CN109335086B

CN109335086B - Box filler

Info

Publication number: CN109335086B
Application number: CN201810935521.4A
Authority: CN
Inventors: 李政德; 刘霞
Original assignee: Austong Intelligent Robot Technology Co Ltd
Current assignee: Austong Intelligent Robot Technology Co Ltd
Priority date: 2018-07-06
Filing date: 2018-08-16
Publication date: 2021-06-22
Anticipated expiration: 2038-08-16
Also published as: CN109335086A

Abstract

The invention discloses a case packer, which comprises a milk bag conveying line (1), wherein a sub-packaging device (2) is arranged on the milk bag conveying line (1), a channel dividing mechanism (11) is arranged at the rear side of the sub-packaging device (2), the rear end of the milk bag conveying line (1) is respectively connected with the front end of a corresponding pre-integrated conveying line (3) with the sub-packaging device (2), a unilateral bale grabbing conveying device (4) is arranged above the pre-integration conveying line (3) at the rear side of the sub-packaging device (2), an integration conveying line (5) and a packaging box conveying line (100) which are arranged in parallel with the unilateral bale grabbing conveying device are arranged at the side of the pre-integration conveying line (3), a packing platform (7) is embedded between the packing box conveyor lines (100), a packing box positioning and conveying device (6) is arranged in front of the side of the packing platform (7), and a flexible fixture (9) fixed at the front end of a mechanical arm of the robot is arranged above the side of the packing platform (7). The invention has simple integration process and can realize the accurate positioning of the packing box.

Description

Box filler

Technical Field

The invention relates to the technical field of large-scale consumer product packaging, in particular to a boxing machine which realizes integration of milk bag units through pre-integration, unilateral grabbing and integration and can accurately position the position of a packaging box so as to realize accurate boxing of a clamp driven by a manipulator of a robot.

Background

In the field of large-scale consumer product packaging technology, different packages are used by manufacturers for different milk packages, so that corresponding milk package integration tools need to be developed. The smiling face bag is a newly developed milk product, the shape of the milk product is different, and therefore, a packing box for packing the milk product and linings such as side partition plates, lower partition plates and the like need to be redesigned. At present, according to the existing design, lining objects such as a lower clapboard, a gasket, a side clapboard and the like need to be arranged in the smiling bread packing box, and the shapes and the structures of the lower clapboard and the side clapboard are greatly different from the structure of the existing bread; on the basis of the completeness of a packaging box and linings thereof, milk bags need to be integrated through mutual matching of a plurality of groups of mechanisms and then are loaded into corresponding packaging boxes, and the integration mechanism is complex and has more processes; meanwhile, on the conveying of the packing box, the packing box conveying line generally drives the packing box to reach the appointed position, then the packing box conveying line stops running and waits for the packing box to move forward again, the error easily occurs in the operation mode of the packing box conveying line, and the phenomena of inaccurate packing, damage to the packing box and the like occur when a manipulator of the robot drives the fixture to pack the packing box.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a boxing machine which realizes milk package unit integration through pre-integration, unilateral grabbing and integration and can accurately position the position of a packaging box so as to realize accurate boxing of a clamp driven by a manipulator of a robot.

The invention aims to solve the problems by the following technical scheme:

the utility model provides a case packer, includes milk package transfer chain, integrates transfer chain, milk package integration line and packing box transfer chain in advance, its characterized in that: the milk bag conveying line is provided with a sub-packaging device, a sub-packaging mechanism is arranged on the rear side of the sub-packaging device, the milk bag conveying line on the rear side of the sub-packaging mechanism is respectively connected with the front end of a pre-integration conveying line of the corresponding sub-packaging device, a single-side bag grabbing conveying device is arranged above the pre-integration conveying line on the rear side of the sub-packaging device, an integration conveying line and a packaging box conveying line which are arranged in parallel with the single-side bag grabbing conveying device are arranged on the side of the pre-integration conveying line, a packaging box platform is embedded between the packaging box conveying lines, a packaging box positioning conveying device arranged along the conveying direction of the packaging box conveying line is arranged in front of the side of the packaging box platform, and a flexible work clamp fixed; the milk bag on the milk package transfer chain is transferred according to certain law by the subcontracting ware on the milk package transfer chain and is dialled to different by lane mechanism branch in advance on integrating the transfer chain in advance, the subcontracting ware on the pre-integration transfer chain will integrate into the unilateral milk package of half quantity of packing box according to certain rule on the transfer chain in advance, corresponding unilateral a packet conveyor of grabbing grabs unilateral milk package and picks the milk package unit that makes up into the required quantity of packing box on the integration transfer chain and waits for the robot to snatch the vanning, packing box location conveyor can be with packing box location on the packing box transfer chain on the vanning platform, then the robot drives flexible frock clamp and snatchs the milk package unit on the integration transfer chain and put into the packing box on the vanning platform and accomplish the vanning.

The milk package conveying direction on the pre-integration conveying line is the same or opposite, and the outer side of one of the pre-integration conveying lines is also provided with a packing box conveying line in pair.

The lane mechanism including installing the lane support on the milk package transfer chain, the lane support is close to the lane ware setting and is equipped with lane bearing mount pad on the lane support, and the fixed lane mounting panel that sets up of lower extreme of lane pivot in the bearing of embedding on the lane bearing mount pad in the upper end, the lane mounting panel is connected with the lane guide bar through the lane connecting plate, just the rear end of lane mounting panel is connected with the drive end of lane cylinder through joint and round pin axle, the exit side of the preceding end linking subpackage ware of the lane guide bar on the lane mechanism, the rear side of lane guide bar link up with corresponding pre-integration transfer chain respectively under the effect of lane cylinder mutually.

The rear end of the lane cylinder is fixed on a lane cylinder upright post through a lane cylinder mounting seat, and the lane cylinder upright post is vertically fixed on a support of the milk bag conveying line.

The sub-packaging device comprises a sub-packaging device mounting plate, a sub-packaging motor is fixedly mounted on the sub-packaging device mounting plate, a lower rotary table is arranged at a driving end of the sub-packaging motor, the lower rotary table is connected with an upper rotary table through a sub-packaging connecting rod, a sub-packaging stop block is arranged on one side face of the sub-packaging connecting rod, the central axis of the lower rotary table and the central axis of the upper rotary table are arranged in a staggered mode, so that the lower rotary table and the upper rotary table form an eccentric rotating structure; the sub-packaging motor drives the lower rotary table to rotate, the lower rotary table drives the sub-packaging connecting rod and the upper rotary table to rotate, and the sub-packaging connecting rod rotates relative to the lower rotary table and the upper rotary table respectively, so that the orientation of a sub-packaging stop block on the sub-packaging connecting rod is unchanged.

The sub-packaging connecting rod is in an L-shaped design, the top of the vertical part of the sub-packaging connecting rod is in a rotating shaft shape capable of rotating in the upper rotating disc, the lower convex end part of the horizontal part is in a rotating shaft shape capable of rotating in the lower rotating disc, and the upper end of the sub-packaging connecting rod is uniformly distributed along the circumference of the upper rotating disc and the lower end of the sub-packaging connecting rod is uniformly distributed along the circumference of the lower rotating disc.

The sub-packaging stop blocks are arranged on the same side face of the sub-packaging connecting rod from top to bottom, gaps are formed between the adjacent sub-packaging stop blocks and used for inserting the milk bag guide pieces, and the milk bag guide pieces are arranged on the front side and/or the rear side of the sub-packaging device.

The sub-packaging device mounting frame comprises a frame connecting plate vertically fixed on the sub-packaging device mounting plate and a frame top plate installed at the top end of the frame connecting plate, and the upper rotary plate is installed on the frame top plate through a sub-packaging rotary shaft.

The sub-packaging device mounting plate is provided with a sub-packaging bearing seat with a built-in bearing, the bottom of the lower rotary table penetrates through the bearing in the sub-packaging bearing seat and then is connected with the driving end of a sub-packaging motor, and the sub-packaging motor is fixed on the sub-packaging device mounting plate through the sub-packaging motor mounting plate.

The side of the conveyor line of integrating in advance of subcontracting ware rear side is equipped with auxiliary positioning conveying mechanism, and auxiliary positioning conveying mechanism includes auxiliary positioning conveying motor and auxiliary positioning conveying hold-in range, and auxiliary positioning conveying motor is used for driving auxiliary positioning conveying hold-in range and drives unilateral milk package and march, and this auxiliary positioning hold-in range perpendicular to is integrated the conveyor line in advance the conveying plane setting and the interval is equipped with the auxiliary positioning separation blade on the auxiliary positioning conveying hold-in range and is used for the location to drive unilateral milk package.

The auxiliary positioning conveying synchronous belt is used for connecting auxiliary positioning driving wheels at the driving ends of two auxiliary positioning conveying motors, or the auxiliary positioning conveying synchronous belt is used for connecting the auxiliary positioning driving wheels at the driving ends of one auxiliary positioning conveying motor and an auxiliary positioning driven wheel arranged on the side of the pre-integrated conveying line.

The unilateral bale grabbing and conveying device comprises a unilateral conveying mechanism and a unilateral bale grabbing clamp arranged on the unilateral conveying mechanism, wherein the unilateral conveying mechanism comprises a unilateral longitudinal conveying mechanism and a unilateral translation conveying mechanism, the unilateral bale grabbing clamp is fixedly arranged at the bottom end of a moving part of the unilateral longitudinal conveying mechanism, and the longitudinal unilateral conveying mechanism is arranged on the unilateral translation conveying mechanism, so that the unilateral bale grabbing clamp can do vertical motion relative to the unilateral translation conveying mechanism under the driving of the longitudinal unilateral conveying mechanism and the unilateral translation conveying mechanism can drive the unilateral longitudinal conveying mechanism to move horizontally; unilateral translation conveying mechanism drive unilateral and grab a packet anchor clamps and fall to the unilateral top of suckling the package and unilateral and grab a packet anchor clamps expansion of waiting to snatch, unilateral vertical conveying mechanism drives unilateral and grabs packet anchor clamps whereabouts and press from both sides and get unilateral milk package back and rise, unilateral translation conveying mechanism drives unilateral through unilateral vertical conveying mechanism and grabs packet anchor clamps and fall to the top of integrating the transfer chain and unilateral milk package of putting down, accomplishes the unilateral package process of grabbing of once.

The unilateral package anchor clamps of grabbing including fixing the unilateral anchor clamps mounting panel in unilateral vertical conveying mechanism's moving part bottom, the minor face both sides of unilateral anchor clamps mounting panel are equipped with unilateral clamp plate respectively, long limit one side of unilateral anchor clamps mounting panel is equipped with the unilateral limiting plate of a vertical fixation on unilateral anchor clamps mounting panel and its long limit opposite side also is equipped with unilateral clamp plate, above-mentioned unilateral clamp plate adopts corresponding unilateral cylinder phase drive respectively to press from both sides and gets unilateral milk package or put down unilateral milk package.

The unilateral cylinder pass through unilateral cylinder connecting plate to be fixed in the bottom of unilateral anchor clamps mounting panel, just unilateral cylinder ejector pad that the drive end of unilateral cylinder set up is fixed to be set up at the back of unilateral clamp plate.

Unilateral translation conveying mechanism include unilateral translation mount pad and install the unilateral translation motor on unilateral translation mount pad, the unilateral translation drive wheel that sets up in the drive shaft of unilateral translation motor is connected with unilateral translation follower through unilateral translation hold-in range, unilateral translation hold-in range drives unilateral longitudinal conveying mechanism and carries out horizontal migration.

The unilateral vertical conveying mechanism comprises a unilateral vertical mounting seat, the unilateral vertical mounting seat is fixed on a unilateral translation synchronous belt through a pressing block, a unilateral vertical conveying cylinder is arranged on the unilateral vertical mounting seat, a driving end of the unilateral vertical conveying cylinder is connected with a unilateral vertical driving plate through a joint and a pin shaft, the unilateral vertical driving plate is fixedly arranged on a unilateral fixture mounting plate of the unilateral bale grabbing fixture, and the unilateral vertical conveying cylinder can vertically lift the unilateral bale grabbing fixture.

The unilateral longitudinal installation seat is installed on the unilateral translation installation seat through a sliding block sliding rail structure; the unilateral vertical mount pad be connected with the top of unilateral anchor clamps mounting panel through slider slide rail structure, slider among the slider slide rail structure is fixed on unilateral vertical mount pad, and fixes the top at unilateral anchor clamps mounting panel with the lower extreme of this slider matched with slide rail.

Two sets of unilateral bale plucking clamps share the same unilateral clamp mounting panel and this unilateral clamp mounting panel is fixed in the bottom of a unilateral longitudinal conveying mechanism.

