 421 relative to the separator storage unit 41, so that the user does not need to manually hold the push plate 421 during the replacement of the separator. In this embodiment, the hook 426 is composed of a spring and a stopper, and when the push plate 421 needs to be released to be able to move horizontally along the guide rod 427, the stopper is manually lifted to deform the spring, so that the hooking relationship between the stopper and a certain portion of the device is released.

The boxing robot 5 includes a multi-axis robot 51 and a boxing gripper installed at an execution end of the multi-axis robot 51. In this embodiment, the multi-axis robot 51 is a biaxial cartesian robot. As shown in fig. 11 and 12, the carton loading gripper comprises a gripper base 52, a plurality of soft bag grippers 532 are indirectly mounted on the gripper base 52, the soft bag grippers 532 are uniformly distributed in a square array, the transverse spacing and the longitudinal spacing between adjacent soft bag grippers 532 are variable, and all the soft bag grippers 532 can be switched between a gathering state and a dispersing state; in the gathering state, the transverse spacing and the longitudinal spacing are small, and in the dispersing state, the transverse spacing and the longitudinal spacing are large. The soft bag claws 532 are grouped and contained in a plurality of soft bag grabbing components 53, each soft bag grabbing component 53 contains a row of soft bag claws 532 which are arranged in a linear equidistant array and have variable density, and all the soft bag grabbing components 53 are arranged on the claw base 52 and have variable density.

Specifically, the pitch changing manner between the two sets of soft bag gripping assemblies 53 may be: (1) One of the soft bag gripping assemblies 53 is fixed, and the other soft bag gripping assembly is driven by the first linear driving element 57 to translate relative to the gripper base 52 to change the distance between the two soft bag gripping assemblies 53; (2) The two flexible bag gripping assemblies 53 are each driven by a first linear drive element 57 to translate relative to the gripper base 52 in opposite directions. The present embodiment adopts the manner (2), and the first linear driving element 57 in the present embodiment is a cylinder.

The soft bag gripping assembly 53 comprises a gripping assembly base 531 and a plurality of soft bag claws 532 arranged on the gripping assembly base 531 in a linear array, wherein the distance between the adjacent soft bag claws 532 is variable, and all the soft bag claws 532 are uniformly arranged.

As shown in fig. 13, the soft bag gripper 532 includes a gripper body 5323, a first gripper finger 5321 and a second gripper finger 5322, wherein the first gripper finger 5321 and the second gripper finger 5322 are both rotatably mounted on the gripper body 5323 and can move to and fro relatively. The claw hand seat body 5323 is further provided with a telescopic execution element 5324, and the first claw finger 5321 and the second claw finger 5322 are respectively connected with a telescopic rod of the telescopic execution element 5324 through a first connecting rod 5325 and a second connecting rod 5326; the first connecting rod 5325, the first clamping jaw finger 5321 and the telescopic rod of the telescopic actuating element 5324 are hinged; the second connecting rod 5326 is hinged to the second gripper finger 5322 and the telescopic rod of the telescopic actuator 5324. To achieve a secure grip, the first jaw finger 5321 has a rib at its end and the second jaw finger 5322 has a groove at its end, the rib of the first jaw finger 5321 engaging the groove of the second jaw finger 5322 when the soft jaw finger 532 performs a gripping task. The telescopic actuator 5324 is a cylinder here.

In the first embodiment, all the soft bag claws 532 can be switched between two positions, i.e., a polymerization state and an extension state, in the polymerization state, all the soft bag claws 532 abut against each other, and in the extension state, all the soft bag claws 532 keep equal distance between each other; specifically, all of the soft bag claws 532 may be moved in a single direction with reference to the outermost soft bag claw 532 or in two directions with reference to the middle soft bag claw 532. The latter embodiment employs the latter, i.e., both soft bag claws 532 at both ends are driven by a single linear drive member 533, which in this embodiment is a pneumatic cylinder. When the two soft bag claws 532 at the two ends are closest to each other, all the soft bag claws 532 are in a polymerization state as a whole, and when the two soft bag claws 532 at the two ends are the largest, all the soft bag claws 532 are in a stretching state as a whole, and in the stretching state, the first clamping jaw finger 5321 of one soft bag claw 532 between two adjacent soft bag claws 532 abuts against the second clamping jaw finger 5322 of the other soft bag claw 532, so that the equal spacing between any two adjacent soft bag claws 532 can be realized.

