CN116789056A - Packaging machine - Google Patents

Abstract

The application discloses a packaging machine, and belongs to the technical field of industrial automation. The packaging machine of the present application comprises: a frame body; the packaging device comprises a rotating frame and a rotating head; the rotating head is rotatably arranged on the rotating frame along the X axis; a plurality of packaging units are uniformly arranged on the rotary head along the circumferential surface of the rotary head, and the packaging units can adsorb or release products; the rotary lifting mechanism comprises a ball screw spline mechanism and a driving device, wherein the ball screw spline mechanism and the driving device are arranged on the frame body, the ball screw spline mechanism is connected with the driving device and the rotating frame, and the driving device is used for driving the rotating frame to move linearly along the Z axis and rotate around the Z axis; the flying device is arranged on the frame body along the circumferential direction of the rotating frame and used for detecting the position state of the product adsorbed on each packaging unit. The packaging machine has the advantages of small packaging device volume, low driving mechanism load, high precision and high packaging speed, and can realize rapid packaging operation.

Description

Packaging machine

Technical Field

The application relates to the technical field of industrial automation, in particular to a packaging machine.

Background

In the related technical fields of packaging or packaging, such as the technical fields of bottle cap packaging, attaching packaging of electronic components and the like, a packaging device adopts a rotary type arrangement mode, specifically, a rotary head is arranged on a frame body, and a plurality of packaging units capable of adsorbing or releasing products are arranged on the rotary head; the frame body is arranged on the XY driving mechanism, the XY driving mechanism is used for driving the frame body and the packaging device to move on the XY plane, meanwhile, a Z-axis linear motion mechanism for driving the packaging device to move along the Z axis and a Z-axis rotating device for driving the packaging device to rotate along the Z axis are arranged on the frame body, the Z-axis linear motion mechanism is used for driving the packaging device to be close to or far away from a working surface, and the Z-axis rotating device is used for driving the packaging device to rotate along the Z axis so as to realize fine adjustment of the gesture of the packaging device on a product.

The rotary type packaging device is arranged, so that the structure and the quality of the packaging device can be simplified, and the driving load of the XY driving mechanism can be reduced to a certain extent; however, since the Z-axis linear motion mechanism and the Z-axis rotating device are separately and independently arranged, the volume and the mass of the frame body are still relatively large, the driving load of the XY driving mechanism is not effectively reduced, and the advantages of the rotating packaging device cannot be fully reflected, so that the inertia of the packaging device still is relatively large when the packaging device moves in the XY direction, and the operation speed and the precision of the packaging device are finally affected.

Disclosure of Invention

The application aims to solve one of the technical problems existing in the prior art. Therefore, the packaging machine provided by the application has the advantages of small size, low load of the driving mechanism, high precision and high packaging speed, and can realize rapid packaging operation.

The packaging machine according to the present application comprises:

a frame body;

the packaging device comprises a rotating frame and a rotating head; the rotating head is rotatably arranged on the rotating frame along the X axis; a plurality of packaging units are uniformly arranged on the rotary head along the circumferential surface of the rotary head, and the packaging units can adsorb or release products;

the rotary lifting mechanism comprises a ball screw spline mechanism and a driving device, wherein the ball screw spline mechanism is arranged on the frame body and is connected with the driving device and the rotating frame, and the driving device is used for driving the rotating frame to move linearly along the Z axis and rotate around the Z axis;

the fly shooting device is arranged on the frame body along the circumferential direction of the rotation frame, and is used for detecting the position state of the product adsorbed on each packaging unit.

The packaging machine provided by the embodiment of the application has at least the following beneficial effects:

the rotating head is arranged on the rotating frame in a rotating way along the X axis, and the packaging unit is arranged on the circumferential surface of the rotating head, so that when the parts are sucked or released, the rotating head can realize packaging or sucking operation only by rotating along the X axis, thereby being beneficial to improving the packaging operation speed.

Meanwhile, the rotary lifting mechanism is arranged as a ball screw spline mechanism, can drive the rotating frame to linearly move along the Z axis and rotate along the Z axis, is small in size and light in weight, can effectively lighten the driving load of the XY driving mechanism, and is small in motion inertia and beneficial to the driving speed and the driving precision of the XY driving mechanism.

According to some embodiments of the application, the ball screw spline mechanism comprises a screw, a spline nut, and a nut; the spline nut and the nut are both rotationally arranged on the frame body, the nut can slide along the Z-axis direction relative to the screw rod, and the spline nut can drive the screw rod to rotate around the Z-axis; the driving device is used for driving the spline nut and the nut to rotate respectively.

According to some embodiments of the application, the driving device is disposed on the frame body and is connected with the spline nut and the nut through a synchronous structure respectively.

According to some embodiments of the application, the packaging unit is a suction nozzle, the rotating head is communicated with an external blowing device and a negative pressure generating device, and a switching structure for enabling the suction nozzle to be in a negative pressure position or a positive pressure position is arranged between the rotating frame and the rotating head.

