CN111003250A

CN111003250A - Packing machine

Info

Publication number: CN111003250A
Application number: CN201911382458.7A
Authority: CN
Inventors: 夏宏
Original assignee: Chongqing Huanshi High Tech Co ltd
Current assignee: Chongqing Huanshi High Tech Co ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-04-14
Anticipated expiration: 2039-12-27
Also published as: CN111003250B

Abstract

The invention discloses a packer, which comprises a rack, a first packing box and a second packing box, wherein the first packing box and the second packing box are arranged in parallel; a moving device is erected between the first case and the second case, and a discharging device is erected on the left side of the moving device; the front side of the first case is provided with a feeding device, and the left side and the right side of the first case and the second case are respectively provided with a bracket; a multi-axis module is arranged on the support, and a clamp device and a shooting device are arranged on a Z-axis module of the multi-axis module; the four processes of feeding, packaging, discharging and waste discharging adopt a T-shaped layout, a material (packaging box) feeding device enters a tray structure, the tray structure is inclined, a clamp device is controlled to complete packaging, then a cylinder of a discharging device drives a discharging plate to move up and down, and a screw rod is matched to control the movement of the tray structure to complete discharging; the invention fully utilizes the idle space, greatly reduces the occupied space of the whole packaging machine, and greatly reduces the occupied cost of the packaging machine compared with the existing material packaging machine.

Description

Packing machine

Technical Field

The invention relates to the field of article packaging, in particular to a packaging machine.

Background

The carton packing machine uses the formed paperboard to automatically and continuously pack glass bottles, PET bottles, pop cans, wide-mouth bottles and the like, and is suitable for automatic production lines of beer, beverage, seasonings, food and the like. The existing carton packaging machine generally comprises a container group consisting of a container inlet and a container divider, a paperboard inlet and a packaging forming device. The containers are arrayed through the container group, then the containers are pushed into or placed on the paperboard, then the carton is curled through the packaging forming device to form a box body, and finally sealing is carried out, so that the whole occupied area of the device is large, the device is often a large-package process in a factory, the operation time is long, and the occupied area is wide; the oral liquid packaging bottle is only suitable for packaging large objects and non-fragile objects, is not suitable for packaging small bottles, particularly fragile small glass bottles, but is often required to be packaged in the field of medicine packaging, and most of the oral liquid is contained in the small glass bottles.

Those skilled in the art have therefore endeavored to develop a packer that can be used for small glass bottle packing.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to provide a packing machine that can be used for packing small glass bottles.

In order to achieve the purpose, the invention provides a packing machine which comprises a rack, wherein the rack comprises a first case and a second case which are arranged in parallel at intervals, a moving device is erected between the first case and the second case, a discharging device is erected on the left side of the moving device, a feeding device is arranged on the front side of the first case, supports are erected on the left side and the right side of the first case and the second case respectively, a multi-axis module is arranged on each support, and a clamping device is arranged on a Z-axis module of each multi-axis module.

Preferably, the moving device comprises two sliding rails, the two sliding rails are respectively and oppositely arranged on the inner sides of the first case and the second case, a slidable tray structure is arranged between the two sliding rails, one side of the tray structure is fixedly connected with a lead screw nut of the lead screw, and the lead screw is arranged in parallel with any one sliding rail.

Preferably, the tray structure includes bottom plate and swing board, and the swing board can swing relatively to the bottom plate, bottom plate side and the push rod fixed connection of the first cylinder of vertical setting.

Preferably, the discharging device comprises a discharging plate, the discharging plate is fixedly connected with a push rod of the second cylinder, the discharging plate is connected to the second slide rail in a sliding mode, the second cylinder and the second slide rail are fixedly arranged on the fourth support, and the fourth support is erected on the left side of the moving device.

Preferably, a positioning device is arranged on the right side frame of the moving device.

