WO2020169100A1

WO2020169100A1 - Box grasping apparatus and packaging machine

Info

Publication number: WO2020169100A1
Application number: PCT/CN2020/076306
Authority: WO
Inventors: 李泽伟
Original assignee: 青岛萨沃特机器人有限公司
Priority date: 2019-02-22
Filing date: 2020-02-22
Publication date: 2020-08-27

Abstract

A box grasping apparatus and a packaging machine. The box grasping apparatus comprises two clamping members (11) provided opposite to each other, and a first limiting member (13) provided on one of the clamping members (111) and protruding towards the other clamping member (112). The first limiting member (13) limits displacement of a packing box between the two clamping members (11) along a direction along the clamping members; the first limiting member (13) is able to move along the clamping members. When the box grasping apparatus grasps packing boxes having different sizes, the first limiting member may move to an appropriate position along the clamping members, so that the packing box and the box opening thereof are limited to a preset position.

Description

Box grabbing device and packaging machine

This patent application claims the priority of the Chinese patent applications filed on February 22, 2019 with application numbers 201910133940.0, 201910132548.4, 201920229686.X, 201920234154.5, 201910133219.1, 201920230035.2, 201910133904.4, 201920230025.9, and 201920230172.6. The full text of this application is incorporated by reference. The method is incorporated into this article.

Technical field

The invention belongs to the field of packaging machines, and in particular relates to a box grasping device and a packaging machine.

Background technique

As the external manifestation of products, packaging boxes are widely used in the packaging of various products. Most of the products circulating in the market are packaged in packaging boxes for sale. The existing packaging machine first grabs the box blank, then opens the box blank into a packaging box and places it in the designated clamping jaws, and then uses the clamping jaws to clamp the packaging box for other operations. When grabbing the packaging box, because Depending on the size of the packaging box, the position of the box opening after it is placed in the clamping jaws will be deviated, which will cause more inconvenience for subsequent operations.

Summary of the invention

The purpose of this application is to provide a box grabbing device, including:

Two clamping pieces arranged oppositely, namely clamping components;

And a first limiting member arranged on one of the clamping members and protruding toward the direction of the other clamping member to limit the packaging box located between the two clamping members along the clamping Displacement in the direction of the closing member, the first limiting member can move along the clamping member.

Preferably, a sliding groove is provided on the clamping member, and the first limiting member includes a first protrusion corresponding to the sliding groove.

Preferably, the first limiting member includes a first through hole corresponding to the sliding groove, and further includes a positioning bolt inserted in the first through hole and the sliding groove to limit the first through hole and the sliding groove. The displacement of the limit piece.

Preferably, the clamping member includes a closed end with a first groove for clamping with the mounting member.

Preferably, the mounting member is provided with a second through hole, and further includes a protruding member penetrating through the second through hole to limit the distance between the two mounting members.

Preferably, the first limiting member includes a first limiting member body, and an extension portion provided at one end of the first limiting member body.

Preferably, it further includes a mounting frame, the clamping piece is arranged on the mounting frame, and a supporting piece is further provided on one side of the clamping piece.

Preferably, it further includes a rotary drive unit connected to the mounting frame, a guide rail connected to the rotary drive unit, and a second drive connected to the rotary drive unit to drive the rotary drive unit to move along the guide rail Pieces.

Preferably, it also includes a rotating part, the clamping assembly is distributed along the circumference of the rotating part and linked with the rotating part, and is correspondingly connected with multiple sets of the clamping assembly to control the clamping or separation of the clamping assembly The plurality of first driving parts are respectively electrically connected with the plurality of first driving parts to individually control the controller of each first driving part.

Preferably, it further includes a detection component for detecting whether a packaging box enters the clamping assembly, and the detection component is electrically connected to the controller.

The present application also provides a packaging machine, which is characterized by including the box grabbing device as described above.

Preferably, it further comprises a loading unit and/or a box sealing unit provided corresponding to the clamping assembly, and the loading unit and/or the box sealing unit are electrically connected to the controller.

Compared with the prior art, the beneficial effects of this application are:

In the box grasping device provided by the present application, one of the clamping members is provided with a first limiting member to restrict the movement of the packaging box between the two clamping members, thereby restricting the packaging box and its mouth to the two clamping members. The preset position in the assembly. When clamping different packaging boxes, the first limiting member can be moved to a suitable position along the clamping member, thereby restricting the packaging box and its mouth to a preset position, and the application range is wider.