According to some embodiments of the application, the switching structure comprises a shaft structure and a switching valve; the switching valves are uniformly arranged on the rotating head around the X axis, each switching valve is arranged corresponding to each suction nozzle, and the switching valves can move in the rotating head to control the suction nozzles to be in a negative pressure position or a positive pressure position; the shaft structure is rotatably arranged on the rotating frame and used for driving the switching valve opposite to the rotating frame to move.

According to some embodiments of the application, the rotating shaft of the rotating head is arranged in a hollow way and is communicated with an external negative pressure generating device, and a negative pressure channel is arranged on the rotating head along the radial direction of the rotating head; the switching valve is provided with a first channel and a second channel, the first channel can be communicated with the negative pressure channel and the suction nozzle, and the second channel can be communicated with an external blowing device and the suction nozzle.

According to some embodiments of the application, the switching valve is arranged in a rolling way, a driving block is arranged on the shaft structure, a driven block is arranged on the switching valve, and the driving block can be abutted with different end faces of the driven block, so that the switching valve is pushed to rotate.

According to some embodiments of the application, an included angle between two end faces of the driving block, which are abutted against the driven block, is smaller than or equal to 180 degrees; the included angle between the two end faces of the driven block, which are abutted against the driving block, is smaller than or equal to 90 degrees.

According to some embodiments of the application, a spiral channel is provided on the circumferential surface of the shaft structure, the spiral channel being provided with a first opening and a second opening; the switching valve is arranged in a sliding way, and a driven device is arranged on the switching valve and can enter or leave the spiral channel from the first opening or the second opening; different end surfaces of the spiral channel can be abutted with the driven device so as to push the switching valve to slide.

According to some embodiments of the application, the driven device is rotatably arranged on the switching valve; the first opening and the second opening are sized larger than a rotational diameter of the driven device; the depth of the spiral channel is less than the height of the driven device.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a perspective view of a packaging machine in accordance with an embodiment of the present application.

Fig. 2 is a perspective view of a Z-axis driving device according to an embodiment of the present application.

Fig. 3 is a perspective view of a rotary head in one embodiment of the application.

Fig. 4 is a perspective view of a rotary head according to an embodiment of the present application.

FIG. 5 is an assembly view of a shaft structure and a switching valve according to an embodiment of the present application.

FIG. 6 is a cross-sectional view of a shaft structure and a switching valve in a position according to one embodiment of the present application.

FIG. 7 is a cross-sectional view of a shaft structure and a switching valve in another position according to an embodiment of the present application.

Fig. 8 is an assembly view of a shaft structure and a switching valve in a position state according to an embodiment of the present application.

FIG. 9 is a front view of a shaft structure and a switching valve in a position according to an embodiment of the present application.

FIG. 10 is an assembly view of a shaft structure and a switching valve in another position according to an embodiment of the present application.

FIG. 11 is a front view of a shaft structure and a switching valve in another position according to an embodiment of the present application.

Fig. 12 is a perspective view of a fly-swatter device in accordance with an embodiment of the application.

FIG. 13 is a perspective view of a shaft structure in one embodiment of the application.

Fig. 14 is a cross-sectional view of a rotor head in one embodiment of the application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, left, right, front, rear, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The packaging machine of the present application is described below with reference to fig. 1 to 14.

Referring to fig. 1 and 14, the packaging machine of the present application includes:

a frame body 100;

a packaging apparatus 300 including a turret 320 and a rotating head 310; the rotating head 310 is rotatably arranged on the rotating frame 320 along the X axis; a plurality of packing units are uniformly arranged on the rotary head 310 along the circumferential surface thereof, and the packing units can adsorb or release products;

the rotary lifting mechanism 200 comprises a ball screw spline mechanism and a driving device 240, wherein the ball screw spline mechanism is arranged on the frame body 100, the ball screw spline mechanism is connected with the driving device and the rotating frame 320, and the driving device 240 is used for driving the rotating frame 320 to linearly move along the Z axis and rotate around the Z axis;

the flyswatter 400 is disposed on the frame 100 along a circumferential direction of the rotation of the rotating frame 320, and the flyswatter 400 is used for detecting a position state of the product adsorbed on each packaging unit.

It will be appreciated that the frame 100 is disposed on an XY drive mechanism for driving the frame 100 to move on a table surface to effect reciprocal movement of the encapsulation device 300 between the loading position and the encapsulation position.

It can be understood that the encapsulation device 300 includes a rotating head 310 and a rotating frame 320, the rotating head 310 is rotatably disposed on the rotating frame 320 along the X axis, meanwhile, the rotating head 310 is cylindrical, and an encapsulation unit is disposed on a circumferential surface of the rotating head 310.