The unilateral bale grabbing conveyor device is provided with two corresponding unilateral longitudinal conveying mechanisms and unilateral translation conveying mechanisms, so that the same unilateral bale grabbing conveyor device can drive two pairs of unilateral bale grabbing fixtures, and one pair of unilateral bale grabbing fixtures driven by each group of unilateral longitudinal conveying mechanisms and the unilateral translation conveying mechanisms correspond to a unilateral milk bale on a pre-integrated conveying line.

Two unilateral bale grabbing and conveying devices which are arranged in parallel and spanned are arranged above the pre-integration conveying line and the integration conveying line.

The integration conveying device is characterized in that an integration positioning block used for limiting the position of the milk bag is arranged on the integration conveying line, corresponding two single-side bag grabbing fixtures on the single-side bag grabbing conveying device above the front portion of the integration conveying line are respectively responsible for one group of single-side milk bags, and the single-side bag grabbing conveying device respectively drives the two single-side bag grabbing fixtures to grab the corresponding single-side milk bags from different pre-integration conveying lines and place the single-side milk bags between the integration positioning blocks to form milk bag units of the required number of the packaging boxes.

The unilateral milk package separating rod is arranged above the integrated conveying line along the conveying direction and located right below the unilateral milk package grabbing conveying device, the unilateral milk package separating rod is fixed in the middle of the upper portion of the integrated conveying line through a separating support, and the integrated conveying line is divided into two halves to form corresponding unilateral milk package areas respectively.

The integration flat push plate is symmetrically arranged to push single-side milk bags close to form milk bag units of the required number of the packaging boxes.

The packaging box positioning and conveying device comprises a positioning and conveying mounting plate and a positioning and conveying motor, wherein a positioning sucker cylinder is fixedly arranged at the back of the positioning and conveying mounting plate, the front end of the positioning sucker cylinder penetrates through the positioning and conveying mounting plate and is provided with a positioning sucker mounting seat, and a positioning sucker arranged on the positioning sucker mounting seat is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube; the positioning sucker cylinder drives the positioning sucker mounting seat to stretch out so that the positioning sucker can adsorb the packing box on the packing box conveying line, and then the positioning conveying motor operates to drive the positioning conveying mounting plate to horizontally move so as to drive the positioning sucker to position and convey the packing box to the packing platform.

The positioning and conveying cylinder is arranged on the front side of the positioning sucker cylinder and is positioned on the back side of the positioning and conveying mounting plate, the driving end of the positioning and conveying cylinder is connected with one end of a positioning and conveying rotating shaft connecting block through a joint and a pin shaft, the other end of the positioning and conveying rotating shaft connecting block is fixed on the positioning and conveying rotating shaft, a positioning and conveying box pushing plate is arranged on the positioning and conveying rotating shaft, and the positioning and conveying cylinder drives the positioning and conveying rotating shaft to rotate through expansion so that the positioning and conveying box pushing plate is parallel to or perpendicular to the conveying direction; when the positioning conveying box pushing plate is perpendicular to the conveying direction of the packaging box conveying line, the positioning conveying box pushing plate is driven by the positioning conveying mounting plate to horizontally move, and the packaging box which is packaged by milk on the packaging platform is pushed to a subsequent packaging box conveying line.

The location carry the mounting panel on be equipped with the location pivot mounting panel that is used for the installation location to carry the pivot, the location pivot mounting panel that corresponds the setting from top to bottom sets up perpendicularly on the location carries the mounting panel and the location carries the pivot can the relative positioning pivot mounting panel rotation.

The positioning conveying cylinder is directly fixed on the back of the positioning conveying mounting plate or the positioning conveying cylinder mounting plate arranged at the front end of the positioning rotating shaft mounting plate.

The rear side of the positioning and conveying mounting plate is provided with an additional positioning sucker mounted on an additional positioning sucker mounting seat, the additional positioning sucker is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube, the back of the additional positioning sucker mounting seat is connected with the driving end of an additional positioning sucker cylinder, and the additional positioning sucker mounting seat, the additional positioning sucker and the additional positioning sucker cylinder form an additional packaging box positioning and conveying mechanism so that the packaging box positioning and conveying device can convey two or more packaging boxes simultaneously; additional location sucking disc cylinder drive additional location sucking disc mount pad stretch out and make additional location sucking disc adsorb the packing box that is located the packing box transfer chain, cooperation location sucking disc cylinder drive location sucking disc mount pad stretches out and makes the location sucking disc adsorb the packing box that is located the packing box transfer chain, then location conveying motor operation is carried the packing box location to the vanning platform in order to drive location sucking disc, additional location sucking disc.

The additional location sucking disc mount pad install and carry the front side of mounting panel and additional location to carry the mounting panel to be located the rear side of location transport mounting panel at the additional location, the back of mounting panel is carried in the additional location still through roll adjustment cylinder connecting block and install the flexible end of carrying the roll adjustment cylinder in the location of location transport mounting panel back and be connected and make the location carry the mounting panel to drive additional location in step and carry the mounting panel to march, carry the flexible end of roll adjustment cylinder to adjust the interval between the absorbent packing box of location sucking disc and additional location sucking disc through the location.

The positioning conveying mounting plate and the additional positioning conveying mounting plate are mounted on the boxing rack through positioning conveying sliding block sliding rail structures, so that the positioning conveying mounting plate and the additional positioning conveying mounting plate can move along the horizontal straight line of the boxing rack.

The positioning and conveying installation plate is fixed on a positioning and conveying synchronous belt through a positioning and conveying pressing block, two ends of the positioning and conveying synchronous belt are respectively connected with a positioning and conveying driving wheel and a positioning and conveying driven wheel, and the positioning and conveying driving wheel is installed at the driving end of a positioning and conveying motor; when the positioning conveying motor runs, the driving end of the positioning conveying motor drives the positioning conveying driving wheel to rotate so as to drive the positioning conveying synchronous belt to rotate, and then the positioning conveying mounting plate is driven to advance or retreat.

The packing box positioning and conveying device is arranged on the packing box rack in pairs back to back, and the outer side of the packing box positioning and conveying device is provided with a packing box conveying line arranged in parallel with the packing box positioning and conveying device.

The packing box positioning mechanism is arranged on the packing box platform and comprises a positioning cylinder mounting seat and a packing box positioning cylinder which are arranged at the bottom of the packing box platform in pairs, the tail end of the packing box positioning cylinder is arranged on the positioning cylinder mounting seat, the driving end of the packing box positioning cylinder is connected with a positioning piece rotating shaft connecting block fixed on a positioning piece rotating shaft through a joint and a pin shaft, a packing box positioning piece is fixedly arranged on the positioning piece rotating shaft, the packing box positioning cylinders which are arranged in pairs in opposite directions and a corresponding pair of positioning cylinder mounting seats, positioning piece rotating shaft connecting blocks, positioning piece rotating shafts and packing box positioning pieces form a group of packing box positioning mechanisms, the packing box positioning cylinder synchronously stretches out to drive the positioning piece rotating shaft to rotate so that the positioning piece of the packing box overturns and upwards stretches out of the packing platform, and the two positioning pieces of the packing box cooperate with each other so that the corresponding packing box on the packing platform is embedded in the packing platform and cannot move.

And two ends of the locating piece rotating shaft are arranged on the locating piece rotating shaft mounting seat embedded with the bearing.

The bottom of each packing platform is provided with two or more groups of packing box positioning mechanisms.

The top of vanning platform is equipped with corresponding location and goes into case guiding mechanism, and location is gone into case guiding mechanism and is included the opening and is greater than packing box inner chamber horizontal cross section's income case guiding platform, is equipped with the income case deflector of putting to one side on the opening four sides of going into case guiding platform, goes into the case deflector and can push open the apron of packing box and imbed in the inner chamber of packing box to it accomplishes the vanning in the packing box on the vanning platform to be convenient for the robot drives flexible frock clamp and snatchs the packing box that the integration milk package unit put into on the vanning platform.

The bottom of the box entering guide platform is connected with the driving end of a box entering guide cylinder, and the tail end of the box entering guide cylinder is fixed on the boxing rack; the drive end of the case entering guide cylinder upwards extends out to drive a case entering guide plate on the case entering guide platform to be away from the packaging box so as to facilitate conveying of the packaging box, and the drive end of the case entering guide cylinder downwards retracts to drive the case entering guide plate on the case entering guide platform to be inserted into the packaging box so as to facilitate a robot to drive the flexible tool fixture to grab the integrated milk package unit and place the milk package unit into the packaging box.

The flexible worker's anchor clamps include the flexible fixture mounting panel, the limit pivoted direction that corresponds that can follow the flexible fixture mounting panel is installed respectively to the four sides of flexible fixture mounting panel and is pressed from both sides the package board, the bottom of flexible fixture mounting panel is equipped with respectively just to the flexible fixture cylinder of each direction clamp package board, the drive end of flexible fixture cylinder is connected with the direction clamp package board that corresponds for when stretching out the end of flexible fixture cylinder, the direction presss from both sides the corresponding limit rotation of package board flexible fixture mounting panel relatively.

The side of the upper edge of the guide clamping wrapping plate, which is provided with a clamping wrapping plate positioning block and a flexible clamp mounting plate, is provided with a mounting plate positioning block, and the clamping wrapping plate positioning block and the mounting plate positioning block are connected through a pin shaft to form a hinge structure for connecting the guide clamping wrapping plate and the flexible clamp mounting plate.

The outer wall of the guide bag clamping plate is provided with a case entering guide strip perpendicular to the guide bag clamping plate, and the upper portion of the case entering guide strip protrudes outwards to enable the flexible work fixture to clamp the milk bag units and play a role in guiding and supporting the cases when the milk bag units are put into the cases.

The driving end of the flexible clamp cylinder is connected with a package clamping plate pushing block with a through hole at the back of the guide package clamping plate through a joint and a pin shaft, so that the guide package clamping plate can rotate outwards when pushed by the flexible clamp cylinder; and the flexible clamp cylinder is fixed at the bottom of the flexible clamp mounting plate through a flexible cylinder connecting plate.

The direction of the short avris of flexible clamp mounting panel presss from both sides the package board and adopts single flexible clamp cylinder to promote, and the direction of the long avris of flexible clamp mounting panel presss from both sides the package board and adopts a flexible clamp cylinder to promote at least.

The flexible clamp is characterized in that a flexible bag pushing cylinder is arranged in the center of the bottom of the flexible clamp mounting plate, the driving end of the flexible bag pushing cylinder is connected with the back of the bag pushing plate through a bag pushing cylinder positioning plate, and the driving end of the flexible bag pushing cylinder drives the bag pushing plate to push downwards to push out a milk bag unit in the inner cavity of the flexible clamp.

The top of flexible fixture mounting panel is equipped with flexible fixture slider and flexible fixture mounting panel and cooperatees through the flexible fixture slide rail of flexible fixture slider and flexible fixture crossbeam bottom, fixes this flexible frock clamp in the below of flexible fixture crossbeam and be equipped with the flexible fixture locating piece that is used for connecting the robot arm on the flexible fixture crossbeam.

The flexible clamp is characterized in that a flexible clamp positioning seat is arranged on the side wall of the flexible clamp beam, a pin shaft mounting seat is arranged at the top of the flexible clamp mounting plate, and a flexible clamp connecting piece is adopted between the pin shaft mounting seat and the flexible clamp positioning seat to fix the flexible clamp on the flexible clamp beam.

When the flexible clamp connecting piece adopts the air cylinder, the tail end of the air cylinder is fixed on the flexible clamp positioning seat, the driving end of the air cylinder is connected with the pin shaft mounting seat through the joint and the pin shaft, and the position of the flexible clamp is automatically adjusted through the air cylinder; when the flexible clamp connecting piece adopts the fixing bolt, the front end of the fixing bolt is fixed on the flexible clamp positioning seat through the nut, the tail end of the fixing bolt is connected with the pin shaft mounting seat through the joint and the pin shaft, and the position of the flexible clamp is manually adjusted by adjusting the threaded connection degree of the nut and the fixing bolt.

And the flexible clamp positioning blocks fixed at the lower end of the robot mechanical arm are provided with paired flexible clamps through the same flexible clamp beam.

Compared with the prior art, the invention has the following advantages:

the boxing machine comprises a milk bag conveying line with a bag divider, a pre-integration conveying line with a bag divider, a milk bag integration line, a single-side bag grabbing conveying device positioned above the pre-integration conveying line and the milk bag integration line, a packaging box conveying line, a boxing platform clamped between the packaging box conveying lines, a packaging box positioning conveying device positioned in front of the side of the boxing platform, a positioning box entering guide mechanism positioned right above the boxing platform, and a flexible work fixture fixed at the front end of a mechanical arm of a robot, wherein other parts except the milk bag conveying line are fixed on a base of a boxing machine frame or hung at the top of a boxing machine frame; when in operation, milk bags on the milk bag conveying line are conveyed according to a certain rule by a subpackaging device on the milk bag conveying line and then are distributed to different pre-integration conveying lines by a dividing mechanism, the milk bags on the pre-integration conveying line are integrated into unilateral milk bags with half quantity of packing boxes according to a certain rule by the subpackaging device on the pre-integration conveying line, the unilateral milk bags are grabbed by a corresponding unilateral milk bag grabbing and conveying device on the integration conveying line to be combined into milk bag units with required quantity of packing boxes and wait for grabbing and packing by a robot, meanwhile, the packing boxes on the packing box conveying line can be positioned and conveyed to a packing platform by a packing box positioning and conveying device, then the robot drives a flexible work fixture to grab the milk bag units on the integration conveying line and place the milk bag units on the packing platform to complete packing, the integration process is simple, the accurate positioning of the packing boxes can be realized, and the milk bag, therefore, the utility model is suitable for popularization and application.