Description of the drawings

Fig. 1 is a structural diagram 1 of the box grasping device of the first embodiment;

Figure 2 is a schematic structural diagram 2 of the box grasping device of the first embodiment;

FIG. 3 is a schematic diagram of the structure of the first limiting member of an embodiment;

Fig. 4 is a structural schematic diagram 1 of the box grasping device of the second embodiment;

Fig. 5 is a structural schematic diagram 2 of the box grasping device of the second embodiment;

Figure 6 is a schematic structural diagram of a box grasping device of a third embodiment;

FIG. 7 is a schematic diagram of the structure of a clamping piece according to an embodiment;

Figure 8 is a schematic diagram of the structure of a box embryo according to an embodiment;

FIG. 9 is a schematic structural diagram of a box taking unit according to an embodiment;

FIG. 10 is a schematic structural diagram of a box grasping device of a fourth embodiment;

FIG. 11 is a schematic diagram of the structure of a supporting member according to an embodiment;

Figure 12 is a schematic structural diagram of a box grasping device of a fifth embodiment;

Figure 13 is a control schematic diagram of the packaging machine of an embodiment;

Number in the picture: 101 box blank, 1011 main panel, 1012 side panel, 1013 main cover, 1014 side cover, socket 1015, 1 box grasping device, 11 clamps, 111 first clamps, 112 second clamps , 110 clamping assembly, 113 sliding groove, 114 closed end, 1141 first groove, 115 first positioning member, 116 second groove, 117 open end, 1171 second protrusion, 1172 first guide surface, 12 The first driving member, 121 controller, 122 detecting member, 13 first limiting member, 131 first protrusion, 132 first through hole, 133 positioning bolt, 134 first limiting member body, 135 extension, 1351 The first surface, 14 mounting parts, 1401 second through holes, 1402 projections, 141 projections, 142 mounting body, 1421 first mounting body, 1422 second mounting body, 1423 second hole, 1424 second Guide groove, 143 connection part, 1431 first connection part, 1432 second connection part, 1433 first hole, 1434 first guide groove, 1435 second positioning member, 15 cassette removal unit, 151 first drive unit, 152 second Limiting part, 16 mounting frame, 161 rotation driving unit, 162 guide rail, 163 second driving part, 17 supporting part, 171 first end, 172 second end, 1721 first slope, 18 rotating part.

detailed description

The technical solutions of the present application will be described in detail below in conjunction with specific embodiments. However, it should be understood that without further description, elements, structures and features in one embodiment can also be beneficially combined into other embodiments.

In the description of this application, it should be understood that the terms "first" and "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features.

In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "bottom", "inner", etc. are based on the orientation or positional relationship shown in FIG. In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The described implementations are merely descriptions of the preferred implementations of the application, and are not intended to limit the scope of the application. Without departing from the design spirit of the application, various modifications made by those of ordinary skill in the art to the technical solutions of the application And improvements should fall within the scope of protection determined by the claims of this application.

1 and 2, the first embodiment of the present application proposes a box grasping device 1, including:

Two clamping members 11 arranged oppositely, namely a first clamping member 111 and a second clamping member 112, the first clamping member 111 and the second clamping member 112 form a clamping assembly 110;

And a first limiting member 13 arranged on one of the clamping members 11 and protruding toward the other clamping member 11 to limit the packaging box located between the two clamping members 11 With displacement in the direction of the clamping member, the first limiting member 13 can move along the clamping member 11.

In the box grasping device 1 described in the present application, the first limiting member 13 is provided on one of the clamping members 11 to restrict the movement of the packaging box in the two clamping members 11, so that the packaging box and its mouth It is limited to a preset position in the two clamping pieces 11. When clamping different packaging boxes, the first limiting member 13 can be moved to a suitable position along the clamping member 11, thereby restricting the packaging box and its mouth to a preset position, which has a wider application range. It should be noted that the box grasping device provided in this application is not limited to be used for packaging boxes, but can also be applied to other materials. For the convenience of description, the packaging box is used as the representative of the material. Therefore, the description of the packaging box should not be considered To limit the scope of protection of this application.

As a preferred embodiment, the clamping member 11 is provided with a sliding groove 113, and the first limiting member 13 includes a first protrusion 131 corresponding to the sliding groove 113. The first protrusion 131 is inserted into the sliding groove 113, and the first limiting member 13 can move along the sliding groove 113 relative to the clamping member 11, and passes through the first protrusion 131 and the sliding groove 113. The cooperation of 113 defines the included angle between the first limiting member 13 and the clamping member 11, which is easy to install and position, so that the preset position of the packaging box in the clamping assembly 110 can be simply adjusted. In this embodiment, both the first clamping member 111 and the second clamping member 112 are provided with sliding grooves 113. In actual use, the first limiting member 13 is installed on two or one of the clamping members 11 as required.上的滑槽113。 On the chute 113. The sliding groove 113 extends along the length direction of the clamping member 11, so the first limiting member 13 can move along the length direction of the clamping member 11.