And in particular to packaging units. The packaging unit may be the suction nozzle 311, at this time, a vacuum air passage and a switching structure are provided on the rotating head 310, and the switching structure is used for changing the adsorption state of the suction nozzle 311, so that the suction nozzle 311 is in a negative pressure position or a positive pressure position; the packaging unit may also be an electromagnet structure, where the embodiment is suitable for sucking magnetically conductive materials, where each electromagnet structure can operate independently, specifically, the rotating head 310 is electrically connected to the control device, and when a part needs to be grabbed, a certain electromagnet is electrified to generate a magnetic field, so that a part made of magnetically conductive materials can be sucked; the packaging unit can also be a miniature rotating device, meanwhile, a suction nozzle 311 is also arranged, the suction nozzle 311 is arranged at the rotating end of the miniature rotating device, the embodiment is suitable for the technical fields of bottle cap packaging and the like, taking bottle cap packaging as an example, the suction nozzle 311 is used for sucking a bottle cap, and the miniature rotating device drives the bottle cap on the suction nozzle 311 to rotate during packaging, so that the bottle cap is screwed on a bottle opening, and the packaging of the bottle cap is realized. It should be understood that the above embodiments related to the packaging unit are only examples, and are not limited thereto.

The packaging apparatus 300 is configured such that the rotating head 310 only needs to rotate along the X-axis to perform packaging or sucking operation when sucking or releasing the components, thereby facilitating the improvement of the packaging operation speed.

It can be appreciated that the rotating and lifting mechanism 200 is disposed on the frame body 100, where the driving device 240 is configured to drive the ball screw spline mechanism to drive the rotating frame 320 to lift and rotate, so that the movement and rotation of the packaging device 300 along the Z axis can be driven by the ball screw spline mechanism, and compared with the case where the Z axis linear motion mechanism and the Z axis rotating device are separately disposed, the rotating and lifting mechanism 200 is small in volume and light in weight, so that the driving load of the XY driving mechanism can be effectively reduced, and meanwhile, the moment of inertia is small, which is favorable to the driving speed and the driving precision of the XY driving mechanism. The specific embodiments will be described in detail below, and will not be described in detail herein.

Referring to fig. 1 and 12, a fly-swatter apparatus 400 is provided. The aerial photographing device 400 may include a camera 410 and a light compensating device 420, the light compensating device 420 is disposed between the camera 410 and the packaging device 300, and a line between the camera 410 and the light compensating device 420 intersects with a rotation axis of the turret 320; the aerial photographing device 400 may also include a camera 410, a light compensating device 420 and a reflecting device 430, wherein the camera 410 and the light compensating device 420 are respectively disposed on two sides of a reflecting axis of the reflecting device 430, and a reflecting line of the camera 410 after passing through the reflecting device 430 intersects with a rotating axis of the rotating frame 320.

Further, according to the actual situation of the packaging machine, the flyswatter 400 may be disposed on the frame body 100 along the circumferential direction of the rotation of the rotating frame 320, and it should be understood that the intersection point of the rotation axis of the rotating frame 320 and the rotation axis of the rotating head 310 is defined as the rotation center of the rotating head 310, and the flyswatter 400 is disposed opposite to the rotation center of the rotating head 310. For example, the line between the fly-swatter 400 and the center of rotation of the rotator head 310 may be in the XY plane, the XZ plane, the YZ plane, or the XYZ plane. So set up, no matter what rotation position the rotating head 310 is in, the encapsulation unit on the rotating head 310 can be just to the device 400 of flying to can reduce the error that image deformation brought when detecting, thereby improve the accuracy when detecting.

Specifically, during the detection process, the turret 320 only needs to rotate along the Z axis and the rotating head 310 rotates along the X axis, so that all the components on the packaging device 300 can be detected; if it is detected that the position and the posture of the component need to be adjusted, during packaging, the turret 320 only needs to adjust the rotation angle of the Z-axis according to the error data acquired by the flyswatter 400, so that the component can be placed on the workpiece in a normal predetermined posture.

Through such arrangement, the movement of the packaging device 300 can be greatly simplified no matter when the parts are sucked or released or when the parts are detected and adjusted, so that the arrangement of the driving structure can be simplified, the purpose of reducing the driving load is achieved, and the packaging speed is finally improved, so that the purpose of rapid packaging operation is realized.

Referring to fig. 2, in some embodiments of the present application, a ball screw spline mechanism includes a screw 210, a spline master 230, and a nut 220; the spline nut 230 and the nut 220 are both rotatably arranged on the frame body 100, the nut 220 can slide along the Z-axis direction relative to the screw rod 210, and the spline nut 230 can drive the screw rod 210 to rotate around the Z-axis; the driving device 240 is used for driving the spline nut 230 and the nut 220 to rotate, respectively.

It can be appreciated that a through hole is formed in the frame 100 along the Z axis direction, the screw rod 210 is inserted into the through hole and the bottom end is fixedly connected with the rotating frame 320, and by this arrangement, the screw rod 210 can rotate freely relative to the frame 100 and move along the Z axis, so as to drive the packaging device 300 to move linearly along the Z axis or rotate around the Z axis.

Further, a spline female 230 is rotatably disposed on the frame body 100, an axis of the spline female 230 is parallel to the Z axis, and a straight groove is formed on a circumferential surface of the screw rod 210 along a length direction of the screw rod, and a protrusion is disposed inside the spline female 230, and the spline female 230 is matched with the straight groove on the screw rod 210. When the spline nut 230 rotates, the screw rod 210 can rotate around the Z axis under the driving of the spline nut 230, so that the screw rod 210 can drive the packaging device 300 to rotate around the Z axis.