In the second embodiment, all of the flexible bag claws 532 are switchable between two positions, i.e. the polymerized position and the spread position, and springs are arranged between adjacent flexible bag claws 532, so that the distance between adjacent flexible bag claws 532 is equal by the adjusting action of the springs regardless of the distance change. Specifically, all of the soft bag claws 532 may be moved in a single direction with reference to the outermost soft bag claw 532 or in two directions with reference to the middle soft bag claw 532. The specific implementation is the same as the first embodiment.

Because the overall height of the soft bag is high, when the soft bag claw 532 grabs the upper end of the soft bag claw 532 to move, the soft bag is easy to shake due to the high overall movement speed of the boxing claw, and even more, the soft bag can wriggle or even fall relative to the soft bag claw 532. In order to prevent the soft bag from shaking in the motion process of the boxing gripper, the boxing gripper further comprises two half-frame assemblies 54, in the embodiment, the two half-frame assemblies 54 are respectively installed on two grabbing assembly bases 531, each half-frame assembly 54 comprises a frame side plate 541 and two frame end plates 542 hinged to two sides of the frame side plate 541, the half-frame assemblies 54 can be switched between an unfolded state and a folded state, and in the unfolded state, the frame end plates 542 are parallel to the frame side plates 541 or are turned outwards relative to the frame side plates 541; in the folded state, the frame end plate 542 is folded inward relative to the frame side plate 541 to form a U-shaped half frame, and the two half frame assemblies 54 can enclose a square whole frame.

Specifically, the rotation of the frame end plate 542 with respect to the frame side plate 541 is implemented in the following manner: a rocking bar 543 is rotatably connected (directly or indirectly connected) with respect to the frame side plate 541, and a rotation center is provided at a middle portion of the rocking bar 543. A second linear driving element 544 is rotatably mounted with respect to the frame side plate 541, in this embodiment, the second linear driving element 544 is an air cylinder, a cylinder seat of the second linear driving element 544 is rotatably connected with respect to the frame side plate 541, and an expansion link of the second linear driving element 544 is hinged with one end of the rocker 543; the frame end plate 542 is rotatably provided with a driving rod 545, and the other end of the rocker 543 is hinged with the driving rod 545.

Furthermore, the half frame assembly 54 can be integrally translated in a direction close to the center of the gripper base 52, so that interference between the half frame assembly 54 and the soft bag transmission line 2 can be prevented when the soft bag is gripped by the entire boxing gripper, and space limitation in equipment design can be reduced.

The specific translation of half-frame assembly 54 is: a translation cylinder 56 is fixedly arranged on the grabbing component base 531, and the half-frame component 54 is arranged on the translation cylinder 56.

In actual boxing, a partition plate is arranged between two rows of soft bags, and a better boxing mode is that the partition plate and the soft bags enter the carton box at the same time, so that scattering is not easy to occur, therefore, a partition plate claw 55 is further installed on the claw hand base 52, the partition plate claw 55 comprises a vertical cylinder 551 and a pneumatic claw 552 comprising two claw fingers, and each claw finger of the pneumatic claw 552 is provided with a clamping block 553. Thus, before the soft bag boxing is grabbed by the boxing claw, the boxing claw moves to the position of the partition plate supply device 4, the vertical air cylinder 551 drives the pneumatic claw 552 to descend, and the pneumatic claw 552 lifts to carry the partition plate between two adjacent rows of soft bags and pack the soft bags together after the partition plate is clamped by the pneumatic claw 552.