Preferably, the positioning device comprises a pushing block, the pushing block is fixedly connected to the beam of the fifth support, the bottom surface of the pushing block is adjacent to the upper surface of the tray structure, the beam is connected to the fifth support in a sliding mode, and the right side of the beam is connected with the fourth cylinder.

Preferably, the pushing block is fixedly connected with a pushing rod of the third air cylinder, the pushing block is connected with the third sliding rail in a sliding mode, and the third air cylinder and the third sliding rail are fixed on a cross beam of the fifth support.

Preferably, the clamp device comprises two clamping plates, a plectrum assembly is arranged on any one clamping plate, the plectrum assembly consists of a plectrum and a swing cylinder, and the plectrum is arranged on a chuck of the swing cylinder;

the plectrum includes connecting portion and dials the strip portion, and the connecting portion top is connected with swing cylinder, and the below is connected with dialling the strip portion, and dials the side that the strip portion located connecting portion.

Preferably, the feeding baffle is arranged on the outer side edge of the first case, the feeding inlet is formed in the position corresponding to the feeding baffle of the feeding device and is divided into an upper portion and a lower portion, the width of the upper portion is larger than the width of the shifting piece assembly and smaller than the width of the partition plate, the height of the upper portion is larger than the height of the shifting piece assembly, the width of the lower portion is larger than or equal to the width of the partition plate, and the height of the lower portion is smaller than the height between the.

Preferably, the left side of the discharging device is provided with a building device; the building device and the feeding device both adopt an elevator structure.

The four processes of feeding, packaging, discharging and waste discharging adopt a T-shaped layout, materials (packaging boxes) enter a tray structure from a feeding device at the front end, and a swinging plate of the tray structure can swing relative to a bottom plate, so that the packaging boxes are in an inclined state; then a clamp device positioned above the tray travels on the multi-axis module, the goods are grabbed and placed in a packing box, after the goods are packed, the unloading device is driven by the cylinder to move upwards, meanwhile, the moving device moves towards the unloading device, and after the whole moving device is positioned at the left side of the unloading device, the cylinder controls the unloading device to move downwards, so that the bottom surface of the unloading device is attached to the upper surface of the tray structure; then the mobile device is controlled to return to the initial position, and at the moment, the packed goods are blocked at the left side by a discharging plate of the discharging device, so that discharging is finished; meanwhile, the feeding part and the discharging part both adopt a material building device and a material loading device with an elevator structure, so that the whole processes of loading, packing and discharging can be carried out on the packing box and the goods at a smaller position; the invention fully utilizes the idle space, greatly reduces the occupied space of the whole packing machine, greatly reduces the occupied cost of the packing machine compared with the existing material packing machine, and is particularly suitable for packing small bottles because the occupied space is small and the overall structure of the clamp is small.

Drawings

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a first perspective view of the interior of the present invention;

FIG. 4 is a second perspective view of the interior of the present invention;

FIG. 5 is a schematic perspective view of the frame of the present invention;

FIG. 6 is a schematic perspective view of a multi-axis module according to the present invention;

FIG. 7 is a perspective view of the clamping device of the present invention;

FIG. 8 is a schematic perspective view of a discharging device according to the present invention;

FIG. 9 is a schematic illustration of the exploded structure of FIG. 8;

FIG. 10 is a perspective view of the positioning device of the present invention;

FIG. 11 is a schematic illustration of the exploded structure of FIG. 10;

FIG. 12 is a perspective view of a mobile device according to the present invention;

FIG. 13 is a schematic top view of the combination of the moving device, the discharging device and the positioning device of the present invention;

FIG. 14 is a perspective view of the tray structure of the present invention;

FIG. 15 is a schematic illustration of the exploded structure of FIG. 14;

FIG. 16 is a schematic perspective view of a loading device according to the present invention;

FIG. 17 is a schematic perspective view of the masonry unit of the present invention;

FIG. 18 is a schematic perspective view of a feed baffle according to the present invention;

FIG. 19 is a schematic view of the mounting structure of the clamping device of the present invention;