Further, a nut 220 is rotatably provided on the frame 100, a spiral groove is formed on the circumferential surface of the screw 210 along the length direction thereof, and the screw 210 is inserted into the nut 220 and is engaged with the nut 220. When the nut 220 rotates, the screw rod 210 can linearly move along the Z axis under the driving of the nut 220, so that the screw rod 210 can drive the packaging device 300 to move along the Z axis.

Through so setting, set up nut 220 and spline female 230 rotation in support body 100, thereby through the removal of drive spline female 230 and nut 220 rotation realization lead screw 210 in the Z axle direction and around the rotation of Z axle to can combine as an organic wholely with realizing respectively around the Z axle rotation and along Z axle rectilinear movement's actuating mechanism, thereby reduce XY actuating mechanism's load, be favorable to improving XY actuating mechanism's drive speed and driving precision.

Referring to fig. 2, a driving device 240 is provided to the frame body 100 and is connected with the spline nut 230 and the nut 220 through a synchronization structure 250, respectively.

It is understood that the synchronization structure 250 may be a synchronous belt structure.

Specifically, the driving device 240 includes a first motor and a second motor, where the first motor and the second motor are respectively disposed on the frame 100, and driving wheels are installed at driving ends of the first motor and the second motor; meanwhile, driven wheels are respectively arranged on the nut 220 and the spline nut 230, the first motor is connected with the nut 220 through a synchronous belt, and the second motor is connected with the spline nut 230 through a synchronous belt.

The first motor drives the screw rod 210 to linearly move along the Z-axis direction when the nut 220 rotates through driving the nut 220 to rotate; the second motor drives the spline nut 230 to rotate, and the spline nut 230 drives the screw 210 to rotate around the Z axis when rotating. So set up, synchronization structure 250 is light in weight, simple structure and driving efficiency are high.

Referring to fig. 1, 3, 4 and 14, in some embodiments of the present application, the packaging unit is a suction nozzle 311, the rotating head 310 is communicated with the external blowing device 500 and the negative pressure generating device, and a switching structure for placing the suction nozzle 311 in a negative pressure position or a positive pressure position is provided between the rotating frame 320 and the rotating head 310.

It will be appreciated that the rotary head 310 communicates with the external blowing device 500 and the negative pressure generating device, and at the same time, an air passage is provided inside the rotary head 310, and the air passage can communicate with each suction nozzle 311, so that the suction nozzles 311 can be in a negative pressure position or a positive pressure position to suck or release the components.

Further, a switching structure for enabling the suction nozzle 311 to be in a negative pressure position or a positive pressure position is arranged between the rotating frame 320 and the rotating head 310, and the switching structure comprises a driving switching structure and a driven switching structure. Specifically, the driven switching structure is disposed on the rotary head 310, and the driven switching structure can slide or roll in the rotary head 310, so that the suction nozzle 311 is in a negative pressure position or a positive pressure position; meanwhile, the active switching structure is disposed on the rotating frame 320, and the active switching structure can rotate or slide relative to the rotating head 310, and the active switching structure is matched with the driven switching structure, so as to realize the switching of the suction nozzle 311 between the negative pressure position and the positive pressure position.

For example, the driving switching structure is a rotating device, and when the driven switching structure is set in a rolling way, the driven switching structure is pushed to roll when the driving switching structure rotates, so that the suction nozzle 311 is switched between the negative pressure position and the positive pressure position; under the condition that the driving switching structure is rotationally arranged, the driven switching structure can also be in a sliding arrangement, and the driven switching structure is pushed to slide when the driving switching structure rotates, so that the suction nozzle 311 is switched between the negative pressure position and the positive pressure position.

For example, the driving switching structure may be a linear sliding device, and the driven switching structure is slidingly disposed at the same time, and the driving switching structure slidingly pushes or pulls the driven switching structure to change the suction state of the suction nozzle 311.

Referring to fig. 1, 3, 4, in some embodiments of the application, the switching structure includes a shaft structure 331 and a switching valve 332; the switching valves 332 are uniformly arranged around the X axis on the rotating head 310, each switching valve 332 is arranged corresponding to each suction nozzle 311, and the switching valves 332 can move in the rotating head 310 to control the suction nozzles 311 to be in a negative pressure position or a positive pressure position; the shaft structure 331 is rotatably provided to the turret 320 for driving the switching valve 332 opposite thereto to move.

It will be appreciated that a plurality of valve chambers 312 are provided around the X-axis and along the axial direction of the X-axis in the rotary head 310, the rotary head 310 communicates with the external blowing device 500 and the negative pressure generating device, and at the same time, an air passage is provided inside the rotary head 310, and the air passage and the suction nozzle 311 communicate with the valve chambers 312, respectively.

A switching valve 332 is rotatably or slidably disposed in the valve chamber 312, and a passage is provided in the switching valve 332, and when the position of the switching valve 332 in the valve chamber 312 is changed, the passage in the switching valve 332 can communicate with an air passage in the rotary head 310, which communicates with the external blowing device 500 or the negative pressure generating device, so that the suction nozzle 311 in the rotary head 310 is in the negative pressure position or the positive pressure position.

