WO2019028964A1 - 夹盒机械手及立式装盒机 - Google Patents
夹盒机械手及立式装盒机 Download PDFInfo
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- WO2019028964A1 WO2019028964A1 PCT/CN2017/101229 CN2017101229W WO2019028964A1 WO 2019028964 A1 WO2019028964 A1 WO 2019028964A1 CN 2017101229 W CN2017101229 W CN 2017101229W WO 2019028964 A1 WO2019028964 A1 WO 2019028964A1
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- cartridge
- box
- disposed
- clamping
- clamping plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
Definitions
- the invention relates to the technical field of packaging equipment, in particular to a clip box robot and a vertical cartoning machine.
- the first one is to install a cassette module on a double-row chain, and the one is clamped by moving one of the boxes
- the disadvantage is that the oil of the chain cannot be processed, and the chain transmission The noise is large, it is difficult to adjust the left and right sides of the box, the height adjustment is not convenient, and because the chain is soft, the box cannot be guaranteed to be always clamped.
- the second is to use the upper and lower PC boards of the same station as the left and right clip box molds.
- This structure has the disadvantages: it can only be applied to a few boxes that are not required to be high. After the clip box, there is no guarantee that the box will be in the square and the deflection will lead to the front.
- the box can not smoothly press the box into the box when the box is sealed, which affects the quality and efficiency of the product production, and there are still some shortcomings that are difficult to overcome.
- the product is changed, there is no way to quickly adjust the equipment.
- the present invention provides a clip box robot and a vertical cartoning machine, which can ensure that the box body is in an absolutely square state, and ensure that the box tongue is reliably pressed into the box body, thereby improving product production quality and efficiency, and clamping of the box.
- the operation is efficient, reliable, simple to use, environmentally friendly, and easy to adjust. It is only necessary to adjust four handles in different specifications of the product to meet the requirements, which greatly saves the difficulty of adjusting the time.
- a clip box robot comprising:
- the fixing seat is provided with a rail mechanism
- the driving mechanism is disposed on the fixing base and is used for driving connection with the adjusting handle;
- the transmission assembly is rotatably disposed on the driving mechanism
- the fence is slidably disposed on the fixing base and drivingly connected to the driving mechanism;
- the first cartridge mechanism is slidably disposed on the rail mechanism and rotatably coupled to the transmission assembly, and the first cartridge mechanism includes a first clamping plate;
- the second cartridge mechanism is slidably disposed on the rail mechanism and rotatably coupled to the transmission assembly, and the second cartridge mechanism includes a spacing from the first jaw and a second splint that is close to or away from each other;
- a panel for mounting on a frame, the panel being disposed at a free end of the first and second plates, and the panel, the first panel, and the second panel Cooperating with the wand forms a collet station for clamping the box.
- the size of the box that can be clamped according to the current needs is firstly operated by operating the adjustment handle to drive the transmission assembly, and then the rotating assembly transmits the driving power synchronously to the first cartridge mechanism and the first a second cartridge mechanism; at this time, the first cartridge mechanism and the second cartridge mechanism move in opposite directions along the rail mechanism, thereby adjusting the spacing between the first jaw and the second jaw to a size suitable for the current box, and then operating the adjustment again.
- the handle makes the driving mechanism work, and then drives the fence to slide on the fixed seat. At this time, the square, the first clamping plate, the second clamping plate and the surrounding bar are enclosed to form a square clamping box station, and then the box is pushed into the folder.
- Stable clamping can be achieved in the box position, and the box can be ensured to be in an absolutely square state, thereby ensuring that the tongue can be reliably pressed into the box body, and the plurality of sets of box robots are evenly distributed on the center turntable mechanism while adjusting Its box size.
- the drive mechanism includes an adjustment block
- the transmission assembly includes a first connection plate and a second connection plate
- the guide rail mechanism includes a first guide rail disposed on the fixed seat
- the first A cartridge mechanism further includes a first slider slidably disposed on the first rail
- the box mechanism further includes a second sliding seat slidably disposed on the first rail and spaced apart from the first sliding seat, one end of the first connecting plate is rotatably connected to the adjusting block, and the other end is The first sliding seat is rotatably connected, and one end of the second connecting plate is rotatably connected to the adjusting block, and the other end is rotatably connected to the second sliding seat.
- the first connecting plate is rotatably connected to the adjusting block and the first sliding seat
- the second connecting plate is rotatably connected with the adjusting block and the second sliding seat, thereby facilitating the transmission of the driving force applied to the driving mechanism to the first through the adjusting block.
- a sliding seat and a second sliding seat so that the first sliding seat and the second sliding seat are reliably synchronized close to or away from each other along the first guiding rail, so that the position adjustment of the first clamping plate and the second clamping plate is more flexible, labor-saving and high precision.
- the method further includes two first rotating bearings and two second rotating bearings, wherein the adjusting block and the first sliding seat are respectively provided with a first mounting hole, the adjusting block and the first The two sliding seats are respectively provided with a second mounting hole, two of the first rotating bearings are respectively embedded in the two first mounting holes, and the two second rotating bearings are respectively embedded in the two said first
- the first connecting plate is provided with a first rotating shaft at two ends thereof, and the first rotating shaft is rotated and matched with the first rotating bearing in one-to-one correspondence, and both ends of the second connecting plate are provided There is a second rotating shaft, and the second rotating shaft is in a one-to-one rotational fit with the second rotating bearing.
- the first sliding seat is provided with a first bending portion
- a side of the second sliding seat opposite to the first sliding seat is provided with a second bending portion
- the first The bent portion and the second bent portion are adapted to fit.
- the first sliding seat and the second sliding seat can be brought into closer contact when moving in contact with each other, which is advantageous for raising the minimum limit position size of the first clamping plate and the second clamping plate, thereby being suitable for box clamping of more sizes and specifications.
- the rail mechanism further includes a second rail disposed on the fixing seat, the first clamping plate and the second clamping plate are respectively provided with a sliding hole, the first clamping plate and the first clamping plate The second clamping plate is slidably fitted on the second rail through the sliding hole. In this way, the first clamping plate and the second clamping plate can be supported and fixed by the second guide rail, while ensuring the movement of the first clamping plate and the second clamping plate is more stable and reliable.
- the first clamping plate and the second clamping plate are further provided with a clamping portion on one side of the clamping box station; or further comprising an anti-skid body, wherein the anti-skid body is disposed on the The first jaw and/or the second jaw are located on one side of the cartridge station.
- the contact static friction between the first clamping plate and the second clamping plate and the box can be increased, so that the clamping of the box is more stable, and the box is prevented from slipping off when the deformation of the box is prevented from being excessively caused by the clamping force.