FIG. 20 is a functional block diagram of a control system of the present invention;

FIG. 21 is a first flowchart of a control system according to the present invention;

FIG. 22 is a second flowchart of the control system of the present invention;

FIG. 23 is a flow chart of the discharge process in the control system of the present invention (i.e., after the packaging of the product is passed);

FIG. 24 is a flow chart of the present invention for discharging defective products (i.e., a flow chart of defective product packaging);

description of the drawings: the first step in the flow chart of fig. 21 is concatenated with the last step in the flow chart of fig. 20.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Example 1

As shown in fig. 1 to 5, a baler includes a frame 1, wherein the frame 1 includes a first case 11a and a second case 11b arranged in parallel at an interval, so that a vacant area 12 is formed between the first case 11a and the second case 11 b; a mobile device 2 is erected between the first case 11a and the second case 11 b; the mobile device is positioned right above the vacant area; the left side of the moving device 2 is provided with a discharging device 3, and the right side is provided with a positioning device 4; the front side of the first case 11a is provided with a feeding device 7; the feeding device 7 is arranged in a feeding area 14 on the front side surface of the first case 11 a; the feeding area 14 passes through the first case 11a and is communicated with the vacant area 12; the left side and the right side of the first case 11a and the second case 11b are respectively provided with a bracket 13; the bracket 13 is provided with a movable clamp device 6; specifically, the movable fixture device 6 and the shooting device 10 are moved through the multi-axis module 5, the specific multi-axis module can be a three-axis positioning portal frame, wherein the fixture device 6 is fixed on a Z-axis module of the multi-axis module, and the fixture can move in a three-dimensional space.

More preferably, as shown in fig. 6, a shooting device is further disposed on the multi-axis module, and specifically, the shooting device 10 is fixedly disposed on the X-axis module of the multi-axis module 5, so as to ensure the distance between the camera and the carton box, and further ensure the integrity of the box shot by the camera, and further ensure that the camera can shoot the box at multiple angles on the horizontal plane above the box; the bronze drum sets up shoots the device, can snatch the bottle to the anchor clamps, place the initial state of carton state and carton before the bottle and take a candid photograph to whether qualified through snapshot image analysis judgement every position.

As shown in fig. 12 to 14, the mobile device 2 includes two slide rails 21; the two slide rails 21 are respectively and oppositely arranged on the inner side edges of the upper surfaces of the first chassis 11a and the second chassis 11 b; a slidable tray structure 22 is arranged between the two slide rails 21; one side of the tray structure 22 is fixedly connected with a screw rod screw 231 of the screw rod 23; the screw 23 is disposed parallel to the slide rail 21 of the second housing 11 b. The tray structure drives through the lead screw like this, can slide in vacant district top.

More preferably, the upper surfaces of the first chassis 11a and the second chassis 11b are provided with supporting plates 15; the two slide rails 21 are respectively oppositely arranged on the inner sides of the support plates 15; the screw 23 and the slide rail 21 on the second case 11b are arranged on the same support plate 15; the mobile device and the rack are connected through the transition of the supporting plate, so that the mobile device is convenient to detach from the case; further, the lead screw 23 is arranged on the support plate 15 through the two shelves 24, and the threaded rod 232 of the lead screw 23 is arranged above the slide rail 21, so that the lead screw nut is more favorable for driving the tray structure to move, and the tray structure can slide more smoothly. The corresponding brackets 13 may be directly mounted on the support plate 15, and the brackets on the left and right sides of the support plate are referred to as a first bracket 13a and a second bracket 13b, respectively.