Specifically, when the rotary head 310 rotates around the X axis, the suction nozzle 311 on the rotary head 310 rotates around the X axis, the rotation locus of the suction nozzle 311 is a first circular arc locus, and at the same time, when each switching valve 332 on the rotary head 310 is stationary with respect to each valve chamber 312, the rotary head 310 rotates, each switching valve 332 also rotates around the X axis, the rotation locus of each switching valve 332 is a second circular arc locus a, and therefore, the first circular arc locus and the second circular arc locus a are concentric circles.

It is to be understood that the shaft structure 331 is disposed on the rotating frame 320, and it is to be understood that the shaft structure 331 is disposed on a cylindrical surface where the second arc track a is located, so that the switching valve 332 on the rotating head 310 can rotate to be opposite to the shaft structure 331 along with the rotating head 310, so that the shaft structure 331 can cooperate with the switching valve 332 and push the switching valve 332 to rotate or slide in the valve cavity 312, so that the suction nozzle 311 can be switched back and forth between a vacuum state or a blowing state, and adsorption or release of a product is realized.

The shaft structure 331 rotates and sets up, compares in shaft structure 331 adopts linear motor driven setting form, can avoid linear motor to lead to the overheated problem of shutting down of motor owing to last reciprocating motion to improve the speed that shaft structure 331 driven each switching valve 332 by a wide margin, thereby improve the operating efficiency of packaging machine.

The switching structures are respectively arranged on the rotating frame 320 and the rotating head 310, so that no active motion mechanism exists on the rotating head 310, the structure of the rotating head 310 can be effectively simplified, meanwhile, the quality of the rotating head 310 can be reduced, and the operation speed is finally improved.

Further, it is to be understood that a positioning device for positioning the suction nozzle 311 in the negative pressure position or the positive pressure position is provided between the switching valve 332 and the rotary head 310.

The positioning device may be a magnetic attraction object, and further, the magnetic attraction force between the magnetic attraction objects is smaller than the driving force of the shaft structure 331 to the switching valve 332, so that the switching valve 332 and the rotating head 310 are in a magnetic attraction state, and the shaft structure 331 can push the switching valve 332 to rotate to change the position state of the switching valve 332.

The positioning device may also be a spring positioning bead, the spring positioning bead is disposed on the rotating head 310, meanwhile, the switching valve 332 is respectively provided with a concave position 3323 corresponding to the negative pressure position and the positive pressure position, and when the switching valve 332 rotates to the concave position 3323 to face the spring positioning bead, the spring positioning bead is matched with the concave position 3323, thereby positioning the switching valve 332.

After the suction nozzle 311 adsorbs the product, in order to enable the suction nozzle 311 to be stably maintained in the vacuum adsorption state, the positioning device is respectively set corresponding to the negative pressure position and the positive pressure position of the switching valve 332, so that the switching valve 332 can be fixed at the negative pressure position or the positive pressure position, and the suction nozzle 311 can be stably maintained in the vacuum adsorption state.

Referring to fig. 3, 4, 5 and 8, in some embodiments of the present application, a rotation shaft of the rotary head 310 is provided hollow and communicates with an external negative pressure generating device, and a negative pressure passage is provided on the rotary head 310 in a radial direction thereof; the switching valve 332 is provided with a first passage 332a and a second passage 332b, the first passage 332a being capable of communicating the negative pressure passage and the suction nozzle 311, and the second passage 332b being capable of communicating the external blowing device 500 and the suction nozzle 311.

It will be appreciated that the valve cavity 312 communicates with opposite sides of the rotating head 310, and thus, when the rotating head 310 rotates along the X-axis, the valve cavity 312 rotates along the second circular arc locus a.

Further, an opening at one end of the second channel 332b is disposed at an end of the switching valve 332 away from the shaft structure 331, and the external blowing device 500 is fixedly disposed on the rotating frame 320 and disposed towards the valve cavity 312, and the external blowing device 500 can blow air towards the valve cavity 312.

When the switching valve 332 is at the positive pressure position, one end opening of the second channel 332b is opposite to the external blowing device 500 and is communicated with the external blowing device 500, and the other end opening is communicated with the suction nozzle 311, so that the suction nozzle 311 can be in a blowing state; when the switching valve 332 is in the negative pressure position, the opening at one end of the second channel 332b is staggered from the external blowing device, and the first channel 332a communicates the negative pressure channel with the suction nozzle 311, so that the suction nozzle 311 can be in a vacuum suction state.

Referring to fig. 5 to 7, in some embodiments of the present application, the switching valve 332 is provided with a driving block 3311 on the shaft structure 331, and a driven block 3321 is provided on the switching valve 332, and the driving block 3311 can abut against different end surfaces of the driven block 3321, thereby pushing the switching valve 332 to rotate.

It will be appreciated that the shaft structure 331 rotates about a first axis about which the switching valve 332 also rotates, it being understood that the first axis is parallel to the X axis.

It should be understood that the driving block 3311 is provided with at least two end surfaces so as to be able to abut against different end surfaces on the driven block 3321. Further, the two end surfaces of the driving block 3311 abutting against the driven block 3321 may be formed on the same block or may be formed on two separate blocks.