- the driving mechanism further includes two driving rods disposed at a longitudinal interval, and a first driving gear and a second driving gear spaced apart from the fixing seat, wherein one end of the driving rod Connected to the adjusting block, the other end is provided with a first tooth portion, the first tooth portion is engaged with the first driving gear, and the other end of the driving rod is connected with the surrounding rod, and the other end is provided a second tooth portion, the second tooth portion being drivingly coupled to the second drive gear.
- the rotation of the first driving gear can be converted into a linear reciprocating movement of the driving rod, thereby driving the relative movement of the first clamping plate and the second clamping plate to clamp the box, and the transmission slip can be prevented by the meshing transmission, thereby improving the smooth transmission of the power.
- the fence can also be telescopically moved, so that the first and second plates can be further clamped to the square box to ensure that the box is in a square state.
- the driving mechanism further includes a support guide disposed on the fixed seat, and the support guide is provided with a linear bearing, and the linear bearing slides and guides the drive rod. This enables support and positioning of the drive rod, ensuring a smoother reciprocating movement of the drive rod.
- the present application also provides a vertical cartoning machine comprising a frame provided with a main shaft, a lower center turntable, a height adjustment mechanism, an upper center turntable, an upper clamp box adjustment mechanism, a lower clamp box adjustment mechanism and at least two
- the clip box robot the lower center turntable is set on the main shaft, the height adjustment mechanism is disposed on the lower center turntable, and the upper center turntable is disposed on the height adjustment mechanism; at least two The clip box robot is evenly disposed on the upper center turntable and the lower center turntable and is located at the same station, and the lower clip box adjusting mechanism is disposed on the lower center turntable and is drivingly connected with the clip box robot.
- the upper clamp adjustment mechanism is disposed on the upper center turntable and drivingly connected to the clamp robot.
- the plurality of sets of box robots are evenly distributed on the center turntable mechanism, and at the same time, under the condition of multiple sets of drive connections, simultaneously adjusting the size of the plurality of sets of the box robot gripper boxes, and ensuring the adjustment synchronization, the size is the same begging.
- the size of the box that can be clamped according to the current needs is first adjusted by the height adjusting mechanism to adjust the longitudinal height of the cartridge robot on the upper center turntable of the same station and the clip box robot on the lower center turntable to Appropriate value; then the upper clamping mechanism and the lower clamping mechanism respectively act to drive the driving mechanism of the clamping robot, thereby driving the transmission assembly to rotate, and then rotating the assembly to synchronously transmit the driving power to the first cartridge mechanism and the second a cartridge mechanism; at this time, the first cartridge mechanism and the second cartridge mechanism move in opposite directions along the rail mechanism, thereby adjusting the spacing between the first jaw and the second jaw to a size suitable for the current box, and then operating the adjustment handle again
- the driving mechanism is operated to drive the fence to slide on the fixed seat.
- the square plate, the first clamping plate, the second clamping plate and the surrounding bar are enclosed to form a square clamping box station, and then the box is pushed into the clamping box.
- the stable clamping can be achieved in the working position, and the box can be ensured to be in an absolutely square state, thereby ensuring that the tongue can be reliably pressed into the casing.
- a plurality of sets of the cartridge robots are disposed, and a plurality of the cartridge robots are evenly distributed on a circumferential surface of the upper center turntable and the lower center turntable, the upper center turntable and the
- the lower central loading plate is also coaxially disposed with an upper central gear and a lower central gear, and the upper central gear is meshed with the second driving gears of all of the cartridge robots for synchronously adjusting all of the cartridge robots.
- the front and rear movements of the fence are engaged with the first drive gears of all of the cartridge robots for synchronously adjusting the engagement of the first and second jaws of all of the cartridge robots.
- the plurality of sets of cassette robots can simultaneously complete the adjustment of the function of the cassette at the same time in the first time, and simultaneously adjust the size of the plurality of sets of the box robot box, and ensure the synchronization and the same size.
- FIG. 1 is a schematic structural view of a clip box robot according to an embodiment of the present invention.
- FIG. 2 is a schematic structural view of a vertical cartoning machine according to an embodiment of the present invention.
- first and second in the present invention do not represent a specific number and order, but are merely used for distinguishing names.
- a cartridge robot includes: a fixing base 100 , a driving mechanism 200 , a transmission assembly 300 , a first clamping mechanism 400 and a second clamping mechanism 500 .
- the fixing base 100 is provided with a rail mechanism 120; the driving mechanism 200 is disposed on the fixing base 100, and The driving assembly 300 is rotatably disposed on the driving mechanism 200; the surrounding rod 1400 is slidably disposed on the fixing base 100, and is coupled to The driving mechanism 200 drives a connection; the first cartridge mechanism 400 is slidably disposed on the rail mechanism 120 and rotatably coupled to the transmission assembly 300, and the first cartridge mechanism 400 includes a first clamping plate 410 The second cartridge mechanism 500 is slidably disposed on the rail mechanism 120 and rotatably coupled to the transmission assembly 300, and the second cartridge mechanism 500 includes a space spaced apart from the first clamping plate 410 and a second clamping plate 510 adjacent to or away from each other; and a surrounding plate 700 for mounting on
- the size of the box that can be clamped according to the current needs firstly operates the adjustment mechanism to operate the driving mechanism 200, thereby driving the transmission assembly 300 to rotate, and then rotating the assembly to synchronously transmit the driving power to the first cartridge mechanism. 400 and the second cartridge mechanism 500; at this time, the first cartridge mechanism 400 and the second cartridge mechanism 500 are synchronously moved opposite to each other along the rail mechanism 120, thereby adjusting the first and second plates 410 and 510.
- the spacing is adapted to the size of the current box, and then the adjustment handle is operated again to operate the driving mechanism 200, thereby driving the fence 1400 to slide on the fixing base 100, at this time, the panel 700, the first clamping plate 410, the second clamping plate 510 and the surrounding rod
- the 1400 encloses a square box station 600, which enables stable clamping when the box is pushed into the cassette station 600, and ensures that the box is in an absolutely square state, thereby ensuring that the box can be reliably Pressed into the box to improve the production quality and efficiency of the product, and the operation of the cartridge manipulator is efficient, reliable, simple to use and environmentally friendly.
- the first clamping mechanism 400 and the second clamping mechanism 500 are completely symmetrical, and both pass through the transmission assembly 300 and the driving mechanism.
- the connection structure of 200 is also a completely symmetrical structure.
- the driving mechanism 200 includes an adjustment block 210.
- the transmission assembly 300 includes a first connecting plate 310 and a second connecting plate 320.