The milk bag integration device is composed of a pre-integration conveying line with a sub-packaging device, a single-side milk bag grabbing conveying device and an integration conveying line, the number of milk bags required by a single-side milk bag is provided when the sub-packaging device arranged on the pre-integration conveying line rotates for one circle, namely, the milk bags can be pre-integrated on the pre-integration conveying line directly through the sub-packaging device, meanwhile, an auxiliary positioning conveying mechanism can collect the milk bags transmitted by the sub-packaging device so as to be convenient for grabbing of the single-side milk bag grabbing conveying device, the single-side milk bags grabbed by the single-side milk bag grabbing conveying device are directly placed on the integration conveying line corresponding to the single-side milk bag grabbing clamp, and finally, two groups of single-side milk bags which are arranged in the same direction or in the opposite direction are integrated by a flat push integration mechanism arranged; the milk bag integration device is simple in structure, clear and simple in action execution level.

According to the invention, the sub-packaging device is arranged on the front side of the lane dividing mechanism on the milk package conveying line, and the sub-packaging device drives the sub-packaging connecting rod to rotate through the lower rotary disc and the upper rotary disc which are arranged in a staggered mode through the central axis, so that the sub-packaging baffle blocks on the sub-packaging connecting rod are not changed in orientation to sub-package the milk packages, the number of the sub-packaging each time can be determined through the number of the sub-packaging connecting rods, each rotation of the lower rotary disc and the upper rotary disc is the number of the sub-packaging each time, and the; the milk bags on the milk bag conveying line can be accurately divided into a certain number of milk bags before the milk bags are divided into lanes to the pre-integration conveying line on the rear side, the milk bag conveying line is simple in structure, the sub-packaging lanes are fast and accurate, the pre-integration conveying line is fast in integration speed and accurate in number, and counting errors can be avoided; unilateral grabbing package conveying device grabs unilateral milk package through unilateral grabbing package anchor clamps, then puts unilateral milk package to the integration conveying line through unilateral vertical conveying mechanism and unilateral translation conveying mechanism, snatchs accurate and the accuracy is high.

The milk package positioning and boxing device comprises a milk package positioning and boxing device, a boxing platform, a positioning and boxing guide mechanism and a flexible work fixture arranged at the movable end of a mechanical arm of a robot, which are matched in pairs and arranged along a packaging box conveying line, wherein the packaging box positioning and boxing device integrates suction, box pushing and conveying, and can position and convey a packaging box to a specified position, so that a foundation is provided for accurate boxing of the flexible work fixture driven by the mechanical arm of the robot; meanwhile, the boxed packing boxes are pushed away from the boxing platform to a subsequent packing box conveying line through the positioning conveying box pushing plate, and corresponding additional mechanisms can be arranged as required to realize the simultaneous positioning and conveying of the number of the packing boxes; packing box positioning mechanism on the vanning platform can further inject the position of packing box and make the packing box can not remove, and the location is gone into the case guiding mechanism and is assisted flexible worker anchor clamps clamp and get milk package and go into the case, avoids the appearance of phenomenons such as flexible worker anchor clamps vanning inaccurate, touching damage packing box, has that the packing box carries swiftly and fix a position accurate, the accurate efficient characteristics of milk package income case.

According to the flexible work fixture, the guide clamp wrapping plates which can rotate along the corresponding edges of the flexible fixture mounting plate are respectively mounted on the four edges of the flexible fixture mounting plate and are driven to turn over by the corresponding flexible fixture cylinders, so that the clamping range of the inner cavity of the flexible work fixture is expanded, the milk bag unit can be conveniently and successfully clamped without being damaged; simultaneously go into the setting of case gib block and play the direction when making milk package unit go into the case and prop the case effect, make the interval between a plurality of flexible worker's anchor clamps that set up under a flexible anchor clamps crossbeam adjustable through setting up of slider slide rail structure in addition, this flexible worker's anchor clamps have that application scope is wide, convenient to use and do not harm the characteristics of milk package unit.

Drawings

FIG. 1 is a schematic structural view of a container loader of the present invention;

FIG. 2 is a schematic structural view of the milk bag conveyor line of the present invention;

FIG. 3 is a schematic diagram of the construction of the subcontractor of the present invention;

FIG. 4 is a schematic diagram of a combined structure of two groups of pre-integrated conveying lines with packet dividers, two groups of single-side packet grabbing and conveying devices and an integrated conveying line;

FIG. 5 is a schematic diagram of a pre-integrated conveyor line of the present invention with a subcontractor;

FIG. 6 is a schematic structural diagram of the single-side bale plucking conveying device of the present invention;

FIG. 7 is a schematic structural view of a single-sided bale plucking clamp of the present invention;

FIG. 8 is a schematic view of a combined structure of the packaging box positioning and conveying device, the packaging platform, the box-entering guide platform, the flexible work fixture arranged on the robot mechanical arm and the packaging box conveying line which are arranged in pairs;

FIG. 9 is a schematic view of a combined structure of the paired packing box positioning and conveying device, the packing platform and the packing box guiding platform of the present invention;

FIG. 10 is a schematic structural view of the positioning and conveying device for packing boxes of the present invention;

FIG. 11 is a schematic structural view of the binning platform of the present invention;

FIG. 12 is a schematic structural view of a flexible tool holder according to the present invention;

FIG. 13 is a second schematic structural view of the flexible tool holder of the present invention.

Wherein: 1-milk bag conveying line; 11-lane dividing mechanism; 111-cylinder pillar of lane separation; 112-lane bracket; 113-a lane bearing mounting seat; 114-a lane-dividing rotating shaft; 115-lane mounting plate; 116-lane junction plate; 117-lane guide bar; 118-a split cylinder; 119-a mounting seat of a divided cylinder; 12-milk bag guide sheet; 2-a subcontractor; 201-subpackager mounting plate; 202-subpackage motor; 203-lower rotary table; 204-subpackage stop block; 205-subpackage connecting rod; 206-upper rotating disc; 207-subpackage rotating shaft; 208-subcontractor mount; 209-frame connection plate; 210 — a frame top plate; 211-subpackaging a bearing seat; 3, pre-integrating a conveying line; 31-auxiliary positioning conveying mechanism; 311, an auxiliary positioning conveying motor; 312-auxiliary positioning conveying synchronous belt; 313-auxiliary positioning baffle; 314 — auxiliary positioning drive wheel; 4, a single-side bale grabbing and conveying device; 41-single side conveying mechanism; 411-single-side longitudinal conveying mechanism; 4111-single-side longitudinal installation seat; 4112, a single-side longitudinal conveying cylinder; 4113 — single sided longitudinal drive plate; 412-single-sided translation transport mechanism; 4121-single-side translation mounting seat; 4122-single-side translation motor; 4123-single-side translation drive wheel; 4124-single-side translation synchronous belt; 4125-single-side translation passive wheel; 42, a single-side bale grabbing clamp; 421-single-side clamp mounting plate; 422-single-side clamping and wrapping plate; 423-single side limiting plate; 424-single-side cylinder; 425-single side cylinder push block; 426-single side cylinder connecting plate; 5, integrating a conveying line; 51-an integrated conveyor belt; 511-milk bag positioning block; 52-single-side milk bag separating rod; 53-a spacer bracket; 54-a flat push integration mechanism; 541-horizontal pushing integrating cylinder; 542-integrating flat push plate; 6, positioning and conveying the packing box; 601, positioning and conveying a mounting plate; 602-positioning a conveying motor; 603, positioning a sucker cylinder; 604-positioning the sucker mount pad; 605-positioning the sucker; 606-positioning the conveying cylinder; 607-positioning and conveying rotating shaft connecting block; 608-positioning and conveying rotating shaft; 609, positioning and conveying the box pushing plate; 610-positioning the rotating shaft mounting plate; 611, adding a positioning sucker mounting seat; 612-additional positioning suction cups; 613-additional positioning sucker cylinder; 614-additional positioning and conveying installation plate; 615-positioning conveying distance-adjusting cylinder; 616-positioning the slide rail structure of the conveying slide block; 617-positioning and conveying the pressed block; 618-positioning and conveying synchronous belt; 619 — positioning the conveying driving wheel; 620, positioning and conveying driven wheels; 7-a boxing platform; 71-a packing box positioning mechanism; 711-positioning the cylinder mounting seat; 712-packing box positioning cylinder; 713-spacer hinge; 714-positioning piece rotating shaft connecting block; 715-packing case positioning sheets; 716-positioning piece rotating shaft mounting seat; 8, positioning a box-entering guide mechanism; 801-case-entering guide platform; 802-a box-in guide plate; 803-a case-entering guide cylinder; 9-flexible clamping tool; 901-flexible clamp mounting plate; 902-guide clamping plate; 903-flexible clamp cylinder; 904, positioning blocks of the package clamping plates; 905-mounting plate positioning blocks; 906-binning guide bars; 907, a bale clamping plate pushing block; 908-flexible cylinder connection plate; 909-flexible push-pack cylinder; 910-pushing the positioning plate of the air cylinder; 911-push the packing plate; 912-flexible clamp slide; 913-a flexible clamp beam; 914-flexible fixture slide rail; 915-a flexible clamp positioning block; 916-flexible clamp positioning seat; 917-pin mounting seat; 918-flexible clamp connection; 100-packaging box conveying line.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 1, 2, 4, 8, 9: a case packer comprises a milk bag conveying line 1, a pre-integration conveying line 3, a milk bag integration line 5 and a packing case conveying line 100, wherein the pre-integration conveying line 3, the milk bag integration line 5 and the packing case conveying line 100 are arranged in a case packer frame in parallel, a sub-packaging device 2 is arranged on the milk bag conveying line 1, a lane dividing mechanism 11 is arranged on the rear side of the sub-packaging device 2, the milk bag conveying line 1 on the rear side of the lane dividing mechanism 11 is respectively connected with the front end of the corresponding pre-integration conveying line 3 with the sub-packaging device 2, a single-side bag grabbing conveying device 4 is arranged above the pre-integration conveying line 3 on the rear side of the sub-packaging device 2, the integration conveying line 5 and the packing case conveying line 100 which are arranged in parallel with the pre-integration conveying line 3 and the packing case integration conveying line 5 are arranged beside the pre-integration conveying line 3, and the; a packing box platform 7 is embedded between the same packing box conveying lines 100, a packing box positioning and conveying device 6 arranged along the conveying direction of the packing box conveying lines 100 is arranged in front of the side of the packing box platform 7, a flexible tool clamp 9 fixed at the front end of a mechanical arm of the robot is arranged above the side of the packing box platform 7, the packing box positioning and conveying device 6 integrates box suction, box pushing and conveying, and can position and convey a packing box to a specified position, so that a foundation is provided for accurate packing of the flexible tool clamp 9 driven by a mechanical arm of the robot; during the use, divide the subcontractor 2 on the milk package transfer chain 1 and distribute to different pre-integration transfer chain 3 by lane mechanism 11 after conveying according to certain law with the milk package on the milk package transfer chain 1, the subcontractor 2 on the pre-integration transfer chain 3 integrates the milk package on the pre-integration transfer chain 3 into half unilateral milk package of quantity of packing box according to certain rule, corresponding unilateral grabbing package conveyor 4 grabs unilateral milk package and gets to integrate the milk package unit of the required quantity of packing box on the transfer chain 5 and wait for the robot to snatch the vanning, packing box location conveyor 6 can be with packing box location on the packing box transfer chain 100 on the vanning platform 7 simultaneously, then the robot drives flexible frock clamp 9 and snatchs the milk package unit on the integration transfer chain 5 and put into the packing box on the vanning platform 7 and accomplish the vanning.

On the basis of the structure, in order to improve the efficiency, the two sides of the integration conveying line 5 are symmetrically provided with the pre-integration conveying lines 3, the conveying directions of the milk bags on the pre-integration conveying lines 3 are the same or opposite, and when the conveying directions of the milk bags on the pre-integration conveying lines 3 are the same, the arrangement directions of two groups of unilateral milk bags in the same packing box are the same; when the milk bags on the pre-integration conveying line 3 are opposite in conveying direction, two groups of unilateral milk bags in the same packing box are arranged in a back-to-back manner; in addition, the packing box conveying lines 100 are also arranged in pairs outside one of the pre-integrated conveying lines 3, the packing box positioning and conveying devices 6 are arranged outside the packing box positioning and conveying devices 6 in a back-to-back manner, the packing box conveying lines 100 which are arranged on the packing machine frame in pairs and are parallel to the packing machine frame are arranged on the packing machine frame, namely the packing box positioning and conveying devices 6 are arranged inside the two packing box conveying lines 100.