More preferably, as shown in fig. 14 to 15, the tray structure 22 includes a bottom plate 221 and a swing plate 222; the swing plate 222 can swing relative to the bottom plate 221, so that an included angle is formed between the swing plate and the bottom plate, and the swing plate is inclined relative to the bottom plate; specifically, one side of the swing plate 222 is connected to one side of the bottom plate 221 through a hinge, so that the swing plate can slide relative to the bottom plate 221, and the side of the swing plate 222 is fixedly connected to a push rod of the vertically arranged first cylinder 224. Therefore, when an article is placed on the tray structure, the swinging plate is driven to move upwards by the push rod of the first air cylinder, and the swinging plate is inclined relative to the bottom plate; the inclined swing plate is convenient for packing articles, particularly bottled articles, and can effectively prevent small bottled articles from toppling over in the packing box under the action of gravity.

A first baffle 225 is arranged on the front end face of the swinging plate 222, the first baffle 225 is arranged on the same side with the screw rod, and a first position sensor 226 is arranged on the first baffle; so as to detect the carton position, carry out fore-and-aft positioning to the carton.

As shown in fig. 8 to 9, the discharging device 3 includes a discharging plate 31; the discharging plate 31 is fixedly connected with a push rod of the second cylinder 33, and the discharging plate 31 is connected with the second slide rail 34 in a sliding manner; the second cylinder 33 and the second slide rail 34 are vertically and fixedly arranged on the fourth bracket 35; the fourth bracket 35 is erected on the left side of the mobile device 2; a fixing component 352 is arranged in the middle of the transverse strut 351 of the fourth bracket 35; specifically, the fixing assembly 352 is composed of two short supporting rods and a transverse supporting plate, a groined frame is formed between the two short supporting rods and the transverse supporting plate and between the fourth support 35, and the second cylinder 33 and the second slide rail 34 are vertically installed, and in the invention, the second cylinder 33 and the second slide rail 34 are both fixed on the transverse supporting plate; the second cylinder 33 and the second slide rail 34 are vertically arranged on the fixing component 352, so that the second cylinder 33 drives the stripper plate to move up and down. During the use, drive the relative second slide rail of stripper and slide from top to bottom by the fourth cylinder, when needs are unloaded, the fourth cylinder drives stripper upward movement, and screw-nut can drive the tray structure toward the motion of discharge apparatus direction, and after the left side of stripper was moved to the tray structure, the fourth cylinder drove stripper downward movement, and the lead screw return simultaneously, the carton that packs will be kept off in the left side by the stripper, realizes unloading.

More preferably, the discharging plate 31 is connected to the second cylinder 33 and the second slide rail 34 through a second connecting plate 32; the discharging plate can be conveniently replaced from the whole discharging device, and the discharging plate is convenient to maintain and replace; specifically, the second connecting plate 32 is constituted by a first sliding plate 321 and a first fixed plate 322; the lower part of the first fixing plate 322 is fixed with the discharging plate 31; the back of the first fixed plate 322 is fixed with the first sliding plate 321, and the back of the first sliding plate 321 is provided with a chute matched with the second sliding rail 32; a first connecting block 36 is arranged on a cylinder push rod of the second cylinder 33; the first connecting block 36 passes through the lower part of the first sliding plate 321 to be fixedly connected with the first fixing plate 322, or the first sliding plate 321 is provided with a position-giving opening corresponding to the first connecting block 36, so that the first connecting block passes through the position-giving opening to be connected with the first fixing plate 322; the stripper plate 31 is positioned at the middle of the fourth bracket 35; when being favorable to the stripper to push away the case, the stripper is when pushing away the case, and the effort is located the centre of case for the atress is more even, ensures the stability of the process of unloading, prevents to unload the action and causes the incasement article breakage or shift.

As shown in fig. 3 and fig. 10-11, a positioning device 4 is mounted on the right side of the moving device 2, and the box can be positioned by the positioning device.