As shown in fig. 14, the multi-axis robot 51 includes a main beam 511, and both ends of the main beam 511 are fixed to the ground through pillars 512; since the roller line 31 of this embodiment includes two boxing stations, a set of vertical moving arms 513 is installed on both sides of the main beam 511, the vertical moving arms 513 can move independently or in linkage with each other in the X-axis and the Z-axis relative to the main beam 511, and the lower ends of the vertical moving arms 513 are used for installing boxing claws.

Vertical motion arm 513 is mounted to main beam 511 via an XZ transition assembly 514; as shown in fig. 15, the XZ transition assembly 514 includes a transition frame 5141 and a first sliding block 5142 and a second sliding block 5143 disposed on the transition frame 5141 and adapted to cooperate with the first sliding rail 5111 and the second sliding rail 5131, respectively, for use, on the main beam 511, a first sliding rail 5111 is disposed on the main beam 511, and a second sliding rail 5131 is disposed on the vertical moving arm 513. In order to maintain the structural stability, two first sliding rails 5111 parallel to each other are mounted on both sides of the main beam 511. Two second sliding rails 5131 parallel to each other are mounted on the vertical moving arm 513.

A first rack 5112 horizontally arranged is arranged on the main cross beam 511, and the XZ transition assembly 514 comprises a first gear motor 5144 matched with the first rack 5112 and a first gear 5145 arranged on an output unit of the first gear motor 5144; the vertically moving arm 513 is mounted with a second rack 5122 vertically arranged, and the xz transition assembly 514 includes a second gear 5146 used in cooperation with the second rack 5122 and a second gear 5147 mounted on an output unit of the second gear 5146.

In order to ensure a tight fit between the gear and the rack, and to minimize a backlash, the first reduction motor 5144 is mounted on the transition frame 5141 through an intermediate first connection plate 5148, and the first connection plate 5148 is adjustable in position in a direction perpendicular to the first rack 5112. The second gear motor 5146 is mounted on the transition frame 5141 through an intermediate second connection plate 5149, and the second connection plate 5149 can be adjusted in position in a direction perpendicular to the second rack 5122.

In order to prevent the liquid such as the lubricating oil on the slide rail from dropping to other equipment, an oil groove 515 is installed at the lower end of the main beam 511 for collecting the lubricating oil dropping on the slide rail.

The soft bag vertical boxing machine can realize soft bag conveying, soft bag grabbing and carton positioning, change the grabbed soft bags from a dispersed state into a gathering state capable of boxing for boxing, can simultaneously place the partition plate between the two rows of soft bags, realizes the automatic boxing process without human interference in the whole process, and has good stability and high production efficiency.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention, and such modifications and adaptations are intended to be within the scope of the invention.

Claims

1. The vertical case packer of soft bag, its characterized in that: comprises a soft bag transmission line and a boxing manipulator; the transported soft bags are arranged in a linear array on the soft bag transmission line, and all the soft bags are in a vertical state; the boxing manipulator comprises a boxing claw and a multi-axis robot used for driving the boxing claw to move between the soft bag transmission line and the carton arranged at a fixed point; the boxing claws comprise a plurality of soft bag claws arranged in a rectangular array, and the transverse density degree and the longitudinal density degree of all the soft bag claws are variable, so that all the soft bag claws can be switched between a gathering state and a dispersing state;

the box packing claw is characterized by also comprising a partition plate supply device, wherein a partition plate claw is arranged between two adjacent soft bag grabbing assemblies on the box packing claw; the partition plate claw comprises a vertical cylinder and a pneumatic claw comprising two clamping jaw fingers, and each clamping jaw finger of the pneumatic claw is provided with a clamping block; before the soft bags are grabbed by the boxing claw, the boxing claw moves to the position of the partition plate supply device, the vertical cylinder drives the pneumatic claw to descend, and the pneumatic claw ascends to bring the partition plate between two adjacent rows of soft bags and pack the soft bags together after the pneumatic claw clamps the partition plate;