Specifically, the driving block 3311 has a first position, a second position, and a third position, and the driven block 3321 has a negative pressure position and a positive pressure position, and in some embodiments, the included angle between the negative pressure position and the positive pressure position may be 90 °. In the initial state, the driving block 3311 is at the first position, and at this time, the switching valve 332 can rotate along the second circular arc track a along the rotating head 310 and does not collide with the driving block 3311; when the shaft structure 331 rotates the driving block 3311 from the first position to the second position under the driving of the rotating device, the driving block 3311 abuts against the driven block 3321 and pushes the driven block 3321 to switch from the positive pressure position to the negative pressure position; when the shaft structure 331 rotates the driving block 3311 from the first position to the third position under the driving of the rotating device, the driving block 3311 abuts against the driven block 3321 and pushes the driven block 3321 to switch from the negative pressure position to the positive pressure position.

It is to be understood that the first and second passages 332a, 332b on the switch valve 332 are disposed offset from the axis of the switch valve 332.

Before sucking, the rotary head 310 is separated from the blowing device, meanwhile, the rotary head 310 is communicated with an external negative pressure generating device, the driving block 3311 is in the first position, and each switching valve 332 is in the positive pressure position. When sucking material, the driving block 3311 rotates from the first position to the second position, so that the driving block 3311 pushes the switching valve 332 to switch from the positive pressure position to the negative pressure position, and as the rotating head 310 is always communicated with the negative pressure generating device, when the switching valve 332 is in the negative pressure position, the suction nozzle 311 immediately generates negative pressure, so that the product is sucked, after the suction nozzle 311 sucks the product, the switching valve 332 is kept at the negative pressure position, the rotating head 310 rotates along the first axis, the next switching valve 332 rotates to be opposite to the shaft structure 331, meanwhile, the driving block 3311 is switched from the second position to the first position, and the steps are repeated.

During the bonding operation, the rotary head 310 is simultaneously connected to the external blowing device 500 and the negative pressure generating device, and the driving block 3311 is at the first position and the switching valves 332 are kept at the negative pressure position before the bonding. When the adhesive is applied, the driving block 3311 rotates from the first position to the third position, so that the driving block 3311 pushes the switching valve 332 to switch from the negative pressure position to the positive pressure position, and because the rotating head 310 is always communicated with the air blowing device, when the switching valve 332 is in the positive pressure position, the suction nozzle 311 blows air immediately, so that the product is attached to the workpiece, after the suction nozzle 311 attaches the product to the workpiece, the switching valve 332 is kept unchanged in the positive pressure position, the rotating head 310 rotates along the first axis, so that the next switching valve 332 rotates to be opposite to the shaft structure 331, and meanwhile, the driving block 3311 switches from the third position to the first position, and the steps are repeated.

Referring to fig. 5 to 7, in some embodiments of the present application, an included angle between two end surfaces of the driving block 3311 abutting against the driven block 3321 is less than or equal to 180 °; the included angle between the two end surfaces of the driven block 3321 abutting against the driving block 3311 is smaller than or equal to 90 degrees.

It is to be understood that the two end surfaces of the driving block 3311 abutting against the driven block 3321 are both parallel to the first axis, and the axis intersecting the two end surfaces of the driving block 3311 coincides with the first axis; meanwhile, both end surfaces of the driven block 3321 abutting against the driving block 3311 are disposed parallel to the first axis, and an axis intersecting the end surfaces of the driven block 3321 coincides with the first axis.

Referring to fig. 6 and 7, it should be noted that, when the driving block 3311 is at the first position, two end surfaces of the driving block 3311 abutting against the driven block 3321 are located inside the second circular arc track a, and the negative pressure position and the positive pressure position of the driven block 3321 are both located outside the second circular arc track a.

Referring to fig. 6 and 7, further, an included angle between two end surfaces of the driving block 3311 abutting against the driven block 3321 is less than or equal to 180 °, and an included angle between two end surfaces of the driven block 3321 abutting against the driving block 3311 is less than or equal to 90 °. By the arrangement, when the driving block 3311 is located at the first position, no matter the switching valve 332 is located at the negative pressure position or the positive pressure position, the switching valve 332 rotates along the second circular arc track a and does not collide with the driving block 3311, so that the suction nozzle 311 can be stably kept at the negative pressure position or the positive pressure position.

Referring to fig. 8 to 11 and 13, in some embodiments of the present application, a spiral passage is provided on a circumferential surface of the shaft structure 331, the spiral passage having a first opening 331a and a second opening 331b; the switching valve 332 is slidably disposed, and a driven device 3322 is disposed on the switching valve 332, and the driven device 3322 can enter or leave the spiral passage through the first opening 331a or the second opening 331b; the different end surfaces of the spiral channel can abut the follower 3322 to push the switching valve 332 to slide.

It is understood that the spiral channel may be formed in a spiral groove on the circumferential surface of the shaft structure 331, or the spiral channel may be formed on a spiral block on the circumferential surface of the shaft structure 331.