- the guiding mechanism 120 includes a fixing mechanism. a first rail 121 on the seat 100, the first cartridge mechanism 400 further includes a slidable The first carriage 420 is disposed on the first rail 121, and the second cartridge mechanism 500 further includes a slidably disposed on the first rail 121 and spaced apart from the first slider 420 a second sliding block 520, one end of the first connecting plate 310 is rotatably connected to the adjusting block 210, and the other end is rotatably connected to the first sliding seat 420, and one end of the second connecting plate 320 is The adjustment block 210 is rotatably connected, and the other end is rotatably coupled to the second carriage 520.
- the first connecting plate 310 is rotatably connected to the adjusting block 210 and the first sliding seat 420
- the second connecting plate 320 is rotatably connected with the adjusting block 210 and the second sliding seat 520, thereby facilitating the driving to be applied to the driving mechanism 200.
- the force is transmitted to the first sliding seat 420 and the second sliding seat 520 through the adjusting block 210, so that the first sliding seat 420 and the second sliding seat 520 are reliably synchronized close to or away from each other along the first guiding rail 121, so that the first clamping plate 410 and the first clamping plate 410 are
- the position adjustment of the second clamping plate 510 is more flexible, labor-saving and high precision.
- first guide rail 121 is a steel pipe
- first sliding seat 420 and the second sliding seat 520 are also respectively mounted with a linear bearing seat
- the linear bearing seat is sleeved and matched with the first guiding rail 121, so that the moving friction resistance can be reduced. Reduce friction and wear.
- the rail mechanism 120 further includes a second rail 122 disposed on the fixing base 100.
- the first clamping plate 410 and the second clamping plate 510 are each provided with a sliding hole, and the first clamping plate 410 is further disposed.
- the second clamping plate 510 is slidably fitted on the second guiding rail 122 through the sliding hole.
- the first clamping plate 410 and the second clamping plate 510 can be supported and fixed by the second rail 122 while ensuring smoother and more reliable movement of the first clamping plate 410 and the second clamping plate 510.
- the first rail 121 and the second rail 122 are arranged in parallel spaced apart.
- the driving mechanism 200 further includes two driving rods 220 disposed at a longitudinal interval, and a first driving gear 230 and a second driving gear 240 spaced apart from the fixing base 100, wherein one of the driving rods 220 One end is connected to the adjusting block 210, and the other end is provided with a first tooth portion, the first tooth portion is engaged with the first driving gear 230, and the other end of the driving rod 220 is connected with the surrounding rod 1400. The other end is provided with a second tooth portion, and the second tooth portion is drivingly connected to the second driving gear 240.
- the rotation of the first driving gear 230 can be converted into a linear reciprocating movement of the driving rod, thereby driving the relative movement of the first clamping plate 410 and the second clamping plate 510 to clamp the box, and the transmission slip can prevent the transmission from slipping and improve the power.
- the transmission is smooth and reliable; in addition, by the second driving gear 240 driving connection with the fence 1400, the fence 1400 can also be telescopically moved to cooperate with the first The splint 410 and the second cleat 510 further clamp the square box to ensure that the box is in a four-way state.
- the driving mechanism 200 further includes a supporting guide 250 disposed on the fixing base 100.
- the supporting guide 250 is provided with a linear bearing, and the linear bearing slides and guides the driving rod 220. . This enables support and positioning of the drive rod 220, ensuring a smoother reciprocating movement of the drive rod 220.
- the linear bearing is a linear bearing for supporting and positioning the driving rod 220, and avoids excessive frictional wear caused by direct sliding contact with the supporting guide 250.
- the adjusting block 210 and the first sliding seat Each of the adjusting block 210 and the second sliding seat 520 is provided with a second mounting hole, and the two first rotating bearings are respectively embedded in the two first mounting holes.
- the two second rotating bearings are respectively embedded in the two second mounting holes, and the first connecting plate 310 is provided with a first rotating shaft at both ends thereof, and the first rotating shaft and the first rotating shaft
- the second connecting plate 320 is provided with a second rotating shaft at one end of the second connecting plate 320, and the second rotating shaft is rotationally coupled with the second rotating bearing in one-to-one correspondence.
- the relative rotation of the first connecting plate 310 and the adjusting block 210 and the first sliding seat 420 and the second connecting plate 320 and the adjusting block 210 and the second sliding seat 520 can be ensured to be smoother and more labor-saving, thereby saving operator's labor output. At the same time, it can also reduce the friction and wear and improve the service life of the equipment.
- the structures of the first connecting plate 310 and the second connecting plate 320 each include a connecting plate, and the two ends of the same side of the connecting plate are integrally connected with a cylinder, and the size of the cylindrical body is adapted to the size of the rotating bearing body, so that Avoid large vibrations during transmission and affect transmission stability.
- the first sliding seat 420 is provided with a first bending portion 421
- the second sliding seat 520 is opposite to the first sliding seat 420 .
- the second bending portion 521 is disposed on the side, and the first bending portion 421 and the second bending portion 521 are adapted to be fitted.
- the first sliding seat 420 and the second sliding seat 520 can be brought into closer contact when moving in contact with each other, which is advantageous for raising the minimum limit position size of the first clamping plate 410 and the second clamping plate 510, thereby being suitable for more sizes and specifications.
- the box is clamped to enhance the scope of application.
- the first bending portion 421 and the second bending portion 521 are mirror-symmetric, similar to the Z-shaped bending surface, and the first sliding seat can be made when the two contacts are in contact with each other.
- the 420 and the second slider 520 are combined into a rectangular block.
- first clamping plate 410 and the second clamping plate 510 are also provided with a clamping portion (not shown) on one side of the clamping box station 600; specifically, the clamping portion is optional Is a plurality of rows of convex teeth or a plurality of recesses vertically spaced apart from the longitudinal direction of the first clamping plate 410 and the second clamping plate 510 to increase contact static friction with the outer wall of the box; or further comprising an anti-skid body, the anti-skid body being disposed on The first jaw 410 and/or the second jaw 510 are located on one side of the cartridge station 600.
- the anti-slip body may be a gasket or a pad made of a material having a large friction coefficient, and is mounted on the first clamping plate 410 and the second clamping plate 510 by fasteners, so that the first clamping plate 410 and the second clamping plate 510 can be added.
- the static contact force of the box makes the clamping of the box more stable, and prevents the box from slipping off when the deformation of the box is prevented from being excessively caused by the clamping force.