As shown in fig. 2: the lane dividing mechanism 11 comprises a lane dividing support 112 installed on the milk bag conveying line 1, the lane dividing support 112 is arranged adjacent to the lane dividing device 2, a lane dividing bearing installation seat 113 is arranged on the lane dividing support 112, a lane dividing installation plate 115 is fixedly arranged at the lower end of a lane dividing rotating shaft 114 embedded in a bearing on the lane dividing bearing installation seat 113 in the upper end of the lane dividing support 112, the lane dividing installation plate 115 is connected with a lane dividing guide rod 117 through a lane dividing connection plate 116, the rear end of the lane dividing installation plate 115 is connected with the driving end of a lane dividing cylinder 118 through a joint and a pin shaft, the rear end of the lane dividing cylinder 118 is fixed on a lane dividing cylinder upright post 111 through a lane dividing cylinder installation seat 119, and the lane dividing cylinder upright post 111 is vertically fixed on the support of the milk bag; the front end of the lane guide rod 117 on the lane mechanism 11 is connected with the outlet side of the subcontractor 2, and the rear side of the lane guide rod 117 is connected with the corresponding pre-integrated conveying line 3 under the action of the lane cylinder 118.

As shown in fig. 2-5: when the milk package conveying line is used, six sub-packaging connecting rods 205 are arranged in the sub-packaging device 2, namely, each circle of rotation of the lower rotary disc 203 and the upper rotary disc 206 can drive six milk packages to be counted, when the sub-packaging motor 202 drives the lower rotary disc 203 to rotate, the lower rotary disc 203 drives the sub-packaging connecting rods 205 and the upper rotary disc 206 to rotate, the sub-packaging connecting rods 205 respectively rotate relative to the lower rotary disc 203 and the upper rotary disc 206, the orientation of sub-packaging stoppers 204 on the sub-packaging connecting rods 205 is unchanged, the sub-packaging stoppers 204 push the milk packages conveyed to the front of the sub-packaging stoppers 204 to move forwards, due to the rotating characteristic of the sub-packaging stoppers 204, the milk packages return to the original moving direction to continue to move to the channel dividing mechanism 11 after passing through one arc-shaped stroke, and the channel dividing cylinder 118 sends the milk packages divided by the sub-packaging device 2 to the corresponding pre-integration conveying lines 3 as required.

As shown in fig. 2-5: the sub-packaging device 2 comprises a sub-packaging device mounting plate 201 on the pre-integration conveying line 3, a sub-packaging motor 202 is fixedly mounted on the sub-packaging device mounting plate 201, a lower rotary table 203 is arranged at a driving end of the sub-packaging motor 202, the lower rotary table 203 is connected with an upper rotary table 206 through a sub-packaging connecting rod 205, one side surface of the sub-packaging connecting rod is provided with a sub-packaging stop block 204, the central axis of the lower rotary table 203 and the central axis of the upper rotary table 206 are arranged in a staggered mode, so that the lower rotary table 203 and the upper rotary table 206 form an eccentric rotating structure, and; the sub-packaging motor 202 drives the lower rotary table 203 to rotate, the lower rotary table 203 drives the sub-packaging connecting rod 205 and the upper rotary table 206 to rotate, and the sub-packaging connecting rod 205 rotates relative to the lower rotary table 203 and the upper rotary table 206 respectively, so that the orientation of the sub-packaging stop block 204 on the sub-packaging connecting rod 205 is unchanged.

In the structure shown in fig. 3, a sub-packaging bearing seat 211 with a built-in bearing is arranged on a sub-packaging device mounting plate 201, the bottom of a lower rotary disc 203 penetrates through the bearing in the sub-packaging bearing seat 211 and then is connected with the driving end of a sub-packaging motor 202, and the sub-packaging motor 202 is fixed on the sub-packaging device mounting plate 201 through the sub-packaging motor mounting plate; the subpackage connecting rod 205 is in an L-shaped design, the top of the vertical part of the subpackage connecting rod 205 is in a rotating shaft shape capable of rotating in the upper rotating disc 206, the lower convex end part of the horizontal part is in a rotating shaft shape capable of rotating in the lower rotating disc 203, the upper ends of the subpackage connecting rods 205 are uniformly distributed along the circumference of the upper rotating disc 206, and the lower ends of the subpackage connecting rods 205 are uniformly distributed along the circumference of the lower rotating disc 203; the sub-packaging stoppers 204 are provided on the same side of the sub-packaging link 205 from top to bottom with a gap between adjacent sub-packaging stoppers 204 for insertion of milk-bag guide pieces, which may be provided on the front and/or rear side of the sub-packaging container 2 and may be inserted between the sub-packaging stoppers 204. Meanwhile, the sub-packaging unit mounting frame 208 includes a frame connection plate 209 vertically fixed to the sub-packaging unit mounting plate 201 and a frame top plate 210 installed on the top of the frame connection plate 209, and the upper turntable 206 is installed on the frame top plate 210 through a sub-packaging rotation shaft 207.

When the subpackaging device shown in fig. 2-5 is used, six subpackaging connecting rods 205 are arranged in the subpackaging device 2, namely, each circle of rotation of the lower rotary disc 203 and the upper rotary disc 206 can drive six materials to be counted, when the subpackaging motor 202 drives the lower rotary disc 203 to rotate, the lower rotary disc 203 drives the subpackaging connecting rods 205 and the upper rotary disc 206 to rotate, and the subpackaging connecting rods 205 respectively rotate relative to the lower rotary disc 203 and the upper rotary disc 206, so that the orientation of the subpackaging stop blocks 204 on the subpackaging connecting rods 205 is unchanged, the subpackaging stop blocks 204 push and convey milk bags in front of the subpackaging stop blocks to move forwards, and due to the rotating characteristic of the subpackaging stop blocks 204, the milk bags are enabled to return to the original advancing direction to continue to advance after passing through an arc-shaped stroke, and the subsequent processes of the subpackaging device 2 can convey the milk bags led out by one circle.

As shown in fig. 4 and 5, an auxiliary positioning conveying mechanism 31 is disposed beside the pre-integrated conveying line 3 at the rear side of the subpackaging device 2, the auxiliary positioning conveying mechanism 31 includes an auxiliary positioning conveying motor 311 and an auxiliary positioning conveying synchronous belt 312, the auxiliary positioning conveying motor 311 is used for driving the auxiliary positioning conveying synchronous belt 312 to drive the single-sided milk bag to advance, the auxiliary positioning synchronous belt 312 is disposed perpendicular to the conveying plane of the pre-integrated conveying line 3, and auxiliary positioning retaining pieces 313 are disposed at intervals on the auxiliary positioning conveying synchronous belt 312 for positioning and driving the single-sided milk bag; the auxiliary positioning conveying synchronous belt 312 is used for connecting the auxiliary positioning driving wheels 314 at the driving ends of the two auxiliary positioning conveying motors 311, or the auxiliary positioning conveying synchronous belt 312 is used for connecting the auxiliary positioning driving wheel 314 at the driving end of one auxiliary positioning conveying motor 311 and an auxiliary positioning driven wheel arranged at the side of the pre-integrated conveying line 3; a tension pulley may be further provided inside the auxiliary positioning conveying timing belt 312 to adjust the running state of the auxiliary positioning conveying timing belt 312.

As shown in fig. 6 and 7: the unilateral bale grabbing conveying device 4 comprises a unilateral conveying mechanism 41 and a unilateral bale grabbing clamp 42 arranged on the unilateral conveying mechanism 41, wherein the unilateral conveying mechanism 41 comprises a unilateral longitudinal conveying mechanism 411 and a unilateral translational conveying mechanism 412, the unilateral bale grabbing clamp 42 is fixedly arranged at the bottom end of a movable part of the unilateral longitudinal conveying mechanism 411, and the longitudinal unilateral conveying mechanism 411 is arranged on the unilateral translational conveying mechanism 412, so that the unilateral bale grabbing clamp 42 can do vertical motion relative to the unilateral translational conveying mechanism 412 under the driving of the longitudinal unilateral conveying mechanism 411, and the unilateral translational conveying mechanism 412 can drive the unilateral longitudinal conveying mechanism 411 to move horizontally; the unilateral translation conveying mechanism 412 drive unilateral and grab a packet anchor clamps 42 and fall to the top of the unilateral milk package of waiting to snatch and unilateral grab a packet anchor clamps 42 and expand, unilateral vertical conveying mechanism 411 drives unilateral and grabs packet anchor clamps 42 whereabouts and presss from both sides and get unilateral milk package back and rise, unilateral translation conveying mechanism 412 drives unilateral through unilateral vertical conveying mechanism 411 and grabs packet anchor clamps 42 and fall to the top of integration transfer chain 5 and put down unilateral milk package, accomplishes a unilateral and grabs the packet process.

As shown in fig. 6: the unilateral longitudinal conveying mechanism 411 comprises a unilateral longitudinal mounting seat 4111, the unilateral longitudinal mounting seat 4111 is fixed on a unilateral translational synchronous belt 4124 through a pressing block, a unilateral longitudinal conveying cylinder 4112 is arranged on the unilateral longitudinal mounting seat 4111, a driving end of the unilateral longitudinal conveying cylinder 4112 is connected with a unilateral longitudinal driving plate 4113 through a joint and a pin shaft, and the unilateral longitudinal driving plate 4113 is fixedly arranged on a unilateral fixture mounting plate 421 of the unilateral bale grabbing fixture 42, so that the unilateral longitudinal conveying cylinder 4112 can vertically lift and lift the unilateral bale grabbing fixture 42; the unilateral translation conveying mechanism 412 comprises a unilateral translation mounting seat 4121 and a unilateral translation motor 4122 mounted on the unilateral translation mounting seat 4121, a unilateral translation driving wheel 4123 arranged on a driving shaft of the unilateral translation motor 4122 is connected with a unilateral translation driven wheel 4125 through a unilateral translation synchronous belt 4124, and the unilateral translation synchronous belt 4124 drives the unilateral longitudinal conveying mechanism 411 to move horizontally. Unilateral vertical mount pad 4111 is installed on unilateral translation mount pad 4121 through slider slide rail structure, and unilateral vertical mount pad 4111 is connected with the top of unilateral anchor clamps mounting panel 421 through slider slide rail structure, and the slider among the slider slide rail structure is fixed on unilateral vertical mount pad 4111, and is fixed at the top of unilateral anchor clamps mounting panel 421 with the lower extreme of this slider matched with slide rail.

As shown in fig. 7: unilateral bale plucking anchor clamps 42 are including fixing the unilateral anchor clamps mounting panel 421 in unilateral longitudinal conveying mechanism 411's moving part bottom, and the minor face both sides of unilateral anchor clamps mounting panel 421 are equipped with unilateral package board 422 respectively, and the long limit one side of unilateral anchor clamps mounting panel 421 is equipped with a unilateral limiting plate 423 of vertical fixation on unilateral anchor clamps mounting panel 421 and its long limit opposite side also is equipped with unilateral package board 422 that presss from both sides, and above-mentioned unilateral package board 422 adopts corresponding unilateral cylinder 424 to drive mutually in order to press from both sides unilateral milk package or put down unilateral milk package respectively. The unilateral cylinder 424 is fixed at the bottom of the unilateral clamp mounting plate 421 through the unilateral cylinder connecting plate 426, and the unilateral cylinder push block 425 arranged at the driving end of the unilateral cylinder 424 is fixedly arranged at the back of the unilateral clamp wrapping plate 422. Two sets of unilateral bale plucking clamps 42 share the same unilateral clamp mounting plate 421 and the unilateral clamp mounting plate 421 is fixed at the bottom end of a unilateral longitudinal conveying mechanism 411.

As shown in fig. 6: unilateral vertical conveying mechanism 411 and unilateral translation conveying mechanism 412 that are equipped with two sets of correspondences on the unilateral package conveyor 4 of grabbing, make same unilateral package conveyor 4 of grabbing can drive two pairs of unilateral package anchor clamps 42 of grabbing, and the unilateral package anchor clamps 42 of grabbing that unilateral vertical conveying mechanism 411 of every group and unilateral translation conveying mechanism 412 drive correspond one and integrate unilateral milk package on the transfer chain 3 in advance, make every unilateral package conveyor 4 of grabbing can grab unilateral milk package anchor clamps 42 through four sets of unilateral packages anchor clamps 42 of grabbing simultaneously and snatch unilateral milk package, once only can snatch four unilateral milk packages of share and go to satisfy the milk package demand in two packing boxes promptly. In the using process, the back surface of the milk bag is generally attached to the inner wall of the single-side limiting plate 423 of the single-side bag grabbing clamp 42, so the orientation of the single-side bag grabbing clamp 42 can be set according to the configuration direction of the milk bag. As shown in fig. 4, since two sets of unilateral milk bags to be grabbed are required to be arranged in a back direction, the unilateral limit plates 423 of the unilateral bag grabbing fixture 42 arranged on the two unilateral longitudinal conveying mechanisms 411 are also arranged in a back direction; if two sets of single-side milk bags are required to be arranged in the same direction, the single-side bag-grabbing clamp 42 is also oriented in the same direction.