Take the example that the spiral channel is formed on the spiral stopper on the circumferential surface of the shaft structure 331.

The first stop 3312 and the second stop 3313 are disposed on the circumferential surface of the shaft structure 331, the first stop 3312 and the second stop 3313 are disposed opposite to each other at a certain distance on the circumferential surface of the shaft structure 331, and the spiral channel is formed between the first stop 3312 and the second stop 3313.

Specifically, referring to fig. 13, the end of the first stop 3312 far from the spin head 310 is a first inlet end 33121, the end close to the spin head 310 is a first outlet end 33122, the end of the second stop 3313 far from the spin head 310 is a second inlet end 33131, and the end close to the spin head 310 is a second outlet end 33132. It should be appreciated that first inlet end 33121 and second inlet end 33131 are offset on the axis of shaft structure 331 such that a first opening 331a is formed between first inlet end 33121 and second inlet end 33131; meanwhile, first outlet port 33122 and second outlet port 33132 are offset in the axis of shaft structure 331 such that a second opening 331b is formed between first outlet port 33122 and second outlet port 33132.

The shaft structure 331 has at least a fourth position and a fifth position, it is to be understood that the fourth position may be a negative pressure position corresponding to the switching valve 332, and the fifth position may be a positive pressure position corresponding to the switching valve 332; alternatively, the positions of the corresponding switching valves 332 may be opposite to each other.

Taking the negative pressure position of the fourth position corresponding to the switching valve 332 and the positive pressure position of the fifth position corresponding to the switching valve 332 on the shaft structure 331 as an example: when the switching valve 332 is in the negative pressure position, the switching valve 332 is located in the first opening 331a; when the switching valve 332 is in the positive pressure position, the switching valve 332 is located in the second opening 331b.

Specifically, when the switching valve 332 is slidably set, the switching process of the switching valve 332 is as follows:

referring to fig. 8 and 9, when the switching valve 332 is switched from the negative pressure position to the positive pressure position, the driven device 3322 is positioned in the first opening 331a, and when the shaft structure 331 rotates counterclockwise, the second stop 3313 contacts with the driven device 3322 and pushes the switching valve 332 to slide away from the shaft structure 331 until the driven device 3322 leaves the second outlet end 33132 and enters the second opening 331b;

referring to fig. 10 and 11, when the switching valve 332 is switched from the positive pressure position to the negative pressure position, the driven device 3322 is positioned in the second opening 331b, and when the shaft structure 331 is rotated clockwise, the first stopper 3312 contacts with the driven device 3322 and pushes the switching valve 332 to slide in a direction approaching the shaft structure 331 until the driven device 3322 leaves the first outlet end 33122 and enters the first opening 331 a.

By so doing, the shaft structure 331 can realize the conversion of rotation thereof into linear movement of the switching valve 332, and the shaft structure 331 is efficient and stable in driving of the switching valve 332.

Referring to fig. 8-11 and 13, in some embodiments of the application, a driven device 3322 is rotatably disposed on the switching valve 332; the first opening 331a and the second opening 331b are sized larger than the rotational diameter of the driven device 3322; the depth of the helical channel is less than the height of the follower 3322.

It is understood that the driven device 3322 may be a bearing rotatably disposed on the switching valve 332, or a ball, which is not limited thereto.

Meanwhile, the sizes of the first opening 331a and the second opening 331b are larger than the rotation diameter of the driven device 3322, so that the driven device 3322 can smoothly enter or leave the first opening 331a and/or the second opening 331b to avoid the driven device 3322 from interfering with the first stop 3312 or the second stop 3313 when entering the spiral channel; also, the heights of the first and second stoppers 3312 and 3313 are smaller than the height of the driven device 3322, so that the valve body of the switching valve 332 does not collide with the first stopper 3312 or the second stopper 3313.

Further, the angle between the first inlet end 33121 and the second inlet end 33131 is greater than or equal to 90 ° and the angle between the first outlet end 33122 and the second outlet end 33132 is also greater than or equal to 90 ° as viewed from the axial direction of the shaft structure 331. When the shaft structure 331 is located at the fourth position, the second stop 3313 is located outside the arc line of the second arc track a, so that the driven device 3322 will not collide with the second stop 3313 when the driven device 3322 enters the first opening 331a; similarly, when the shaft structure 331 is located at the fifth position, the first stop 3312 is located outside the arc line of the second arc track a, so that the driven device 3322 does not collide with the first stop 3312 when the driven device 3322 enters the second opening 331b. By the arrangement, the complete and reliable matching between the shaft structure 331 and the switching valve 332 can be effectively ensured.

When the rotary head 310 rotates about the first axis, the switching valve 332 follows the rotary head 310 to rotate about the first axis in the valve chamber 312, and at this time, the rotation locus of the switching valve 332 is the second circular arc locus a.