- the present application further provides a vertical cartoning machine, which comprises a frame 800 provided with a spindle 810, a lower center carousel 900, a height adjustment mechanism 1000, an upper center carousel 1100, an upper cassette adjustment mechanism 1200, a lower cassette adjusting mechanism 1300 and at least two cassette robots as described above, the lower center turntable 900 is fitted on the main shaft 810, and the height adjusting mechanism 1000 is disposed on the lower center turntable 900,
- the upper center turntable 1100 is disposed on the height adjustment mechanism 1000; at least two of the cartridge robots are evenly disposed on the upper center turntable 1100 and the lower center turntable 900 and are located at the same station, and the lower clamp box
- the adjusting mechanism 1300 is disposed on the lower center turntable 900 and is drivingly connected to the clip box robot.
- the upper clip adjusting mechanism 1200 is disposed on the upper center turntable 1100 and is drivingly connected with the clip box robot.
- the size of the box that can be clamped according to the current needs is first adjusted by the height adjusting mechanism 1000 to the chucking robot on the upper center turntable 1100 of the same station and the chucking robot on the lower center turntable 900.
- the longitudinal height is up to a suitable value; then the cartridge adjustment mechanism 1200 and the lower cartridge adjustment mechanism 1300 can be respectively operated to drive the driving mechanism 200 of the cartridge robot, thereby driving the transmission assembly 300 to rotate, and then rotating the assembly to synchronously transmit the driving power to the first a cartridge mechanism 400 and a second cartridge mechanism 500; at this time, the first cartridge mechanism 400 and the second cartridge mechanism 500 move synchronously toward each other along the rail mechanism 120, thereby adjusting the first jaw 410 and the second jaw 510. Spacing to the right current After the size of the box, the adjustment handle is operated again to operate the driving mechanism 200, thereby driving the fence 1400 to slide on the fixing base 100.
- the square clamp box station 600 enables stable clamping when the box is pushed into the cassette station 600, and ensures that the box is in an absolutely square state, thereby ensuring that the tongue can be reliably pressed into the box. To improve the production quality and efficiency of the product, and the operation of the cartridge manipulator is efficient, reliable, simple to use and environmentally friendly.
- the lower center turntable 900 is mounted on the main shaft 810 of the bearing housing on the frame 800, and is driven to rotate by a servo motor.
- the upper center turntable 1100 is mounted on the height adjustment mechanism 1000, and the height adjustment mechanism 1000 is mounted on the lower center turntable 900.
- the upper layer cassette mechanism and the lower layer cassette mechanism are on the upper and lower spaces of the same station on the vertical plane.
- the lower center turntable 900 is fixed, and the upper center turntable 1100 can be adjusted up and down by the height adjustment mechanism 1000, and the purpose thereof is to be suitable for the box of the box of different heights.