As shown in fig. 4: an integration positioning block 511 used for limiting the position of the milk bags is arranged on an integration conveying belt 51 on the integration conveying line 5, two corresponding single-side bag grabbing fixtures 42 on the single-side bag grabbing conveying device 4 positioned above the front portion of the integration conveying line 5 are respectively responsible for one group of single-side milk bags, and the single-side bag grabbing conveying device 4 respectively drives the two single-side bag grabbing fixtures 42 to grab the corresponding single-side milk bags from different pre-integration conveying lines 3 and place the single-side milk bags between the integration positioning blocks 511 to form milk bag units with the required number of packaging boxes. Meanwhile, the horizontal pushing integration mechanisms 54 are symmetrically arranged on two sides of the tail of the integration conveying line 5, each horizontal pushing integration mechanism 54 comprises a horizontal pushing integration cylinder 541 fixed on the integration conveying line 5, an integration horizontal pushing plate 542 is arranged at the telescopic front end of each horizontal pushing integration cylinder 541, and the symmetrically arranged integration horizontal pushing plates 542 push the corresponding single-side milk bags to be close to each other to form milk bag units required by the packaging box. In order to improve the stability and the distinguishing performance of the unilateral milk bags, a unilateral milk bag separating rod 52 which is arranged along the conveying direction and is positioned right below the unilateral milk bag grabbing conveying device 4 is arranged above the integrated conveying line 5, the unilateral milk bag separating rod 52 is fixed in the middle of the upper part of the integrated conveying line 5 through a separating support 53, the integrated conveying belt 51 is divided into two halves to form corresponding unilateral milk bag areas respectively, and the arrangement of the unilateral milk bag separating rod 52 improves the correspondence of the unilateral milk bag grabbing clamp 42, so that errors are avoided.

As shown in fig. 10: the packaging box positioning and conveying device 6 comprises a positioning and conveying mounting plate 601 and a positioning and conveying motor 602, wherein a positioning sucker cylinder 603 is fixedly arranged at the back of the positioning and conveying mounting plate 601, the front end of the positioning sucker cylinder 603 penetrates through the positioning and conveying mounting plate 601 and is provided with a positioning sucker mounting seat 604, and a positioning sucker 605 arranged on the positioning sucker mounting seat 604 is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube; the positioning suction cup cylinder 603 drives the positioning suction cup mounting seat 604 to extend out, so that the positioning suction cup 605 can adsorb the packing box on the packing box conveying line, and then the positioning conveying motor 602 operates to drive the positioning conveying mounting plate 601 to horizontally move, so as to drive the positioning suction cup 605 to position and convey the packing box to the packing platform 7.

As shown in fig. 10: on the basis, when the packing box is conveyed to the packing platform 7 in a positioning manner, the packing box which is subjected to milk packing at the packing platform 7 needs to be pushed to a subsequent packing box conveying line 100, therefore, a positioning conveying cylinder 606 which is positioned at the back side of the positioning conveying mounting plate 601 is arranged at the front side of the positioning sucker cylinder 603, the driving end of the positioning conveying cylinder 606 is connected with one end of a positioning conveying rotating shaft connecting block 607 through a joint and a pin shaft, the other end of the positioning conveying rotating shaft connecting block 607 is fixed on a positioning conveying rotating shaft 608, a positioning conveying box pushing plate 609 is arranged on the positioning conveying rotating shaft 608, and the positioning conveying cylinder 606 drives the positioning conveying rotating shaft 608 to rotate through expansion and contraction so that the positioning conveying box pushing plate 609 is parallel to or perpendicular to the conveying direction of; when the positioning conveying box pushing plate 609 is perpendicular to the conveying direction of the packaging box conveying line 100, the positioning conveying box pushing plate 609 is driven by the positioning conveying mounting plate 601 to horizontally move, so that the packaging box which is filled with the milk on the packaging platform 7 is pushed to the subsequent packaging box conveying line 100. In the above composition which can be named as a box pushing mechanism, the positioning and conveying mounting plate 601 is provided with a positioning rotating shaft mounting plate 610 for mounting the positioning and conveying rotating shaft 608, the positioning rotating shaft mounting plates 610 which are correspondingly arranged up and down are vertically arranged on the positioning and conveying mounting plate 601, and the positioning and conveying rotating shaft 608 can rotate relative to the positioning rotating shaft mounting plate 610; the positioning and conveying cylinders 606 are generally arranged in two ways, one is directly fixed to the back of the positioning and conveying mounting plate 601, and the other is arranged at the front end of the positioning and rotating shaft mounting plate 610 for fixing the positioning and conveying cylinders 606.

As shown in fig. 10: in addition, in order to realize that the packaging box positioning and conveying device 6 can simultaneously position and convey a plurality of packaging boxes, an additional positioning sucker 612 arranged on an additional positioning sucker mounting seat 611 is arranged at the rear side of the positioning and conveying mounting plate 601, the additional positioning sucker 612 is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube, the back of the additional positioning sucker mounting seat 611 is connected with the driving end of an additional positioning sucker cylinder 613, and the additional positioning sucker mounting seat 611, the additional positioning sucker 612 and the additional positioning sucker cylinder 613 form an additional packaging box positioning and conveying mechanism so that the packaging box positioning and conveying device 6 can simultaneously convey two or more than two packaging boxes; the additional positioning sucker mounting seat 611 is mounted on the front side of the additional positioning conveying mounting plate 614, the additional positioning conveying mounting plate 614 is located on the rear side of the positioning conveying mounting plate 601, the back of the additional positioning conveying mounting plate 614 is connected with the telescopic end of the positioning conveying distance-adjusting cylinder 615 mounted on the back of the positioning conveying mounting plate 601 through a distance-adjusting cylinder connecting block, so that the positioning conveying mounting plate 601 can synchronously drive the additional positioning conveying mounting plate 614 to advance, and the distance between the positioning suckers 605 and the packing boxes adsorbed by the additional positioning suckers 612 can be adjusted through the extension and retraction of the telescopic end of the positioning conveying distance-adjusting cylinder 615. When the additional positioning suction cup cylinder 613 drives the additional positioning suction cup mounting seat 611 to extend out, so that the additional positioning suction cup 612 adsorbs the packaging box on the packaging box conveying line 100, the positioning suction cup cylinder 603 drives the positioning suction cup mounting seat 604 to extend out, so that the positioning suction cup 605 adsorbs the packaging box on the packaging box conveying line 100, and then the positioning conveying motor 602 operates to drive the positioning suction cup 605 and the additional positioning suction cup 612 to position and convey the packaging box to the boxing platform 7.

As shown in fig. 10: in the above structure integrating the suction box, the box pushing and the conveying, the positioning conveying mounting plate 601 and the additional positioning conveying mounting plate 614 are both mounted on the boxing rack through the positioning conveying slider sliding rail structure 616, so that the positioning conveying mounting plate 601 and the additional positioning conveying mounting plate 614 can move along the horizontal straight line of the boxing rack. Specifically, in the driving structure, the positioning and conveying mounting plate 601 is fixed on a positioning and conveying synchronous belt 618 through a positioning and conveying pressing block 617, two ends of the positioning and conveying synchronous belt 618 are respectively connected with a positioning and conveying driving wheel 619 and a positioning and conveying driven wheel 620, and the positioning and conveying driving wheel 619 is mounted on the driving end of the positioning and conveying motor 602; when the positioning and conveying motor 602 operates, the driving end of the positioning and conveying motor 602 drives the positioning and conveying driving wheel 619 to rotate so as to drive the positioning and conveying synchronous belt 618 to rotate, and further drive the positioning and conveying mounting plate 601 to advance or retreat.

When the packing box positioning and conveying device 6 is used, the positioning sucker cylinder 603 drives the positioning sucker mounting seat 604 to extend out, so that the positioning sucker 605 adsorbs a packing box on the packing box conveying line 100, the additional positioning sucker cylinder 613 drives the additional positioning sucker mounting seat 611 to extend out, so that the additional positioning sucker 612 adsorbs the packing box on the packing box conveying line 100, the positioning conveying motor 602 operates to drive the positioning sucker 605 and the additional positioning sucker 612 to position and convey the packing box to the packing box platform 7, and when the distance between the two packing boxes needs to be adjusted, the distance between the packing boxes adsorbed by the positioning sucker 605 and the additional positioning sucker 612 can be adjusted through the extension and contraction of the extension end of the positioning conveying distance adjusting cylinder 615; after finishing one action, the positioning sucker cylinder 603 and the additional positioning sucker cylinder 613 drive the corresponding sucker to return to the position and put down the packing box. In addition, when the positioning and conveying motor 602 drives the positioning and conveying mounting plate 601 to advance, the positioning and conveying box pushing plate 609 is perpendicular to the conveying direction of the packaging box conveying line 100, and the positioning and conveying box pushing plate 609 is driven by the positioning and conveying mounting plate 601 to horizontally move, so that the packaging box with milk packaged in the packaging platform 7 is pushed to the subsequent packaging box conveying line 100; then the positioning and conveying box pushing plate 609 returns to avoid touching the packing box on the back side packing platform 7, and meanwhile the positioning and conveying motor 602 runs reversely to drive the positioning and conveying mounting plate 601 to return.

As shown in fig. 9 and 11, a packing box positioning mechanism 71 is arranged on the packing box platform 7, the packing box positioning mechanism 71 includes a positioning cylinder mounting seat 711 and a packing box positioning cylinder 712 which are arranged in pairs at the bottom of the packing box platform 7, the tail end of the packing box positioning cylinder 712 is mounted on the positioning cylinder mounting seat 711, the driving end of the packing box positioning cylinder 712 is connected with a positioning sheet rotating shaft connecting block 714 fixed on the positioning sheet rotating shaft 713 through a joint and a pin shaft, each positioning sheet rotating shaft 713 is fixedly provided with a packing box positioning sheet 715 which is arranged in pairs, two ends of the positioning sheet rotating shaft 713 are mounted on the positioning sheet rotating shaft mounting seat 716 embedded with a bearing, the packing box positioning cylinders 712 which are arranged in pairs in opposite directions and a corresponding pair of positioning cylinder mounting seats 711, positioning sheet rotating shaft connecting blocks 714, positioning sheet rotating shafts 713 and packing box positioning sheets, the packing box positioning cylinder 712 synchronously extends out to drive the positioning sheet rotating shaft 713 to rotate, so that the packing box positioning sheet 715 overturns and extends upwards to extend out of the packing platform 7, and the two packing box positioning sheets 715 mutually cooperate to enable the corresponding packing box on the packing platform 7 to be embedded in the packing platform 7 and not to move. The bottom of each boxing platform 7 is provided with two or more groups of packaging box positioning mechanisms 71, and the packaging boxes conveyed by the packaging box positioning and conveying devices 6 on the boxing platforms 7 cannot move due to the arrangement of the packaging box positioning mechanisms 71, so that the stability of the positions of the packaging boxes is further improved.

As shown in fig. 8-9: a corresponding positioning boxing guide mechanism 8 is arranged above the boxing platform 7, the positioning boxing guide mechanism 8 comprises a boxing guide platform 801 with an opening larger than the horizontal section of an inner cavity of the packing box, oblique boxing guide plates 802 are arranged on four sides of the opening of the boxing guide platform 801, and the boxing guide plates 802 can extrude a cover plate of the packing box and are embedded into the inner cavity of the packing box, so that a robot can drive a flexible tool clamp 9 to grab the integrated milk bag unit and place the milk bag unit into the packing box on the boxing platform 7 to complete boxing; the bottom of the boxing guide platform 801 is connected with the driving end of the boxing guide cylinder 803, the tail end of the boxing guide cylinder 803 is fixed on a boxing rack, the driving end of the boxing guide cylinder 803 extends upwards to drive the boxing guide plate 802 on the boxing guide platform 801 to be away from a packaging box so as to facilitate conveying of the packaging box, and the driving end of the boxing guide cylinder 803 retracts downwards to drive the boxing guide plate 802 on the boxing guide platform 801 to be inserted into the packaging box so as to facilitate a robot to drive the flexible tool clamp 9 to grab the integrated milk package units and place the milk package units into the packaging box. After the positions of the packing cases are accurately limited by the packing case positioning mechanisms 71 on the packing case positioning and conveying device 6 and the packing case platform 7, the flexible work fixture 9 is further prevented from being touched to damage the packing cases by the positioning and packing guide mechanism 8, and the flexible work fixture 9 is driven by a mechanical arm of the robot to grab the milk bags to realize positioning and guiding.