The positioning device 4 comprises a push block 41; the pushing block 41 is fixedly connected to the cross beam 451 of the fifth bracket 45, and the bottom surface of the pushing block 41 is adjacent to the upper surface of the tray structure 22; the beam 451 is slidably connected to the fifth bracket 45, and specifically, the beam is connected to a fourth slide track 453 above the support 452 of the fifth bracket through a slide block; and the right side of the cross member 451 is connected to the fourth cylinder 46. Like this, after the baling box got into the tray structure through loading attachment 7, the fourth cylinder passed through the gallows to be fixed on support 13, and the steerable crossbeam of fourth cylinder moves on the fifth support, and then drives ejector pad promotion baling box and remove, controls the location to the baling box, still can pull back the crossbeam through the fourth cylinder simultaneously, makes it reset.

According to the alternative scheme for controlling the return of the cross beam, a spring can be arranged between the cross beam and the support 452, so that the fourth cylinder does not need to be fixedly connected with the cross beam, and the push rod of the fourth cylinder and the cross beam are on the same horizontal plane. After the fourth cylinder pushes the cross beam, the fourth cylinder retracts, and the spring pulls the cross beam to return.

The pushing block 41 is fixedly connected with a pushing rod of the third cylinder 43, and the pushing block 41 is slidably connected with the third slide rail 44; the third cylinder 43 and the third slide rail 44 are fixed to the cross member 451 of the fifth bracket 45. The push block can move up and down, the principle of the discharging device can be utilized, unqualified cartons can be unloaded from the side of the positioning device, and if the positioning device is matched, the effect of quickly unloading the scrapped cartons can be realized. Preferably, the pushing block 41 may be disposed on the third connecting plate 42, and connected to the third cylinder 43 and the third sliding rail 44 through the third connecting plate 42; specifically, the third connecting plate 42 includes a second sliding plate 421 and a bottom plate 422; the push block 41 is fixed at the left end of the bottom plate 422; the third cylinder 43 is connected to the bottom plate 422 through a second connecting block; the second sliding plate 421 is vertically disposed on the bottom plate 422; the second sliding plate 421 is provided with a sliding groove matched with the third sliding rail 44; thus, the push block is convenient to unload and replace from the positioning device; a plurality of strip-shaped clamping grooves are formed in the bottom plate 422; the second connecting block and the second sliding plate 421 are fixed on the bottom plate 422 through the strip-shaped clamping grooves, so that the position of the pushing block in the horizontal direction can be conveniently adjusted to adapt to cartons with more sizes.

As shown in fig. 7 and 19, the clamping device 6 is fixedly connected to the Z-axis module through a first connecting plate 67, and the clamping device 6 comprises two clamping plates 61; the pneumatic finger cylinders 66 are connected above the two clamping plates 6, the clamping plates are controlled to be clamped or loosened through the pneumatic finger cylinders 66, and the pneumatic finger cylinders 66 are connected with a sixth motor 69 through a fourth connecting plate 68, so that the clamping device can rotate relative to the Z-axis module; a shifting sheet assembly 65 is arranged on any one of the clamping plates, and the shifting sheet assembly 65 can be arranged on the outer side surface or the upper surface of the clamping plate; the plectrum assembly 65 is composed of a plectrum 651 and a swing cylinder 652, wherein the plectrum 651 is arranged on a chuck of the swing cylinder; can control the plectrum like this rotatory, and then go to stir the carton for the four sides normal position of carton prevents that the side of carton is not just, and influences fixture device and hinders packing article.

Specifically, only one of the two clamping plates is provided with a rubber pad; the rubber pad is a rubber circular belt, and the clamping plate 61 is provided with an installation groove 62 corresponding to the rubber circular belt; through the deformation of the rubber circular belt, the clamp can adapt to the error of small bottle articles, and the small bottle articles are effectively prevented from sliding off in the clamping process.

The paddle 651 includes a connecting portion 651b and a paddle portion 651 a; connecting portion top is connected with swing cylinder 652, and the below is connected with group strip portion, dials strip portion and comprises two group strips, and two group strips locate the side of connecting portion respectively, plectrum 651 and loading attachment homonymy, therefore can control the plectrum and pull out the carton from loading attachment, realize automatic carton feeding.