- the adjustment of the clamping box robot is controlled by the large gear on the gear rotating body mounted on the main shaft 810, that is, the upper clamping box adjusting mechanism 1200 and the lower clamping box adjusting mechanism 1300 are respectively connected with the large gear, and the circular gear of each group is the same as above.
- a plurality of sets of the cartridge robots are arranged, and a plurality of sets of the cartridge robots are evenly distributed on the circumferential surfaces of the upper center turntable 1100 and the lower center turntable 900, and the upper center turntable
- An upper central gear 1500 and a lower central gear 1600 are coaxially disposed on the 1100 and the lower central loading plate 900, and the upper central gear 1500 is meshed with the second driving gears 240 of all of the cartridge robots for Simultaneously adjusting the forward and backward movement of the wands 1400 of all of the cartridge robots, the lower sun gear 1600 meshing with the first drive gears 230 of all of the cartridge robots for simultaneously adjusting the dimensions of all of the cartridge robots
- a clamping plate 410 is engaged with the second clamping plate 510.
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Abstract
一种夹盒机械手及立式装盒机，包括固定座（100），固定座（100）设有导轨机构（120）；驱动机构（200），设置于固定座（100）上；传动组件（300），可转动设置于驱动机构（200）上；围杆（1400），与驱动机构（200）驱动连接；第一夹盒机构（400），可滑动设置于导轨机构（120）上，且第一夹盒机构（400）包括第一夹板（410）；第二夹盒机构（500），可滑动设置于导轨机构（120）上，且第二夹盒机构（500）包括与第一夹板（410）间隔设置并可相互靠近或远离的第二夹板（510）；围板（700）；围板（700）、第一夹板（410）、第二夹板（510）和围杆（1400）之间配合形成用于夹固盒子的夹盒工位（600）。该夹盒机械手及立式装盒机能够确保盒子处于绝对的四方状态，保证盒舌能够压入盒体内，提高产品生产质量和效率，且操作高效、可靠，使用简单、环保。
Description
本发明涉及包装设备技术领域，特别是涉及一种夹盒机械手及立式装盒机。
目前，为了保证产品质量及美观，同时提高企业生产效率，生产时需要使用自动装盒机将包装盒展开，从而将产品包装起来。为了保证装盒及封盒的质量和效率，这就要求对开的盒子在装盒时必须是成绝对四方的。同时对中小批量的，多规格的产品进行装盒，进而设计了一种夹盒机械手及立式装盒机。目前市面上现有的装盒技术通常有两种：第一种是在双排链条上安装夹盒模块，通过移动其中一条来夹紧盒子，其缺点是链条的油污没法处理，且链条传动的噪声大，调节盒子左右的松紧困难，高低调节也不方便，且因链条是软的，无法保证盒子始终处于夹紧状态。第二是用上下两件相同工位的PC板作为左右夹盒模具，此结构缺点：只能适用于少数要求不高的盒子，夹盒后无法保证盒子绝对处于四方而出现偏斜导致前大后小或前小后大等多种装盒缺陷，致使盒子在封盒时无法把盒舌顺利压入盒内，影响产品生产质量及效率，而且两种方式还有一个很难克服的缺点，在产品换型时，没办法快速调整好设备，可能有部分规格的纸盒无法进行工作。
发明内容
基于此，本发明有必要提供一种夹盒机械手及立式装盒机，能够确保盒体处于绝对四方状态，保证盒舌可靠压入盒体内，提高产品生产质量和效率，且盒子的夹持操作高效、可靠，使用简单、环保，并且调节方便快速，在不同规格的产品换型只需调节四个手柄即可达到要求，大大节约了时间的调机难度。
其技术方案如下：
一种夹盒机械手，包括：
固定座，所述固定座设有导轨机构；
驱动机构，所述驱动机构设置于所述固定座上、并用于与调节手柄驱动连接；
传动组件，所述传动组件可转动设置于所述驱动机构上；
围杆，所述围杆可滑动设置于所述固定座上、并与所述驱动机构驱动连接；
第一夹盒机构，所述第一夹盒机构可滑动设置于所述导轨机构上并与所述传动组件转动连接，且所述第一夹盒机构包括第一夹板；
第二夹盒机构，所述第二夹盒机构可滑动设置于所述导轨机构上并与所述传动组件转动连接，且所述第二夹盒机构包括与所述第一夹板间隔设置并可相互靠近或远离的第二夹板；及
用于安装在机架上的围板，所述围板设置于所述第一夹板和所述第二夹板的自由端处，且所述围板、所述第一夹板、所述第二夹板和所述围杆之间配合形成用于夹固盒子的夹盒工位。
上述夹盒机械手使用时，可根据当前需要进行夹持的盒子尺寸首先通过操作调节手柄使驱动机构工作，从而带动传动组件转动，紧接着转动组件将驱动动力同步传递给第一夹盒机构和第二夹盒机构；此时，第一夹盒机构和第二夹盒机构沿所述导轨机构同步相向移动，从而调整第一夹板和第二夹板的间距至合适当前盒子的尺寸，之后再次操作调节手柄使驱动机构工作，进而带动围杆在固定座上滑动，此时由围板、第一夹板、第二夹板和围杆围合形成四方形的夹盒工位，进而当盒子被推送入夹盒工位内时能够实现稳固夹持，且能够确保盒子处于绝对的四方状态，由此可保证盒舌能够可靠压入盒体内，并且多组夹盒机械手均布于中心转盘机构上，同时调节其夹盒尺寸。适用性广，提高产品生产质量和效率，且该夹盒机械手的操作高效、可靠，使用简单、环保。
下面对本申请的技术方案作进一步地说明：
在其中一个实施例中，所述驱动机构包括调节块，所述传动组件包括第一连接板和第二连接板，所述导轨机构包括设置于所述固定座上的第一导轨，所述第一夹盒机构还包括可滑动设置于所述第一导轨上的第一滑座，所述第二夹