the grabbing component bases of the two groups of soft bag grabbing components on the two sides are respectively provided with a half-frame component, each half-frame component comprises a frame side plate and frame end plates hinged to the two ends of the frame side plate, the half-frame components can be switched between an unfolded state and a turning state of turning into a U shape, and when the two half-frame components are in the turning state, the two half-frame components surround a square whole frame;

a rocker is rotatably connected with the frame side plate, and the rotation center is arranged in the middle of the rocker; a second linear driving element is rotatably installed relative to the frame side plate, a cylinder seat of the second linear driving element is rotatably connected relative to the frame side plate, and a telescopic rod of the second linear driving element is hinged with one end of the rocker; the frame end plate is rotatably provided with a driving rod, and the other end of the rocker is hinged with the driving rod;

the whole half frame assembly can translate in the direction close to the center far away from the claw hand base;

the soft bag transmission line comprises one or more groups of circulating transmission devices, a plurality of separating units are arranged at equal intervals in the circulating transmission direction of each group of circulating transmission devices, and a storage space capable of temporarily storing the soft bags and keeping the soft bags in a vertical state is formed between adjacent separating units.

2. The vertical soft bag boxing machine according to claim 1, characterized in that: the soft bag gripper groups are contained in the soft bag gripping assemblies, each soft bag gripping assembly comprises a row of soft bag grippers which are arranged in a linear equidistant array mode and have variable density, and all the soft bag gripping assemblies are arranged on the gripper bases and have variable density.

3. A soft bag vertical case packer according to any one of claims 1 to 2, characterized in that: the carton conveying line comprises a roller line, at least one boxing station used for setting the carton at a fixed point is arranged on the roller line, and a blocking mechanism used for blocking the carton and a box supporting mechanism used for enabling the carton to be positioned are arranged at the boxing station.

4. The vertical soft bag boxing machine according to claim 3, characterized in that: the box supporting mechanism comprises a square frame, four corners of the top of the square frame are respectively provided with a box supporting element, the box supporting elements can rotate relative to the square frame and can axially translate on a rotating shaft of the square frame, the box supporting elements are switched back and forth between a first position state and a second position state, and in the first position state, the box supporting elements are in a position state higher than the upper end of the carton; in the second position, the box supporting element extends into the carton and supports against one corner of the carton.

5. The vertical soft bag boxing machine according to claim 1, wherein: the separator supply device comprises a separator storage unit, a push plate unit and a separator separation unit; the push plate unit comprises a push plate which can translate relative to the clapboard storage unit and can directionally push the clapboards stored in the clapboard storage unit, and the translation of the push plate is driven by a driving device; the separation unit of the clapboard is arranged in front of the push plate pushing direction and outside the storage unit of the clapboard, and the direction of separating the clapboard is parallel to the translation direction of the push plate unit.

6. The vertical soft bag boxing machine according to claim 5, characterized in that: the storage unit comprises a storage unit base and lateral limiting units arranged on two sides above the storage unit base, and the push plate translates between the lateral limiting units on the two sides; blocking pieces used for blocking the edges of the partition boards are arranged on one sides, close to the partition board separating units, of the two lateral limiting units; the partition board separation unit comprises a sucker assembly.

7. A soft bag vertical case packer according to any one of claims 1 to 2, characterized in that: the soft bag claw comprises a claw seat body, a first clamping jaw finger and a second clamping jaw finger which are rotatably arranged on the claw seat body, a telescopic execution element is further arranged on the claw seat body, and the first clamping jaw finger and the second clamping jaw finger are respectively connected with a telescopic rod of the telescopic execution element through a first connecting rod and a second connecting rod.

8. The vertical soft bag carton filling machine according to any one of claims 1, 2 and 5, characterized in that: the multi-axis robot comprises a main cross beam, wherein two ends of the main cross beam are fixed relative to the ground through fixing elements respectively; the main beam is at least provided with a group of vertical moving arms, the vertical moving arms can independently move in the X-axis direction and the Z-axis direction relative to the main beam, and the boxing claws are arranged at the lower ends of the vertical moving arms.