As shown in fig. 12-13: the flexible tool clamp 9 comprises a flexible clamp mounting plate 901, four sides of the flexible clamp mounting plate 901 are respectively provided with a guide clamping plate 902 which can rotate along the corresponding side of the flexible clamp mounting plate 901, the upper edge of the guide clamping plate 902 is provided with a clamping plate positioning block 904, the side edge of the flexible clamp mounting plate 901 is provided with a mounting plate positioning block 905, and the clamping plate positioning block 904 and the mounting plate positioning block 905 are connected through a pin shaft to form a hinge structure for connecting the guide clamping plate 902 and the flexible clamp mounting plate 901; meanwhile, the outer wall of the guide bag clamping plate 902 is provided with a case entering guide strip 906 perpendicular to the guide bag clamping plate 902, and the upper part of the case entering guide strip 906 protrudes outwards so that the flexible clamping device 9 can play a role of guiding and supporting the milk bag when clamping the milk bag unit; the bottom of the flexible clamp mounting plate 901 is provided with flexible clamp cylinders 903 which are respectively opposite to the guide clamp wrapping plates 902, the flexible clamp cylinders 903 are fixed at the bottom of the flexible clamp mounting plate 901 through flexible cylinder connecting plates 908, and the driving ends of the flexible clamp cylinders 903 are connected with a clamp wrapping plate push block 907 with a through hole at the back of the guide clamp wrapping plate 902 through joints and pin shafts, so that when the extending ends of the flexible clamp cylinders 903 extend out, the guide clamp wrapping plate 902 can rotate relative to the corresponding edge of the flexible clamp mounting plate 901 and rotate to be opened outwards.

As shown in fig. 12-13: in the above structure, the guide clamp plate 902 on the short side of the flexible clamp mounting plate 901 is pushed by using a single flexible clamp cylinder 903, and the guide clamp plate 902 on the long side of the flexible clamp mounting plate 901 is pushed by using at least one flexible clamp cylinder 903. A flexible bag pushing cylinder 909 is arranged in the center of the bottom of the flexible clamp mounting plate 901, the driving end of the flexible bag pushing cylinder 909 is connected with the back of a bag pushing plate 911 through a bag pushing cylinder positioning plate 910, and the driving end of the flexible bag pushing cylinder 909 drives the bag pushing plate 911 to push downwards to push out a milk bag unit in the inner cavity of the flexible work clamp 9. The flexible fixture mounting plate 901 is provided with a flexible fixture slider 912 at the top, the flexible fixture mounting plate 901 is matched with a flexible fixture slide rail 914 at the bottom of the flexible fixture beam 913 through the flexible fixture slider 912, the flexible fixture 9 is fixed below the flexible fixture beam 913, and the flexible fixture beam 913 is provided with a flexible fixture positioning block 915 for connecting a robot arm. In addition, a flexible clamp positioning seat 916 is arranged on the side wall of the flexible clamp beam 913, a pin shaft mounting seat 917 is arranged at the top of the flexible clamp mounting plate 901, and a flexible clamp connector 918 is adopted between the pin shaft mounting seat 917 and the flexible clamp positioning seat 916 to fix the flexible clamp 9 on the flexible clamp beam 913; the flexible clamp connector 918 adopts an air cylinder or a fixing bolt, when the flexible clamp connector 918 adopts the air cylinder, the tail end of the air cylinder is fixed on the flexible clamp positioning seat 916, the driving end of the air cylinder is connected with the pin shaft mounting seat 917 through a joint and a pin shaft, and the position of the flexible clamp 9 is automatically adjusted through the air cylinder; when the flexible clamp connector 918 is a fixing bolt, the front end of the fixing bolt is fixed on the flexible clamp positioning seat 916 through a nut, the tail end of the fixing bolt is connected with the pin shaft mounting seat 917 through a joint and a pin shaft, and the position of the flexible clamp 9 is manually adjusted by adjusting the threaded connection degree of the nut and the fixing bolt.

As shown in fig. 12-13: in the above structure, the flexible jig positioning block 915 fixed to the lower end of the robot arm is provided with the paired flexible jigs 9 via the same flexible jig cross member 913.

When the flexible work fixture 9 is used, when the mechanical arm of the robot drives the flexible work fixture 9 to move to the middle of the milk bag unit or move to the upper part of the milk bag unit, each flexible fixture cylinder 903 drives the corresponding guide bag clamping plate 902 to be unfolded; then, the mechanical arm of the robot drives the flexible clamping tool 9 to fall on the milk bag unit to be clamped, and each flexible clamping tool cylinder 903 drives the corresponding guide clamping plate 902 to retract to clamp the milk bag unit; then the mechanical arm of the robot drives the flexible worker clamp 9 to convey the milk bag unit to a designated position or above a designated packing box, the mechanical arm of the robot drives the flexible worker clamp 9 to fall to the designated position, and finally the driving end of the flexible bag pushing cylinder 909 drives the bag pushing plate 911 to push the milk bag unit out of the inner cavity of the flexible worker clamp 9.

The boxing machine comprises a milk bag conveying line 1 with a subpackaging device 2, a pre-integration conveying line 3 with the subpackaging device 2, a milk bag integration line 5, a single-side bag grabbing conveying device 4 positioned above the pre-integration conveying line 3 and the milk bag integration line 5, a packaging box conveying line 100, a boxing platform 7 clamped between the packaging box conveying lines 100, a packaging box positioning conveying device 6 positioned in front of the boxing platform 7, a positioning box-entering guide mechanism 8 positioned right above the boxing platform 7 and a flexible work fixture 9 fixed at the front end of a mechanical arm of a robot, wherein other parts except the milk bag conveying line are fixed on a base of a boxing machine frame or hung at the top of a boxing machine frame; when the milk packing machine operates, milk packages on the milk package conveying line 1 are conveyed by the sub-packaging device 2 on the milk package conveying line 1 according to a certain rule and then distributed to different pre-integration conveying lines 3 by the sub-packaging device 11, the milk packages on the pre-integration conveying lines 3 are integrated into single-side milk packages with half the number of packing boxes according to a certain rule by the sub-packaging device 2 on the pre-integration conveying lines 3, the single-side milk packages are grabbed by the corresponding single-side grabbing and conveying device 4 on the integration conveying line 5 to be combined into milk package units with the required number of the packing boxes and wait for grabbing and packing by the robot, meanwhile, the packing box positioning and conveying device 6 can position and convey the packing boxes on the packing box conveying line 100 to the packing platform 7, then the robot drives the flexible industrial clamp 9 to grab the milk package units on the integration conveying line 5 to be placed into the packing boxes on the, the milk bag unit that flexible worker anchor clamps 9 snatched of being convenient for puts into the case, so be suitable for using widely.

The milk bag integration device is composed of a pre-integration conveying line 3 with a sub-packaging device 2, a single-side milk bag grabbing conveying device 4 and an integration conveying line 5, the number of milk bags required by a single-side milk bag is provided when the sub-packaging device 2 arranged on the pre-integration conveying line 3 rotates for one circle, namely, the milk bags can be pre-integrated on the pre-integration conveying line 3 directly through the sub-packaging device 2, meanwhile, an auxiliary positioning conveying mechanism 31 can collect the milk bags transmitted by the sub-packaging device 2 so as to facilitate grabbing of the single-side milk bag grabbing conveying device 4, the single-side milk bags grabbed by the single-side milk bag grabbing conveying device 4 are directly placed on an integration conveying belt 51 corresponding to a single-side milk bag grabbing clamp 42, and finally, a flat pushing integration mechanism 54 arranged at the tail end of the integration conveying line 5 integrates two groups of single-side milk bags which are arranged in the same direction; the milk bag integration device is simple in structure, clear and simple in action execution level.

According to the invention, the sub-packaging device 2 is arranged on the front side of the channel dividing mechanism 11 on the milk package conveying line 1, and the sub-packaging device 2 drives the sub-packaging connecting rod 205 to rotate through the lower rotary disc 203 and the upper rotary disc 206 which are arranged in a staggered mode through the central axis, so that the sub-packaging baffle block 204 on the sub-packaging connecting rod 205 is enabled to be in a constant orientation to sub-package milk packages, the number of sub-packages each time can be determined through the number of the sub-packaging connecting rods 205, each rotation of the lower rotary disc 203 and the upper rotary disc 206 is the number of sub-packages, and the eccentric rotation; the milk bags on the milk bag conveying line 1 can be accurately divided into a certain number of milk bags before being divided into lanes to the pre-integration conveying line 3 on the rear side, the milk bag conveying line 1 is simple in structure, the sub-packaging lanes are fast and accurate, the pre-integration conveying line 3 is fast in integration speed and accurate in number, and counting errors can be avoided; unilateral bale grabbing conveyor 4 grabs unilateral milk package through unilateral bale grabbing anchor clamps 42, then puts unilateral milk package to integrating on the transfer chain 5 through unilateral vertical conveying mechanism 411 and unilateral translation conveying mechanism 412, snatchs accurately and the accuracy is high.

The milk package positioning and boxing device is composed of a packaging box positioning and conveying device 6, a boxing platform 7, a positioning and boxing guide mechanism 8 and a flexible work fixture 9 arranged at the movable end of a robot mechanical arm, which are matched in pairs and arranged along a packaging box conveying line 100, wherein the packaging box positioning and conveying device 6 integrates box suction, box pushing and conveying, and can position and convey packaging boxes to a specified position, so that a foundation is provided for accurate boxing of the flexible work fixture 9 driven by a mechanical arm of a robot; meanwhile, the positioning conveying box pushing plate 609 pushes the packaged packing boxes away from the packing platform 7 to a subsequent packing box conveying line 100, and corresponding additional mechanisms can be arranged as required to realize the simultaneous positioning and conveying of the number of the packing boxes; packing box positioning mechanism 71 on the platform 7 of casing can further inject the position of packing box and make the packing box can not remove, and the location is gone into the case 8 and is assisted flexible worker anchor clamps 9 and gets the milk package and go into the case, avoids the appearance of phenomenon such as flexible worker anchor clamps 9 vanning inaccurate, touching damage packing box, has that the packing box is carried swiftly and fixes a position accurate, the accurate efficient characteristics of milk package income case.

According to the flexible work fixture 9, the guide clamp plate 902 which can rotate along the corresponding edge of the flexible fixture mounting plate 901 is respectively mounted on the four edges of the flexible fixture mounting plate 901, and the guide clamp plate 902 is driven to turn over by the corresponding flexible fixture cylinder 903, so that the clamping range of the inner cavity of the flexible work fixture 9 is expanded, the successful clamping is facilitated, and the milk bag unit cannot be damaged; simultaneously go into case gib block 906's setting and play the direction when making milk package unit go into the case and prop the case effect, make a flexible anchor clamps crossbeam 913 down the interval between a plurality of flexible worker anchor clamps 9 that set up adjustable through setting up of slider slide rail structure in addition, this flexible worker anchor clamps 9 have application scope extensively, convenient to use and do not damage the characteristics of milk package unit.

The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.

Claims

1. The utility model provides a case packer, includes milk package transfer chain (1), integrates transfer chain (3), milk package integration line (5) and packing box transfer chain (100) in advance, its characterized in that: the milk bag conveying line (1) is provided with a sub-packaging device (2), a channel dividing mechanism (11) is arranged at the rear side of the sub-packaging device (2), the milk bag conveying line (1) at the rear side of the channel dividing mechanism (11) is respectively connected with the front end of the corresponding pre-integrated conveying line (3) with the sub-packaging device (2), a unilateral bale grabbing conveying device (4) is arranged above the pre-integration conveying line (3) at the rear side of the sub-packaging device (2), an integration conveying line (5) and a packaging box conveying line (100) which are arranged in parallel with the unilateral bale grabbing conveying device are arranged at the side of the pre-integration conveying line (3), a packing platform (7) is embedded on the packing box conveying line (100), a packing box positioning and conveying device (6) arranged along the conveying direction of the packing box conveying line (100) is arranged in front of the side of the packing platform (7), and a flexible work fixture (9) fixed at the front end of a mechanical arm of the robot is arranged above the side of the packing platform (7); the sub-packaging device (2) on the milk package conveying line (1) transfers milk packages on the milk package conveying line (1) according to a certain rule and then distributes the milk packages to different pre-integration conveying lines (3) through a sub-channel mechanism (11), the sub-packaging device (2) on the pre-integration conveying line (3) integrates the milk packages on the pre-integration conveying line (3) into unilateral milk packages with half quantity of packing boxes according to a certain rule, the corresponding unilateral milk package grabbing conveying device (4) grabs the unilateral milk packages to the integration conveying line (5) to combine milk package units with the quantity required by the packing boxes and waits for a robot to grab the packing boxes, meanwhile, the packing box positioning and conveying device (6) can position and convey the packing boxes on the packing box conveying line (100) to the packing platform (7), then the robot drives the flexible work fixture (9) to grab and integrate the milk bag units on the conveying line (5) and place the milk bag units into the packing boxes on the packing platform (7) to finish packing.