盒机构还包括可滑动设置于所述第一导轨上、并与所述第一滑座间隔设置的第二滑座，所述第一连接板的一端与所述调节块转动连接、另一端与所述第一滑座转动连接，所述第二连接板的一端与所述调节块转动连接、另一端与所述第二滑座转动连接。如此，通过第一连接板与调节块和第一滑座转动连接，第二连接板与调节块和第二滑座转动连接，从而便于将施加于驱动机构上的驱动力通过调节块传递给第一滑座和第二滑座，进而使第一滑座和第二滑座沿第一导轨可靠同步靠近或远离，从而使第一夹板与第二夹板的位置调整更加灵活、省力且精度高。
在其中一个实施例中，还包括两个第一转动轴承和两个第二转动轴承，所述调节块和所述第一滑座均设有第一安装孔，所述调节块和所述第二滑座均设有第二安装孔，两个所述第一转动轴承分别嵌装于两个所述第一安装孔内，两个所述第二转动轴承分别嵌装于两个所述第二安装孔内，所述第一连接板的两端均设有第一转轴，所述第一转轴与所述第一转动轴承一一对应转动配合，所述第二连接板的两端均设有第二转轴，所述第二转轴与所述第二转动轴承一一对应转动配合。如此能够确保第一连接板与调节块和第一滑座、第二连接板与调节块和第二滑座的相对转动更加顺畅、省力，有利于节省操作者的劳力输出，同时还能够减轻转动摩擦磨损，提高设备的使用寿命。
在其中一个实施例中，所述第一滑座设有第一弯折部，所述第二滑座与所述第一滑座相对的一侧设有第二弯折部，所述第一弯折部与所述第二弯折部可适配贴合。如此能够使第一滑座与第二滑座相向移动接触时贴合更加紧密，如此有利于提升第一夹板和第二夹板的最小极限位置尺寸，从而适用于更多尺寸规格的盒子夹持，以提升适用范围。
在其中一个实施例中，所述导轨机构还包括设置于所述固定座上的第二导轨，所述第一夹板和所述第二夹板均设有滑孔，所述第一夹板和所述第二夹板通过所述滑孔可滑动套装于所述第二导轨上。如此能够通过第二导轨对第一夹板和第二夹板进行支撑和安装固定，同时确保第一夹板和第二夹板的移动更加平稳、可靠。
在其中一个实施例中，所述第一夹板和所述第二夹板位于所述夹盒工位的一侧还均设有夹固部；或还包括防滑体，所述防滑体设置于所述第一夹板和/或所述第二夹板位于所述夹盒工位的一侧上。如此能够增加第一夹板和第二夹板与盒子的接触静摩擦力，从而使盒子的夹持更加稳固，在避免夹持力过大导致盒子形变的前提下防止盒子滑脱掉落。
在其中一个实施例中，所述驱动机构还包括纵向间隔设置的两个驱动杆、及间隔设置于所述固定座上的第一驱动齿轮和第二驱动齿轮，其中一个所述驱动杆的一端与所述调节块连接、另一端设有第一齿部，所述第一齿部与所述第一驱动齿轮啮合，另一个所述驱动杆的一端与所述围杆连接、另一端设有第二齿部，所述第二齿部与所述第二驱动齿轮驱动连接。如此可以将第一驱动齿轮的转动转变为驱动杆的直线往复移动，进而驱动第一夹板与第二夹板相对移动对盒子进行夹持，且通过啮合传动可防止传动打滑发生，提高动力传递的平稳和可靠；此外，通过第二驱动齿轮与围杆驱动连接，还可以使围杆伸缩移动，从而配合第一夹板和第二夹板对四方形的盒子进一步夹持限位，确保盒子处于觉得四方状态。
在其中一个实施例中，所述驱动机构还包括设置于所述固定座上的支撑导座，所述支撑导座上设置有直线轴承，所述直线轴承与所述驱动杆滑动且导向配合。如此能够对驱动杆实现支撑和定位，确保驱动杆的往复移动更加平稳。
本申请还提供一种立式装盒机，其包括设有主轴的机架、下中心转盘、高度调节机构、上中心转盘、上夹盒调节机构、下夹盒调节机构和至少两个如上所述的夹盒机械手，所述下中心转盘套装在所述主轴上，所述高度调节机构设置于所述下中心转盘上，所述上中心转盘设置于所述高度调节机构上；至少两个所述夹盒机械手均匀布设于所述上中心转盘和所述下中心转盘上且位于同一工位，所述下夹盒调节机构设置于所述下中心转盘上并与所述夹盒机械手驱动连接，所述上夹盒调节机构设置于所述上中心转盘上并与所述夹盒机械手驱动连接。所述多组夹盒机械手均布于中心转盘机构上，同时在多组驱动连接的条件下，同时调节多组夹盒机械手夹盒尺寸，并确保调节同步，尺寸同变的要
求。
上述立式装盒机使用时，可根据当前需要进行夹持的盒子尺寸首先通过高度调节机构调整同一工位的上中心转盘上的夹盒机械手与下中心转盘上的夹盒机械手的纵向高度至合适值；之后可分别上夹盒调节机构和下夹盒调节机构使夹盒机械手的驱动机构工作，从而带动传动组件转动，紧接着转动组件将驱动动力同步传递给第一夹盒机构和第二夹盒机构；此时，第一夹盒机构和第二夹盒机构沿所述导轨机构同步相向移动，从而调整第一夹板和第二夹板的间距至合适当前盒子的尺寸，之后再次操作调节手柄使驱动机构工作，进而带动围杆在固定座上滑动，此时由围板、第一夹板、第二夹板和围杆围合形成四方形的夹盒工位，进而当盒子被推送入夹盒工位内时能够实现稳固夹持，且能够确保盒子处于绝对的四方状态，由此可保证盒舌能够可靠压入盒体内，同时，多组夹盒机械手均布于中心转盘机构上，可同时夹持多个纸盒，并保证都处于工作状态，为下一工位工作做好准备。提高产品生产质量和效率，且该夹盒机械手的操作高效、可靠，使用简单、环保。
在其中一个实施例中，包括多组所述夹盒机械手，多组所述夹盒机械手均匀分布于所述上中心转盘和所述下中心转盘的圆周面上，所述上中心转盘和所述下中心装盘上还均同轴设置有上中心齿轮和下中心齿轮，所述上中心齿轮与所有所述夹盒机械手的第二驱动齿轮均啮合、用于同步调节所有所述夹盒机械手的围杆的前后移动，所述下中心齿轮与所有所述夹盒机械手的第一驱动齿轮均啮合、用于同步调节所有所述夹盒机械手的第一夹板与第二夹板的张合。如此能够使多组夹盒机械手可同时在第一时间内工作同步完成夹盒功能的调整，同时调节多组夹盒机械手夹盒工位的尺寸，并确保调节同步，尺寸同变的要求。
图1为本发明实施例所述的夹盒机械手的结构示意图；
图2为本发明实施例所述的立式装盒机的结构示意图。
附图标记说明：
100、固定座，120、导轨机构，121、第一导轨，122、第二导轨，200、驱动机构，210、调节块，220、驱动杆，230、第一驱动齿轮，240、第二驱动齿轮，250、支撑导座，300、传动组件，310、第一连接板，320、第二连接板，400、第一夹盒机构，410、第一夹板，420、第一滑座，421、第一弯折部，500、第二夹盒机构，510、第二夹板，520、第二滑座，521、第二弯折部，600、夹盒工位，700、围板，800、机架，810、主轴，900、下中心转盘，1000、高度调节机构，1100、上中心转盘，1200、上夹盒调节机构，1300、下夹盒调节机构，1400、围杆，1500、上中心齿轮，1600、下中心齿轮。
为使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施方式，对本发明进行进一步的详细说明。应当理解的是，此处所描述的具体实施方式仅用以解释本发明，并不限定本发明的保护范围。
需要说明的是，当元件被称为“固设于”、“设置于”或“安设于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件；一个元件与另一个元件固定连接的具体方式可以通过现有技术实现，在此不再赘述，优选采用螺纹连接的固定方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明中所述“第一”、“第二”不代表具体的数量及顺序，仅仅是用于名称的区分。
如图1所示，为本发明展示的一种实施例的夹盒机械手，包括：固定座100，驱动机构200，传动组件300，第一夹盒机构400及第二夹盒机构500，所述固定座100设有导轨机构120；所述驱动机构200设置于所述固定座100上、并