More preferably, be equipped with detachable second baffle 63 on splint 61, it is concrete, the second baffle passes through bolted connection's mode and sets up on splint, the dismantlement second baffle that can be convenient, through changing different second baffles, can make anchor clamps can adapt to the bottle of different diameters through the width of adjusting the second baffle. The lower surface of the second barrier 63 is provided with a cushion 64, which may be foam; because most medicines all are small-size glass bottle, in order to prevent that the glass bottle is direct to contact with the second baffle, consequently set up the cushion buffering between both contacts, reach the effect of protection glass bottle.

As shown in fig. 18, correspondingly, a feeding baffle 16 is arranged on the outer side edge of the first chassis 11a, the feeding baffle 16 is on the same side as the swing cylinder 652, and a feeding hole 161 is formed at a position of the feeding baffle 16 corresponding to the feeding device 7; the feed port 161 is divided into an upper portion 161a and a lower portion 161 b; the width of the upper part is larger than the width of the shifting sheet assembly 65 and smaller than the width of the partition 713, so that the width of the upper part is smaller than the width of the carton, and the height of the upper part is larger than the height of the shifting sheet assembly 65; the width of the lower part is larger than or equal to the width of the partition boards, and then the width of the lower part is larger than the width of the carton, and the height of the lower part is smaller than the height between the two partition boards. The shifting sheet can pull the carton more accurately, and only one carton can be pulled in sequence.

As shown in fig. 16, the feeding device includes a feeding section 71 and a first lifting assembly 72; the feeding part 71 is arranged above the first lifting assembly 72; the loading section 71 is constituted by frames 711 on the left and right sides, a support bottom plate 712, and a plurality of partitions 713 provided between the two frames 711; the support base 712 is disposed above the first lift assembly 72; and the baffle 16 is matched, so that the accuracy of pulling the carton out by the shifting piece can be further ensured.

As shown in fig. 17, a bricking device 8 is arranged on the left side of the discharging device 3; specifically, the building device 8 comprises a second lifting assembly 81; the second lifting assembly 81 has the same structure as the first lifting assembly 72; a material receiving plate 82 is arranged above the second lifting assembly 81; the second lifting assembly 81 and the first lifting assembly 72 both adopt a lifting ladder structure, so that materials can be conveniently stacked on the feeding device and the material stacking device 8, and the space is further saved; reducing the footprint of a plant

As shown in fig. 2, a hood 9 is sleeved outside the frame 1; the dust-proof function and the operation safety are improved.

Furthermore, a man-machine interaction machine 91 is arranged on the side surface of the hood 9 and used for manually operating the device; meanwhile, a three-color warning lamp 92 is arranged on the upper surface of the hood 9 and used for prompting system faults.

The invention also relates to a corresponding control system which comprises a system control center, wherein the signal output end of the system control center is respectively connected with a controller of each shaft motor of the multi-shaft module, a screw rod motor controller, a motor controller for controlling the rotation of a clamp, a pneumatic finger cylinder for controlling the clamping or loosening of the clamp, a first cylinder, a second cylinder, a third cylinder, a fourth cylinder and a three-color indicator lamp; a signal input end of the system control center is respectively connected with a man-machine interaction machine, a lifting motor of the feeding device, a first magnetic inductor and a signal output end of the shooting device; the shooting device is connected with the system control center through the picture processor.

The human-computer interaction machine is used for inputting signals to the invention, including starting, manual stopping, setting parameters and the like; meanwhile, the system control center can feed back data to the human-computer interaction machine, so that a user can know the parameters of the device.