2. A box filling machine according to claim 1, wherein: the milk package conveying direction of the pre-integration conveying line (3) is the same or opposite to the milk package conveying direction of the pre-integration conveying line (3) and the two sides of the integration conveying line (5) are symmetrically provided with the pre-integration conveying line (3), and the outer side of one pre-integration conveying line (3) is also provided with the packing box conveying lines (100) in pairs.

3. A box filling machine according to claim 1, wherein: the lane dividing mechanism (11) comprises a lane dividing support (112) installed on the milk bag conveying line (1), the lane dividing support (112) is arranged close to the lane dividing device (2) and is provided with a lane dividing bearing installation seat (113) on the lane dividing support (112), a lane dividing installation plate (115) is fixedly arranged at the lower end of a lane dividing rotating shaft (114) embedded in a bearing on the lane dividing bearing installation seat (113) in the upper end, the lane dividing installation plate (115) is connected with a lane dividing guide rod (117) through a lane dividing connection plate (116), the rear end of the lane dividing installation plate (115) is connected with the driving end of a lane dividing cylinder (118) through a joint and a pin shaft, the rear end of the lane dividing cylinder (118) is fixed on a lane dividing cylinder upright post (111) through a lane dividing cylinder installation seat (119), and the lane dividing cylinder upright post (111) is vertically fixed on the support of the milk bag conveying line (1); the front end of a lane guide rod (117) on the lane mechanism (11) is connected with the outlet side of the subcontracting device (2), and the rear side of the lane guide rod (117) is respectively connected with the corresponding pre-integrated conveying line (3) under the action of a lane cylinder (118).

4. A box filling machine according to any one of claims 1 to 3, wherein: the sub-packaging device (2) comprises a sub-packaging device mounting plate (201), a sub-packaging motor (202) is fixedly mounted on the sub-packaging device mounting plate (201), a lower rotary table (203) is arranged at a driving end of the sub-packaging motor (202), the lower rotary table (203) is connected with an upper rotary table (206) through a sub-packaging connecting rod (205) with a sub-packaging stop block (204) arranged on one side face, and a central axis of the lower rotary table (203) and a central axis of the upper rotary table (206) are arranged in a staggered mode, so that the lower rotary table (203) and the upper rotary table (206) form an eccentric rotating structure, and the upper rotary table (206) is mounted on a sub-packaging device mounting; the sub-packaging machine is characterized in that the sub-packaging motor (202) drives the lower rotating disc (203) to rotate, the lower rotating disc (203) drives the sub-packaging connecting rod (205) and the upper rotating disc (206) to rotate, and the sub-packaging connecting rod (205) rotates relative to the lower rotating disc (203) and the upper rotating disc (206) respectively, so that the orientation of a sub-packaging stop block (204) on the sub-packaging connecting rod (205) is unchanged.

5. A box filling machine according to claim 4, wherein: the subpackage connecting rod (205) is in an L-shaped design, the top of the vertical part of the subpackage connecting rod (205) is in a rotating shaft shape capable of rotating in the upper rotating disc (206), the lower convex end part of the horizontal part is in a rotating shaft shape capable of rotating in the lower rotating disc (203), the upper end of the subpackage connecting rod (205) is uniformly distributed along the circumference of the upper rotating disc (206), and the lower end of the subpackage connecting rod (205) is uniformly distributed along the circumference of the lower rotating disc (203).

6. A box filling machine according to claim 4, wherein: the subpackage stop blocks (204) are arranged on the same side of the subpackage connecting rod (205) from top to bottom, gaps are reserved between the adjacent subpackage stop blocks (204) and used for inserting the milk bag guide pieces (12), and the milk bag guide pieces (12) are arranged on the front side and/or the rear side of the subpackage device (2).

7. A box filling machine according to claim 4, wherein: the sub-packaging device mounting frame (208) comprises a frame connecting plate (209) vertically fixed on the sub-packaging device mounting plate (201) and a frame top plate (210) installed at the top end of the frame connecting plate (209), and an upper rotating disc (206) is installed on the frame top plate (210) through a sub-packaging rotating shaft (207).

8. A box filling machine according to claim 4, wherein: the sub-packaging device is characterized in that a sub-packaging bearing seat (211) with a built-in bearing is arranged on the sub-packaging device mounting plate (201), the bottom of the lower rotary disc (203) penetrates through the bearing in the sub-packaging bearing seat (211) and then is connected with the driving end of a sub-packaging motor (202), and the sub-packaging motor (202) is fixed on the sub-packaging device mounting plate (201) through the sub-packaging motor mounting plate.

9. A box filling machine according to claim 1 or 2, wherein: an auxiliary positioning conveying mechanism (31) is arranged beside the pre-integration conveying line (3) at the rear side of the subpackaging device (2), the auxiliary positioning conveying mechanism (31) comprises an auxiliary positioning conveying motor (311) and an auxiliary positioning conveying synchronous belt (312), the auxiliary positioning conveying motor (311) is used for driving the auxiliary positioning conveying synchronous belt (312) to drive the unilateral milk bag to advance, the auxiliary positioning synchronous belt (312) is perpendicular to a conveying plane of the pre-integration conveying line (3), and auxiliary positioning retaining pieces (313) are arranged on the auxiliary positioning conveying synchronous belt (312) at intervals and used for positioning and driving the unilateral milk bag; the auxiliary positioning conveying synchronous belt (312) is used for connecting an auxiliary positioning driving wheel (314) at the driving end of two auxiliary positioning conveying motors (311), or the auxiliary positioning conveying synchronous belt (312) is used for connecting the auxiliary positioning driving wheel (314) at the driving end of one auxiliary positioning conveying motor (311) and an auxiliary positioning driven wheel arranged at the side of the pre-integrated conveying line (3).

10. A box filling machine according to claim 1 or 2, wherein: the unilateral bale grabbing conveying device (4) comprises a unilateral conveying mechanism (41) and a unilateral bale grabbing clamp (42) arranged on the unilateral conveying mechanism (41), the unilateral conveying mechanism (41) comprises a unilateral longitudinal conveying mechanism (411) and a unilateral translation conveying mechanism (412), the unilateral bale grabbing clamp (42) is fixedly arranged at the bottom end of a moving part of the unilateral longitudinal conveying mechanism (411), the longitudinal unilateral conveying mechanism (411) is arranged on the unilateral translation conveying mechanism (412), so that the unilateral bale grabbing clamp (42) can do vertical motion relative to the unilateral translation conveying mechanism (412) under the driving of the longitudinal unilateral conveying mechanism (411), and the unilateral translation conveying mechanism (412) can drive the unilateral longitudinal conveying mechanism (411) to move horizontally; unilateral translation conveying mechanism (412) drive unilateral and grab a packet anchor clamps (42) and fall to the unilateral top of milk package and unilateral of waiting to snatch and grab a packet anchor clamps (42) and expand, unilateral vertical conveying mechanism (411) drive unilateral and grab a packet anchor clamps (42) and fall and press from both sides and get unilateral milk package back and rise, unilateral translation conveying mechanism (412) drive unilateral through unilateral vertical conveying mechanism (411) and grab a packet anchor clamps (42) and fall to the top of integrating transfer chain (5) and put down unilateral milk package, accomplish a unilateral and grab a packet process.

11. A box filling machine as claimed in claim 10, wherein: the unilateral bale grabbing clamp (42) comprises a unilateral clamp mounting plate (421) fixed at the bottom end of a moving part of the unilateral longitudinal conveying mechanism (411), unilateral bale clamping plates (422) are respectively arranged on two sides of a short side of the unilateral clamp mounting plate (421), a unilateral limiting plate (423) vertically fixed on the unilateral clamp mounting plate (421) is arranged on one side of a long side of the unilateral clamp mounting plate (421), a unilateral bale clamping plate (422) is also arranged on the other side of the long side of the unilateral clamp mounting plate, and the unilateral bale clamping plates (422) are respectively driven by corresponding unilateral cylinders (424) to clamp unilateral milk bales or put down unilateral milk bales; unilateral cylinder (424) fix the bottom at unilateral anchor clamps mounting panel (421) through unilateral cylinder connecting plate (426), and unilateral cylinder ejector pad (425) that the drive end of unilateral cylinder (424) set up are fixed and are set up the back at unilateral clamp plate (422).

12. A box filling machine as claimed in claim 11, wherein: the unilateral translation conveying mechanism (412) comprises a unilateral translation mounting seat (4121) and a unilateral translation motor (4122) mounted on the unilateral translation mounting seat (4121), a unilateral translation driving wheel (4123) arranged on a driving shaft of the unilateral translation motor (4122) is connected with a unilateral translation driven wheel (4125) through a unilateral translation synchronous belt (4124), and the unilateral translation synchronous belt (4124) drives the unilateral longitudinal conveying mechanism (411) to horizontally move; two groups of unilateral bale plucking clamps (42) share the same unilateral clamp mounting plate (421), and the unilateral clamp mounting plate (421) is fixed at the bottom end of a unilateral longitudinal conveying mechanism (411).

13. A box filling machine as claimed in claim 12, wherein: the unilateral longitudinal conveying mechanism (411) comprises a unilateral longitudinal mounting seat (4111), the unilateral longitudinal mounting seat (4111) is fixed on a unilateral translation synchronous belt (4124) through a pressing block, a unilateral longitudinal conveying cylinder (4112) is arranged on the unilateral longitudinal mounting seat (4111), the driving end of the unilateral longitudinal conveying cylinder (4112) is connected with a unilateral longitudinal driving plate (4113) through a joint and a pin shaft, and the unilateral longitudinal driving plate (4113) is fixedly arranged on a unilateral fixture mounting plate (421) of the unilateral bale grabbing fixture (42), so that the unilateral longitudinal conveying cylinder (4112) can vertically lift and single-edge bale grabbing fixture (42); the single-side longitudinal mounting seat (4111) is mounted on the single-side translation mounting seat (4121) through a sliding block sliding rail structure; unilateral vertical mount pad (4111) be connected with the top of unilateral anchor clamps mounting panel (421) through slider slide rail structure, slider among the slider slide rail structure is fixed on unilateral vertical mount pad (4111), and fixes the top at unilateral anchor clamps mounting panel (421) with the lower extreme of this slider matched with slide rail.

14. A box filling machine as claimed in claim 13, wherein: the single-side bag grabbing and conveying device (4) is provided with two corresponding sets of single-side longitudinal conveying mechanisms (411) and single-side translation conveying mechanisms (412), so that the same single-side bag grabbing and conveying device (4) can drive two pairs of single-side bag grabbing fixtures (42), and one pair of single-side bag grabbing fixtures (42) driven by each set of single-side longitudinal conveying mechanisms (411) and the single-side translation conveying mechanisms (412) corresponds to one single-side milk bag on the pre-integration conveying line (3); two unilateral bale grabbing conveying devices (4) which are arranged in parallel are arranged above the pre-integration conveying line (3) and the integration conveying line (5).

15. A box filling machine as claimed in claim 10, wherein: an integration positioning block (511) used for limiting the position of the milk bags is arranged on an integration conveying belt (51) on the integration conveying line (5), two corresponding unilateral bag grabbing clamps (42) on a unilateral bag grabbing conveying device (4) positioned above the front part of the integration conveying line (5) are respectively responsible for one group of unilateral milk bags, and the unilateral bag grabbing conveying device (4) respectively drives the two unilateral bag grabbing clamps (42) to grab the corresponding unilateral milk bags from different pre-integration conveying lines (3) and place the unilateral milk bags between the integration positioning blocks (511) to form milk bag units with the required number of packaging boxes; a single-side milk bag separating rod (52) which is arranged along the conveying direction and is positioned right below the single-side bag grabbing conveying device (4) is arranged above the integrated conveying line (5), the single-side milk bag separating rod (52) is fixed in the middle of the upper part of the integrated conveying line (5) through a separating bracket (53), and the integrated conveying belt (51) is divided into two halves to form corresponding single-side milk bag areas respectively; the integration flat push plate type milk packaging box is characterized in that flat push integration mechanisms (54) are symmetrically arranged on two sides of the tail of the integration conveying line (5), each flat push integration mechanism (54) comprises a flat push integration cylinder (541) fixed on the integration conveying line (5), an integration flat push plate (542) is arranged at the telescopic front end of each flat push integration cylinder (541), and the integration flat push plates (542) which are symmetrically arranged push corresponding single-side milk bags to be close to each other to form milk bag units of the number required by the packaging box.