用于与调节手柄驱动连接；传动组件300，所述传动组件300可转动设置于所述驱动机构200上；围杆1400，所述围杆1400可滑动设置于所述固定座100上、并与所述驱动机构200驱动连接；所述第一夹盒机构400可滑动设置于所述导轨机构120上并与所述传动组件300转动连接，且所述第一夹盒机构400包括第一夹板410；所述第二夹盒机构500可滑动设置于所述导轨机构120上并与所述传动组件300转动连接，且所述第二夹盒机构500包括与所述第一夹板410间隔设置并可相互靠近或远离的第二夹板510；及用于安装在机架上的围板700，所述围板700设置于所述第一夹板410和所述第二夹板510的自由端处，且所述围板700、所述第一夹板410、所述第二夹板510和所述围杆1400之间配合形成用于夹固盒子的夹盒工位600。
上述夹盒机械手使用时，可根据当前需要进行夹持的盒子尺寸首先通过操作调节手柄使驱动机构200工作，从而带动传动组件300转动，紧接着转动组件将驱动动力同步传递给第一夹盒机构400和第二夹盒机构500；此时，第一夹盒机构400和第二夹盒机构500沿所述导轨机构120同步相向或相背移动，从而调整第一夹板410和第二夹板510的间距至合适当前盒子的尺寸，之后再次操作调节手柄使驱动机构200工作，进而带动围杆1400在固定座100上滑动，此时由围板700、第一夹板410、第二夹板510和围杆1400围合形成四方形的夹盒工位600，进而当盒子被推送入夹盒工位600内时能够实现稳固夹持，且能够确保盒子处于绝对的四方状态，由此可保证盒舌能够可靠压入盒体内，提高产品生产质量和效率，且该夹盒机械手的操作高效、可靠，使用简单、环保。
需要说明的是，为确保第一夹板410与第二夹板510的移动同步性，第一夹盒机构400和第二夹盒机构500为完全对称的结构，且两者通过传动组件300与驱动机构200的连接结构也为完全对称的结构。
请参照图1，在一个实施例中，所述驱动机构200包括调节块210，所述传动组件300包括第一连接板310和第二连接板320，所述导轨机构120包括设置于所述固定座100上的第一导轨121，所述第一夹盒机构400还包括可滑
动设置于所述第一导轨121上的第一滑座420，所述第二夹盒机构500还包括可滑动设置于所述第一导轨121上、并与所述第一滑座420间隔设置的第二滑座520，所述第一连接板310的一端与所述调节块210转动连接、另一端与所述第一滑座420转动连接，所述第二连接板320的一端与所述调节块210转动连接、另一端与所述第二滑座520转动连接。如此，通过第一连接板310与调节块210和第一滑座420转动连接，第二连接板320与调节块210和第二滑座520转动连接，从而便于将施加于驱动机构200上的驱动力通过调节块210传递给第一滑座420和第二滑座520，进而使第一滑座420和第二滑座520沿第一导轨121可靠同步靠近或远离，从而使第一夹板410与第二夹板510的位置调整更加灵活、省力且精度高。进一步地，第一导轨121为钢管，第一滑座420和第二滑座520上还均安装有直线轴承座，通过直线轴承座与第一导轨121套接配合，能够减小移动摩擦阻力，减小摩擦磨损。
更进一步地，所述导轨机构120还包括设置于所述固定座100上的第二导轨122，所述第一夹板410和所述第二夹板510均设有滑孔，所述第一夹板410和所述第二夹板510通过所述滑孔可滑动套装于所述第二导轨122上。如此能够通过第二导轨122对第一夹板410和第二夹板510进行支撑和安装固定，同时确保第一夹板410和第二夹板510的移动更加平稳、可靠。其中，第一导轨121与第二导轨122平行间隔布置。
另外，所述驱动机构200还包括纵向间隔设置的两个驱动杆220、及间隔设置于所述固定座100上的第一驱动齿轮230和第二驱动齿轮240，其中一个所述驱动杆220的一端与所述调节块210连接、另一端设有第一齿部，所述第一齿部与所述第一驱动齿轮230啮合，另一个所述驱动杆220的一端与所述围杆1400连接、另一端设有第二齿部，所述第二齿部与所述第二驱动齿轮240驱动连接。如此可以将第一驱动齿轮230的转动转变为驱动杆的直线往复移动，进而驱动第一夹板410与第二夹板510相对移动对盒子进行夹持，且通过啮合传动可防止传动打滑发生，提高动力传递的平稳和可靠；此外，通过第二驱动齿轮240与围杆1400驱动连接，还可以使围杆1400伸缩移动，从而配合第一
夹板410和第二夹板510对四方形的盒子进一步夹持限位，确保盒子处于觉得四方状态。
进一步地，所述驱动机构200还包括设置于所述固定座100上的支撑导座250，所述支撑导座250上设置有直线轴承，所述直线轴承与所述驱动杆220滑动且导向配合。如此能够对驱动杆220实现支撑和定位，确保驱动杆220的往复移动更加平稳。具体的，上述直线轴承为直线轴承，用以对驱动杆220进行支撑定位，同时避免与支撑导座250直接滑动接触造成过大的摩擦磨损。
在上述实施例的基础上，还包括两个第一转动轴承(图中未示出)和两个第二转动轴承(图中未示出)，所述调节块210和所述第一滑座420均设有第一安装孔，所述调节块210和所述第二滑座520均设有第二安装孔，两个所述第一转动轴承分别嵌装于两个所述第一安装孔内，两个所述第二转动轴承分别嵌装于两个所述第二安装孔内，所述第一连接板310的两端均设有第一转轴，所述第一转轴与所述第一转动轴承一一对应转动配合，所述第二连接板320的两端均设有第二转轴，所述第二转轴与所述第二转动轴承一一对应转动配合。如此能够确保第一连接板310与调节块210和第一滑座420、第二连接板320与调节块210和第二滑座520的相对转动更加顺畅、省力，有利于节省操作者的劳力输出，同时还能够减轻转动摩擦磨损，提高设备的使用寿命。具体的，第一连接板310和第二连接板320的结构均包括连接板，连接板的同一侧的两端一体连接有圆柱体，圆柱体的尺寸与转动轴承体的尺寸适配，如此可避免传动时发生较大振动，影响传动稳定性。
如图1所示，在上述任一实施例的基础上，所述第一滑座420设有第一弯折部421，所述第二滑座520与所述第一滑座420相对的一侧设有第二弯折部521，所述第一弯折部421与所述第二弯折部521可适配贴合。如此能够使第一滑座420与第二滑座520相向移动接触时贴合更加紧密，如此有利于提升第一夹板410和第二夹板510的最小极限位置尺寸，从而适用于更多尺寸规格的盒子夹持，以提升适用范围。在优选的实施方式中，第一弯折部421和第二弯折部521为镜像对称的类似于Z字的弯折面，两者接触贴合时能使第一滑座
420与第二滑座520拼合为矩形块体。通过上述设计还可以减小制造材料用量，提高经济性，降低设备重量。
此外，所述第一夹板410和所述第二夹板510位于所述夹盒工位600的一侧还均设有夹固部(图中未示出)；具体的，该夹固部可选是沿垂直与第一夹板410和第二夹板510的长度方向间隔设置的多排凸齿或多个凹部，以增加与盒子外壁的接触静摩擦力；或还包括防滑体，所述防滑体设置于所述第一夹板410和/或所述第二夹板510位于所述夹盒工位600的一侧上。其中，防滑体可以是摩擦系数较大的材料制作的垫片或垫块，通过紧固件安装在第一夹板410和第二夹板510上，如此能够增加第一夹板410和第二夹板510与盒子的接触静摩擦力，从而使盒子的夹持更加稳固，在避免夹持力过大导致盒子形变的前提下防止盒子滑脱掉落。