The system control center comprises a picture screening module, a unqualified grid program module and a qualified subprogram module;

the picture screening module is used for judging whether the bottles are toppled or inclined and whether the four sides of the carton are in right position. If the bottle is inclined or the periphery of the carton is not in right position, the carton is unqualified, otherwise, the carton is qualified; when the judgment result is unqualified, the unqualified lattice program module is started, and the unqualified lattice program module controls a third air cylinder on the positioning device to stretch and contract and then controls the tray structure to move by matching with the screw rod, so that the unqualified carton can be removed; if the judgment result is qualified, the multi-axis module cooperates with the clamp device to continuously grab the bottle, and then the clamp device returns to the position for placing the bottle, the shooting device shoots again, feeds back data to the system control center, repeats the data processing process until the clamp device clamps the last row of bottles and returns to the placing position, the picture screening module can judge the state of the bottles, also can judge the condition of the side edge of the carton, if the carton is bent, then signals are sent to the motor of each module of the multi-axis module, the motor of the plectrum component and the motor for controlling the rotation of the clamp, the motors are mutually matched, the side edge of the carton is righted, after the side edge of the carton is righted, the last row of bottles are put into the carton, the packaging is finished, then a lattice closing program module is called, and the qualified subprogram module controls a second air cylinder of the discharging device to stretch and contract and is matched with a screw rod to move to finish discharging.

When in use, the device comprises the following operation steps:

step 1: firstly, the multi-axis module 5 is controlled to move to drive the shifting sheet to move, and the shifting sheet is controlled to pull the carton from the feeding device 7 to the tray structure;

step 2: when the first position sensor 226 on the swinging plate senses the carton, the front and rear positions of the carton are accurately positioned, and the signals are fed back to the system control center, the data processor sends signals to the fourth cylinder, the fourth cylinder controls the pushing block to move towards the discharging device, and after the fourth cylinder reaches the designated position, the signals are fed back to the system control center, so that the left and right positioning of the carton is completed;

and step 3: the system control center sends a signal to the first cylinder, the first cylinder 224 connected with the side edge of the swinging plate 222 extends out to push the swinging plate 222 to incline relative to the bottom plate 221 and extend in place, and the signal is fed back to the system control center; then the system control center controls the multi-axis module and the clamp device to grab the bottle and take pictures of the carton.

Further, the method also comprises the following steps in the step 3:

1) the movable clamp device is moved to a position for grabbing the bottle, the bottle is grabbed, and then the movable clamp device is moved to a position for placing the bottle through the multi-axis module;

2) in the process that the clamp device is located at the bottle placing position, the shooting device shoots a picture to judge whether the last bottle placing is qualified, and if the last bottle placing is qualified, the multi-axis module controls the clamp device to descend to place the bottle; repeating the steps until the clamp device clamps the last row of bottles;

and 4, step 4: before the clamp device is placed on the last row of bottles, the shooting device is used for shooting and analyzing the carton again to judge whether the side edge of the carton inclines or bends, if so, the clamp device is controlled to move and is used for righting the bottles on the clamp device, and if not, the clamp device can be controlled to clamp the last row of bottles and directly place the bottles in the carton;

the detailed process is as follows: when the clamp device clamps the last row of bottles to the position above the carton, the shooting device shoots and judges whether the side edge of the carton is bent or not to prevent the last row of bottles from being placed into the carton; if yes, controlling the bottles on the clamping device to collide or right the side edge of the carton through the multi-axis module in the descending process of the clamping device; and after the clamping device collides or stirs the carton to the bottle placing position, the bottle is placed into the carton in a clockwise manner, and the clamping device places the bottle into the carton to finish boxing.

Alternatively, the device can also be used for righting the side edge of the carton by controlling the shifting piece component.

If the device is not provided with the shifting piece assembly, the clamping device for clamping the bottle can be directly used for replacing the shifting piece assembly to shift the side edge of the carton.

When any one position from step 3 to step 4 can not be completed, the system immediately stops the equipment action and gives an alarm for prompting.