16. A box filling machine according to claim 1 or 2, wherein: the packaging box positioning and conveying device (6) comprises a positioning and conveying mounting plate (601) and a positioning and conveying motor (602), a positioning sucker cylinder (603) is fixedly arranged at the back of the positioning and conveying mounting plate (601), the front end of the positioning sucker cylinder (603) penetrates through the positioning and conveying mounting plate (601) and is provided with a positioning sucker mounting seat (604), and a positioning sucker (605) arranged on the positioning sucker mounting seat (604) is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube; the positioning sucker cylinder (603) drives the positioning sucker mounting seat (604) to extend out, so that the positioning sucker (605) adsorbs the packing box on the packing box conveying line, and then the positioning conveying motor (602) operates to drive the positioning conveying mounting plate (601) to horizontally move so as to drive the positioning sucker (605) to position and convey the packing box to the packing platform (7).

17. A box filling machine as claimed in claim 16, wherein: a positioning and conveying cylinder (606) positioned on the back side of the positioning and conveying mounting plate (601) is arranged on the front side of the positioning sucker cylinder (603), the driving end of the positioning and conveying cylinder (606) is connected with one end of a positioning and conveying rotating shaft connecting block (607) through a joint and a pin shaft, the other end of the positioning and conveying rotating shaft connecting block (607) is fixed on a positioning and conveying rotating shaft (608), a positioning and conveying box pushing plate (609) is arranged on the positioning and conveying rotating shaft (608), and the positioning and conveying cylinder (606) drives the positioning and conveying rotating shaft (608) to rotate through expansion so that the positioning and conveying box pushing plate (609) is parallel to or perpendicular to the conveying direction of the packaging; when the positioning conveying box pushing plate (609) is perpendicular to the conveying direction of the packaging box conveying line (100), the positioning conveying box pushing plate (609) pushes the packaging box which is filled with the milk on the packaging platform (7) to a subsequent packaging box conveying line (100) under the driving of the positioning conveying mounting plate (601) in a horizontal moving mode.

18. A box filling machine as claimed in claim 17, wherein: the positioning and conveying mounting plate (601) is provided with a positioning rotating shaft mounting plate (610) used for mounting a positioning and conveying rotating shaft (608), the positioning rotating shaft mounting plates (610) which are correspondingly arranged up and down are vertically arranged on the positioning and conveying mounting plate (601), and the positioning and conveying rotating shaft (608) can rotate relative to the positioning rotating shaft mounting plate (610); the positioning conveying cylinder (606) is directly fixed on the back of the positioning conveying mounting plate (601) or on a positioning conveying cylinder mounting plate arranged at the front end of the positioning rotating shaft mounting plate (610).

19. A box filling machine as claimed in claim 16, wherein: an additional positioning sucker (612) arranged on an additional positioning sucker mounting seat (611) is arranged on the rear side of the positioning conveying mounting plate (601), the additional positioning sucker (612) is connected with a vacuum pump or a vacuum generator through a corresponding vacuum tube, the back of the additional positioning sucker mounting seat (611) is connected with the driving end of an additional positioning sucker cylinder (613), and the additional positioning sucker mounting seat (611), the additional positioning sucker (612) and the additional positioning sucker cylinder (613) form an additional packaging box positioning conveying mechanism so that the packaging box positioning conveying device (6) can convey two or more packaging boxes simultaneously; the packaging box loading platform is characterized in that the additional positioning sucker cylinder (613) drives the additional positioning sucker mounting seat (611) to extend out to enable the additional positioning sucker (612) to adsorb a packaging box located on the packaging box conveying line (100), the positioning sucker cylinder (603) is matched with the positioning sucker mounting seat (604) to extend out to enable the positioning sucker (605) to adsorb a packaging box located on the packaging box conveying line (100), and then the positioning conveying motor (602) operates to drive the positioning sucker (605) and the additional positioning sucker (612) to position and convey the packaging box to the packaging platform (7).

20. A box filling machine as claimed in claim 19, wherein: the additional positioning sucker mounting seat (611) is mounted on the front side of the additional positioning conveying mounting plate (614) and the additional positioning conveying mounting plate (614) is located on the rear side of the positioning conveying mounting plate (601), the back of the additional positioning conveying mounting plate (614) is connected with the telescopic end of the positioning conveying distance adjusting cylinder (615) mounted on the back of the positioning conveying mounting plate (601) through a distance adjusting cylinder connecting block, so that the positioning conveying mounting plate (601) can synchronously drive the additional positioning conveying mounting plate (614) to advance, and the distance between the positioning sucker (605) and a packaging box adsorbed by the additional positioning sucker (612) can be adjusted through the telescopic end of the positioning conveying distance adjusting cylinder (615).

21. A box filling machine as claimed in claim 20, wherein: the positioning conveying mounting plate (601) and the additional positioning conveying mounting plate (614) are mounted on the boxing rack through a positioning conveying sliding block sliding rail structure (616), so that the positioning conveying mounting plate (601) and the additional positioning conveying mounting plate (614) can move along the boxing rack in a horizontal straight line.

22. A box filling machine as claimed in claim 16, wherein: the positioning and conveying mounting plate (601) is fixed on a positioning and conveying synchronous belt (618) through a positioning and conveying pressing block (617), two ends of the positioning and conveying synchronous belt (618) are respectively connected with a positioning and conveying driving wheel (619) and a positioning and conveying driven wheel (620), and the positioning and conveying driving wheel (619) is mounted on the driving end of a positioning and conveying motor (602); when the positioning and conveying motor (602) runs, the driving end of the positioning and conveying motor (602) drives the positioning and conveying driving wheel (619) to rotate so as to drive the positioning and conveying synchronous belt (618) to rotate, and further drive the positioning and conveying mounting plate (601) to advance or retreat.

23. A box filling machine according to claim 1 or 2, wherein: the packing box positioning device is characterized in that a packing box positioning mechanism (71) is arranged on the packing box loading platform (7), the packing box positioning mechanism (71) comprises a positioning cylinder mounting seat (711) and a packing box positioning cylinder (712) which are arranged at the bottom of the packing box loading platform (7) in pairs, the tail end of the packing box positioning cylinder (712) is mounted on the positioning cylinder mounting seat (711), the driving end of the packing box positioning cylinder (712) is connected with a positioning sheet rotating shaft connecting block (714) fixed on the positioning sheet rotating shaft (713) through a joint and a pin shaft, two ends of the positioning sheet rotating shaft (713) are mounted on a positioning sheet rotating shaft mounting seat (716) of an embedded bearing, a positioning sheet (715) is fixedly arranged on the positioning sheet rotating shaft (713), and the packing box positioning cylinder (712) which are arranged in pairs in opposite directions and a corresponding pair of positioning cylinder mounting seat (711), positioning sheet rotating shaft connecting, The packing box positioning sheets (715) form a group of packing box positioning mechanisms (71), and the bottom of each packing platform (7) is provided with two or more groups of packing box positioning mechanisms (71); the packaging box positioning cylinder (712) synchronously extends out to drive the positioning sheet rotating shaft (713) to rotate, so that the positioning sheet (715) of the packaging box overturns and extends upwards to extend out of the packaging platform (7), and the two positioning sheets (715) of the packaging box cooperate with each other to enable the corresponding packaging box on the packaging platform (7) to be embedded in the packaging platform (7) and not to move.

24. A box filling machine as claimed in claim 23, wherein: the top of vanning platform (7) is equipped with corresponding location inlet guide mechanism (8), location inlet guide mechanism (8) are equipped with income case guide platform (801) of putting to one side including the opening is greater than packing box inner chamber horizontal cross section, be equipped with income case deflector (802) of putting to one side on the opening four sides of income case guide platform (801), go into case deflector (802) can extrude the apron of packing box and imbed in the inner chamber of packing box to in the packing box that the robot drive flexible worker anchor clamps (9) snatch the milk package unit that integrates and put into on vanning platform (7) accomplishes the vanning.

25. A box filling machine as claimed in claim 24, wherein: the bottom of the box entering guide platform (801) is connected with the driving end of a box entering guide cylinder (803), and the tail end of the box entering guide cylinder (803) is fixed on the boxing rack; the driving end of the case entering guide cylinder (803) extends upwards to drive the case entering guide plate (802) on the case entering guide platform (801) to be away from the packing case so as to facilitate conveying of the packing case, and the driving end of the case entering guide cylinder (803) retracts downwards to drive the case entering guide plate (802) on the case entering guide platform (801) to be inserted into the packing case so as to facilitate the robot to drive the flexible tool clamp (9) to grab the integrated milk package unit and place the milk package unit into the packing case.

26. A box filling machine according to claim 1, wherein: the flexible tool clamp (9) comprises a flexible clamp mounting plate (901), four sides of the flexible clamp mounting plate (901) are respectively provided with a guide clamp wrapping plate (902) capable of rotating along the corresponding side of the flexible clamp mounting plate (901), the bottom of the flexible clamp mounting plate (901) is provided with a flexible clamp cylinder (903) which is respectively opposite to each guide clamp wrapping plate (902), the driving end of the flexible clamp cylinder (903) is connected with the corresponding guide clamp wrapping plate (902), and when the extending end of the flexible clamp cylinder (903) extends out, the guide clamp wrapping plate (902) can rotate relative to the corresponding side of the flexible clamp mounting plate (901).

27. A box filling machine as claimed in claim 26, wherein: the upper edge of the guide clamping and wrapping plate (902) is provided with a clamping and wrapping plate positioning block (904), the side edge of the flexible clamp mounting plate (901) is provided with a mounting plate positioning block (905), and the clamping and wrapping plate positioning block (904) and the mounting plate positioning block (905) are connected through a pin shaft to form a hinge structure for connecting the guide clamping and wrapping plate (902) and the flexible clamp mounting plate (901); the outer wall of the guide bag clamping plate (902) is provided with a case entering guide strip (906) vertical to the guide bag clamping plate (902), and the upper part of the case entering guide strip (906) protrudes outwards to enable the flexible clamping tool (9) to clamp the milk bag unit to play a role of guiding and supporting the case when the milk bag unit enters the case.

28. A box filling machine as claimed in claim 26, wherein: the driving end of the flexible clamp cylinder (903) is connected with a clamp plate pushing block (907) with a through hole at the back of the guide clamp plate (902) through a joint and a pin shaft, so that the guide clamp plate (902) can rotate outwards when pushed by the flexible clamp cylinder (903); the flexible clamp cylinder (903) is fixed at the bottom of the flexible clamp mounting plate (901) through a flexible cylinder connecting plate (908); the guide clamp wrapping plate (902) on the short side of the flexible clamp mounting plate (901) is pushed by a single flexible clamp cylinder (903), and the guide clamp wrapping plate (902) on the long side of the flexible clamp mounting plate (901) is pushed by at least one flexible clamp cylinder (903); the center of the bottom of the flexible clamp mounting plate (901) is provided with a flexible bag pushing cylinder (909), the driving end of the flexible bag pushing cylinder (909) is connected with the back of a bag pushing plate (911) through a bag pushing cylinder positioning plate (910), and the driving end of the flexible bag pushing cylinder (909) drives the bag pushing plate (911) to push downwards to push out a milk bag unit in the inner cavity of the flexible clamp (9).

29. A box filling machine as claimed in claim 26, wherein: the top of the flexible clamp mounting plate (901) is provided with a flexible clamp sliding block (912), the flexible clamp mounting plate (901) is matched with a flexible clamp sliding rail (914) at the bottom of a flexible clamp beam (913) through the flexible clamp sliding block (912), the flexible clamp (9) is fixed below the flexible clamp beam (913), and a flexible clamp positioning block (915) used for connecting a robot mechanical arm is arranged on the flexible clamp beam (913); a flexible clamp positioning seat (916) is arranged on the side wall of the flexible clamp cross beam (913), a pin shaft mounting seat (917) is arranged at the top of the flexible clamp mounting plate (901), and a flexible clamp connecting piece (918) is adopted between the pin shaft mounting seat (917) and the flexible clamp positioning seat (916) to fix the flexible clamp (9) on the flexible clamp cross beam (913); the flexible clamp connecting piece (918) adopts an air cylinder or a fixing bolt, when the flexible clamp connecting piece (918) adopts the air cylinder, the tail end of the air cylinder is fixed on the flexible clamp positioning seat (916), the driving end of the air cylinder is connected with the pin shaft mounting seat (917) through a joint and a pin shaft, and the position of the flexible clamp (9) is automatically adjusted through the air cylinder; when the flexible clamp connecting piece (918) adopts a fixing bolt, the front end of the fixing bolt is fixed on the flexible clamp positioning seat (916) through a nut, the tail end of the fixing bolt is connected with the pin shaft mounting seat (917) through a joint and a pin shaft, and the position of the flexible clamp (9) is manually adjusted by adjusting the threaded connection degree of the nut and the fixing bolt.