请参照图2，本申请还提供一种立式装盒机，其包括设有主轴810的机架800、下中心转盘900、高度调节机构1000、上中心转盘1100、上夹盒调节机构1200、下夹盒调节机构1300和至少两个如上所述的夹盒机械手，所述下中心转盘900套装在所述主轴810上，所述高度调节机构1000设置于所述下中心转盘900上，所述上中心转盘1100设置于所述高度调节机构1000上；至少两个所述夹盒机械手均匀布设于所述上中心转盘1100和所述下中心转盘900上且位于同一工位，所述下夹盒调节机构1300设置于所述下中心转盘900上并与所述夹盒机械手驱动连接，所述上夹盒调节机构1200设置于所述上中心转盘1100上并与所述夹盒机械手驱动连接。
上述立式装盒机使用时，可根据当前需要进行夹持的盒子尺寸首先通过高度调节机构1000调整同一工位的上中心转盘1100上的夹盒机械手与下中心转盘900上的夹盒机械手的纵向高度至合适值；之后可分别上夹盒调节机构1200和下夹盒调节机构1300使夹盒机械手的驱动机构200工作，从而带动传动组件300转动，紧接着转动组件将驱动动力同步传递给第一夹盒机构400和第二夹盒机构500；此时，第一夹盒机构400和第二夹盒机构500沿所述导轨机构120同步相向移动，从而调整第一夹板410和第二夹板510的间距至合适当前
盒子的尺寸，之后再次操作调节手柄使驱动机构200工作，进而带动围杆1400在固定座100上滑动，此时由围板700、第一夹板410、第二夹板510和围杆1400围合形成四方形的夹盒工位600，进而当盒子被推送入夹盒工位600内时能够实现稳固夹持，且能够确保盒子处于绝对的四方状态，由此可保证盒舌能够可靠压入盒体内，提高产品生产质量和效率，且该夹盒机械手的操作高效、可靠，使用简单、环保。
具体工作时，下中心转盘900安装于机架800上的轴承座的主轴810上，并通过伺服电机驱动旋转。上中心转盘1100安于高度调节机构1000上，高度调节机构1000安装于下中心转盘900上，上层夹盒机构与下层夹盒机构在竖直面上是处于同一工位的上下两个空间上，下中心转盘900固定不动，上中心转盘1100可通过高度调节机构1000进行上下调节，其目的是适用于不同高度的盒子的夹盒需要。夹盒机械手的调节都是由主轴810上安装的齿轮转动体上的大齿轮控制，即上夹盒调节机构1200和下夹盒调节机构1300分别与大齿轮连接，每一组大齿轮的圆同上都有成对布置的多组小齿轮相联接，即调节大齿轮转动，在圆同上均布的夹盒机械手都同时打开或合拢运动。
在上述实施例的基础上，包括多组所述夹盒机械手，多组所述夹盒机械手均匀分布于所述上中心转盘1100和所述下中心转盘900的圆周面上，所述上中心转盘1100和所述下中心装盘900上还均同轴设置有上中心齿轮1500和下中心齿轮1600，所述上中心齿轮1500与所有所述夹盒机械手的第二驱动齿轮240均啮合、用于同步调节所有所述夹盒机械手的围杆1400的前后移动，所述下中心齿轮1600与所有所述夹盒机械手的第一驱动齿轮230均啮合、用于同步调节所有所述夹盒机械手的第一夹板410与第二夹板510的张合。如此能够使多组夹盒机械手可同时在第一时间内工作同步完成夹盒功能的调整，同时调节多组夹盒机械手夹盒工位的尺寸，并确保调节同步，尺寸同变的要求。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。
Claims (10)
- 一种夹盒机械手，其特征在于，包括：固定座，所述固定座设有导轨机构；驱动机构，所述驱动机构设置于所述固定座上、并用于与调节手柄驱动连接；传动组件，所述传动组件可转动设置于所述驱动机构上；围杆，所述围杆可滑动设置于所述固定座上、并与所述驱动机构驱动连接；第一夹盒机构，所述第一夹盒机构可滑动设置于所述导轨机构上并与所述传动组件转动连接，且所述第一夹盒机构包括第一夹板；第二夹盒机构，所述第二夹盒机构可滑动设置于所述导轨机构上并与所述传动组件转动连接，且所述第二夹盒机构包括与所述第一夹板间隔设置并可相互靠近或远离的第二夹板；及用于安装在机架上的围板，所述围板设置于所述第一夹板和所述第二夹板的自由端处，且所述围板、所述第一夹板、所述第二夹板和所述围杆之间配合形成用于夹固盒子的夹盒工位。
- 根据权利要求1所述的夹盒机械手，其特征在于，所述驱动机构包括调节块，所述传动组件包括第一连接板和第二连接板，所述导轨机构包括设置于所述固定座上的第一导轨，所述第一夹盒机构还包括可滑动设置于所述第一导轨上的第一滑座，所述第二夹盒机构还包括可滑动设置于所述第一导轨上、并与所述第一滑座间隔设置的第二滑座，所述第一连接板的一端与所述调节块转动连接、另一端与所述第一滑座转动连接，所述第二连接板的一端与所述调节块转动连接、另一端与所述第二滑座转动连接。
- 根据权利要求2所述的夹盒机械手，其特征在于，还包括两个第一转动轴承和两个第二转动轴承，所述调节块和所述第一滑座均设有第一安装孔，所述调节块和所述第二滑座均设有第二安装孔，两个所述第一转动轴承分别嵌装于两个所述第一安装孔内，两个所述第二转动轴承分别嵌装于两个所述第二安装孔内，所述第一连接板的两端均设有第一转轴，所述第一转轴与所述第一 转动轴承一一对应转动配合，所述第二连接板的两端均设有第二转轴，所述第二转轴与所述第二转动轴承一一对应转动配合。
- 根据权利要求2所述的夹盒机械手，其特征在于，所述第一滑座设有第一弯折部，所述第二滑座与所述第一滑座相对的一侧设有第二弯折部，所述第一弯折部与所述第二弯折部可适配贴合。
- 根据权利要求1所述的夹盒机械手，其特征在于，所述导轨机构还包括设置于所述固定座上的第二导轨，所述第一夹板和所述第二夹板均设有滑孔，所述第一夹板和所述第二夹板通过所述滑孔可滑动套装于所述第二导轨上。
- 根据权利要求1所述的夹盒机械手，其特征在于，所述第一夹板和所述第二夹板位于所述夹盒工位的一侧还均设有夹固部；或还包括防滑体，所述防滑体设置于所述第一夹板和/或所述第二夹板位于所述夹盒工位的一侧上。
- 根据权利要求2所述的夹盒机械手，其特征在于，所述驱动机构还包括纵向间隔设置的两个驱动杆、及间隔设置于所述固定座上的第一驱动齿轮和第二驱动齿轮，其中一个所述驱动杆的一端与所述调节块连接、另一端设有第一齿部，所述第一齿部与所述第一驱动齿轮啮合，另一个所述驱动杆的一端与所述围杆连接、另一端设有第二齿部，所述第二齿部与所述第二驱动齿轮驱动连接。
- 根据权利要求7所述的夹盒机械手，其特征在于，所述驱动机构还包括设置于所述固定座上的支撑导座，所述支撑导座上设置有直线轴承，所述直线轴承与所述驱动杆滑动且导向配合。
- 一种立式装盒机，其特征在于，包括设有主轴的机架、下中心转盘、高度调节机构、上中心转盘、上夹盒调节机构、下夹盒调节机构和至少两个如上述权利要求1至8任一项所述的夹盒机械手，所述下中心转盘套装在所述主轴上，所述高度调节机构设置于所述下中心转盘上，所述上中心转盘设置于所述高度调节机构上；至少两个所述夹盒机械手均匀布设于所述上中心转盘和所述下中心转盘上且位于同一工位，所述下夹盒调节机构设置于所述下中心转盘上并与所述夹盒机械手驱动连接，所述上夹盒调节机构设置于所述上中心转盘 上并与所述夹盒机械手驱动连接。
- 根据权利要求9所述的立式装盒机，其特征在于，包括多组所述夹盒机械手，多组所述夹盒机械手均匀分布于所述上中心转盘和所述下中心转盘的圆周面上，所述上中心转盘和所述下中心装盘上还均同轴设置有上中心齿轮和下中心齿轮，所述上中心齿轮与所有所述夹盒机械手的第二驱动齿轮均啮合、用于同步调节所有所述夹盒机械手的围杆的前后移动，所述下中心齿轮与所有所述夹盒机械手的第一驱动齿轮均啮合、用于同步调节所有所述夹盒机械手的第一夹板与第二夹板的张合。
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