And 5: after the packaging is finished, the first air cylinder descends to return, and the swinging plate restores to the horizontal position;

step 6: the lead screw controls the carton to move towards the left unloading device, the cylinder on the unloading device controls the unloading plate to move upwards, after the carton moves to the outer side of the unloading device, the cylinder on the unloading device controls the unloading plate to move downwards, then the lead screw returns, the unloading plate blocks the carton, and unloading work is completed.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A baling press, characterized by: the device comprises a rack (1), wherein the rack (1) comprises a first case (11 a) and a second case (11 b) which are arranged in parallel at intervals; a mobile device (2) is erected between the first case (11 a) and the second case (11 b); a discharging device (3) is erected on the left side of the moving device (2); a feeding device (7) is arranged on the front side of the first case (11 a); the left side and the right side of the first case (11 a) and the second case (11 b) are respectively provided with a bracket (13); a multi-axis module (5) is arranged on the bracket (13); and a clamp device (6) is arranged on the Z-axis module of the multi-axis module (5).

2. The packaging machine of claim 1 further characterized by: the moving device (2) comprises two sliding rails (21); the two slide rails (21) are respectively and oppositely arranged on the inner sides of the first case (11 a) and the second case (11 b); a slidable tray structure (22) is arranged between the two slide rails (21); one side of the tray structure (22) is fixedly connected with a screw rod nut (231) of the screw rod (23); the screw rod (23) is arranged in parallel with any one of the slide rails (21).

3. The packaging machine of claim 2 wherein: the tray structure (22) comprises a bottom plate (221) and a swing plate (222); the swinging plate (222) can swing relative to the bottom plate (221); the side edge of the bottom plate (221) is fixedly connected with a push rod of a first cylinder (224) which is vertically arranged.

4. The packaging machine of claim 1 further characterized by: the discharge device (3) comprises a discharge plate (31); the discharging plate (31) is fixedly connected with a push rod of a second cylinder (33), and the discharging plate (31) is connected to a second sliding rail (34) in a sliding manner; the second air cylinder (33) and the second sliding rail (34) are fixedly arranged on the fourth bracket (35); the fourth bracket (35) is erected on the left side of the mobile device (2).

5. The packaging machine of claim 2 wherein: and a positioning device (4) is erected on the right side of the moving device (2).

6. The strapping machine of claim 5 wherein: the positioning device (4) comprises a push block (41); the push block (41) is fixedly connected to the cross beam (451) of the fifth support (45), and the bottom surface of the push block (41) is adjacent to the upper surface of the tray structure (22); the cross beam (451) is connected to the fifth bracket (45) in a sliding mode.

7. The packaging machine of claim 6 wherein: the push block (41) is fixedly connected with a push rod of a third air cylinder (43), and the push block (41) is connected to a third slide rail (44) in a sliding manner; the third cylinder (43) and the third slide rail (44) are fixed on a cross beam (451) of the fifth bracket (45).

8. The packaging machine of claim 1 further characterized by: the clamp device (6) comprises two clamping plates (61); a plectrum component (65) is arranged on any one of the clamping plates; the plectrum assembly (65) is composed of a plectrum (651) and a swing cylinder (652), and the plectrum (651) is arranged on a chuck of the swing cylinder (652);

the plectrum (651) comprises a connecting part (651 b) and a plectrum part (651 a); the connecting portion top with swing cylinder (652) is connected, the below with it is connected to dial strip portion, just it locates to dial strip portion the side of connecting portion.

9. The packaging machine of claim 1 further characterized by: a feeding baffle plate (16) is arranged on the outer side edge of the first case (11 a), and a feeding hole (161) is formed in the feeding baffle plate (16) corresponding to the feeding device (7); the feed inlet (161) is divided into an upper portion (161 a) and a lower portion (161 b); the width of the upper part is larger than that of the plectrum assembly (65), smaller than that of the partition plate (713) and larger than that of the plectrum assembly (65); the width of the lower part is larger than or equal to that of the partition boards, and the height of the lower part is smaller than that between the two partition boards.

10. A baler as claimed in any one of claims 1 to 9, characterised in that: a bricking device (8) is arranged on the left side of the discharging device (3);

the building device (8) and the feeding device (7) both adopt an elevator structure.