Referring to fig. 11, the switching valve 332 is exemplified as a positive pressure position at the initial position of the spin head 310. Before the switching valve 332 is turned to face the shaft structure 331, the shaft structure 331 is in the fifth position; when the rotary head 310 rotates clockwise, the switching valve 332 follows the rotary head 310 to rotate to the opposite shaft structure 331, and the driven device 3322 enters the second opening 331b; the shaft structure 331 rotates clockwise, the first stop 3312 is in rolling contact with the driven device 3322 and pushes the driven device 3322 to slide from the second opening 331b to the first opening 331a, so that the switching valve 332 is switched from the positive pressure position to the negative pressure position; after the driven device 3322 is positioned in the first opening 331a, the driven device 3322 has completely moved away from the spiral channel, at this time, the shaft structure 331 stops rotating, and the rotating head 310 continues to rotate clockwise and drives the switching valve 332 to move away from the shaft structure 331.

Referring to fig. 9, the switching valve 332 is exemplified as a negative pressure position at the initial position of the spin head 310. Before the switching valve 332 is rotated to face the shaft structure 331, the shaft structure 331 is in the fourth position; when the rotary head 310 rotates clockwise, the switching valve 332 follows the rotary head 310 to rotate to the opposite shaft structure 331, and the driven device 3322 enters the first opening 331a; the shaft structure 331 rotates counterclockwise, the second stop 3313 is in rolling contact with the driven device 3322 and pushes the driven device 3322 to slide from the first opening 331a to the second opening 331b, so that the switching valve 332 is switched from the negative pressure position to the positive pressure position; after the driven device 3322 is positioned in the second opening 331b, the driven device 3322 has completely moved away from the spiral channel, at this time, the shaft structure 331 stops rotating, and the rotating head 310 continues to rotate clockwise and drives the switching valve 332 to move away from the shaft structure 331.

The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.

Claims (10)

1. A packaging machine, characterized by comprising:

a frame body;

the packaging device comprises a rotating frame and a rotating head; the rotating head is rotatably arranged on the rotating frame along the X axis; a plurality of packaging units are uniformly arranged on the rotary head along the circumferential surface of the rotary head, and the packaging units can adsorb or release products;

the rotary lifting mechanism comprises a ball screw spline mechanism and a driving device, wherein the ball screw spline mechanism is arranged on the frame body and is connected with the driving device and the rotating frame, and the driving device is used for driving the rotating frame to move linearly along the Z axis and rotate around the Z axis;

the fly shooting device is arranged on the frame body along the circumferential direction of the rotation frame, and is used for detecting the position state of the product adsorbed on each packaging unit.

2. The packaging machine of claim 1, wherein: the ball screw spline mechanism comprises a screw rod, a spline nut and a nut; the spline nut and the nut are both rotationally arranged on the frame body, the nut can slide along the Z-axis direction relative to the screw rod, and the spline nut can drive the screw rod to rotate around the Z-axis; the driving device is used for driving the spline nut and the nut to rotate respectively.

3. The packaging machine of claim 2, wherein: the driving device is arranged on the frame body and is respectively connected with the spline nut and the nut through a synchronous structure.

4. The packaging machine of claim 1, wherein: the packaging unit is a suction nozzle, the rotating head can be communicated with an external blowing device and a negative pressure generating device, and a switching structure for enabling the suction nozzle to be in a negative pressure position or a positive pressure position is arranged between the rotating frame and the rotating head.

5. The packaging machine of claim 4, wherein: the switching structure comprises a shaft structure and a switching valve; the switching valves are uniformly arranged on the rotating head around the X axis, each switching valve is arranged corresponding to each suction nozzle, and the switching valves can move in the rotating head to control the suction nozzles to be in a negative pressure position or a positive pressure position; the shaft structure is rotatably arranged on the rotating frame and used for driving the switching valve opposite to the rotating frame to move.

6. The packaging machine of claim 5, wherein:

the rotating shaft of the rotating head is arranged in a hollow way and communicated with an external negative pressure generating device, and a negative pressure channel is arranged on the rotating head along the radial direction of the rotating head;

the switching valve is provided with a first channel and a second channel, the first channel can be communicated with the negative pressure channel and the suction nozzle, and the second channel can be communicated with an external blowing device and the suction nozzle.

7. The packaging machine of claim 4, wherein: the switching valve is arranged in a rolling mode, a driving block is arranged on the shaft structure, a driven block is arranged on the switching valve, and the driving block can be abutted to different end faces of the driven block, so that the switching valve is pushed to rotate.

8. The packaging machine of claim 7, wherein: the included angle between the two end faces of the driving block, which are abutted against the driven block, is smaller than or equal to 180 degrees; the included angle between the two end faces of the driven block, which are abutted against the driving block, is smaller than or equal to 90 degrees.

9. The packaging machine of claim 4, wherein: a spiral channel is arranged on the circumferential surface of the shaft structure, and the spiral channel is provided with a first opening and a second opening; the switching valve is arranged in a sliding way, and a driven device is arranged on the switching valve and can enter or leave the spiral channel from the first opening or the second opening; different end surfaces of the spiral channel can be abutted with the driven device so as to push the switching valve to slide.

10. The packaging machine of claim 9, wherein: the driven device is rotatably arranged on the switching valve; the first opening and the second opening are sized larger than a rotational diameter of the driven device; the depth of the spiral channel is less than the height of the driven device.