It should be noted that the clamping piece and the first limiting piece are generally at right angles, so as to be suitable for rectangular packaging boxes. If the angle between the panels of the packaging box is not a right angle, the angle between the clamping member and the first limiting member can also be adjusted. Specifically, the angle between the first protrusion and the first limiting member can be adjusted. The tilt angle is used to adjust the angle between the clamping piece and the first limiting piece.

As a preferred embodiment, the first limiting member 13 includes a first through hole 132 corresponding to the sliding groove 113, and also includes a first through hole 132 and a sliding groove 113 inserted into the The positioning bolt 133 is used to limit the displacement of the first limiting member 13. The positioning bolt 133 passes through the first through hole 132 and the sliding groove 113 to position the first limiting member 13 at the setting In the position of, avoid the movement of the first limiting member 13 due to excessive impact force of the packaging box during use, and prevent the position of the packaging box from shifting due to the movement of the first limiting member 13. When changing packing boxes of different sizes, loosen the positioning bolts 133 to unlock the position of the first limit member 13, and then the first limit member 13 can be moved along the chute 113 according to the required preset position to achieve different sizes of packaging Positioning of the box.

As a preferred embodiment, as shown in FIG. 3, the first limiting member 13 includes a first limiting member body 134 and an extension 135 provided at one end of the first limiting member body 134. Specifically, the extension part 135 is provided at an end of the first stopper body 134 away from the first protrusion 131. A sliding groove 113 is defined on the first clamping member 111, the first protrusion 131 is located in the sliding groove 113 of the first clamping member 111, and the extension 135 extends toward the second clamping member 112. At least a part of the extension portion 135 crosses the second clamping piece 112, and there is a gap between the extension portion 135 and the second clamping piece 112. Specifically, as shown in FIG. 1, the extension portion 135 includes a first surface 1351 disposed opposite to the second clamping member 112, and there is a gap between the first surface 1351 and the second clamping member 112 . The extension length of the extension 135 can be set according to the distance between the first clamping member 111 and the second clamping member 112, so that when the two clamping members 11 are separated, the first limiting member 13 still spans the two clamping members. The fitting 11, the first limiting member 13 can effectively intercept the packaging box. When the two clamping members 11 are clamped, due to the gap between the first surface 1351 and the second clamping member 112, the first limiting member 13 will not affect the clamping of the two clamping pieces 11 and close to each other.

As a preferred embodiment, the first limiting member body 134 protrudes downward to between the two clamping members 11. If there is no other limiting structure, when the two clamping members 11 are clamped, the first limiting member The body 134 is just clamped between the two clamping members 11, therefore, the first limiting member body 134 further defines the minimum distance between the two clamping members 11 to prevent the clamping members 11 from being excessively clamped, resulting in The box is deformed.

As a preferred embodiment, the clamping member 11 includes a closed end 114 having a first groove 1141 to be fixed to the mounting member 14. That is, the closed end 114 of the clamping member is connected to the mounting member 14. Specifically, the mounting member 14 corresponds to the clamping member 11, and the closed ends 114 of the two clamping members are respectively fixedly connected to the two mounting members 14, so as to realize the relative arrangement of the two clamping members 11. The closed end 114 of the clamping piece is provided with a first groove 1141, and the mounting piece 14 is provided with a protrusion 141 matching the first groove 1141, so as to realize the positioning of the clamping piece 11 and the mounting piece 14 to make the clamping assembly The installation position of 110 is more clear, avoiding the position mismatch of the two clamping pieces 11 after installation, thereby facilitating the alignment of the two clamping pieces 11, the first groove 1141 is preferably concave, which is easier to locate and install.

In order to adapt to packaging boxes of different sizes, it is necessary to adjust the spacing between the clamping pieces according to the size of the packing box. As a preferred embodiment, as shown in Figures 4-6, the mounting piece 14 includes the clamping piece 11 Relatively movable and fixedly connected connecting portion 143. Specifically, the closed end 114 of the clip and the connecting portion 143 are relatively moved and fixedly connected. The relative position of the first clamping piece 111 and the second clamping piece 112 can be adjusted. When the size of the packaging box changes, adjust the connection position of the clamping piece 11 and the connecting part 143, and the distance between the two clamping pieces 11 can be The size of the packing box is adaptable, and the clamping of the corresponding packing box can be realized without replacing the clamping piece 11 when it is used to clamp packing boxes with large differences in size.

More specifically, as shown in FIGS. 4 and 5, the connecting portion 143 is provided with a plurality of first holes 1433 at intervals, and the clamping member 11 passes through the

first holes

1433 and 1433 through the first positioning member 115. The clip 11 is positioned at a predetermined position on the connecting portion 143. Of course, the first hole can also be provided on the clamping piece, but the clamping piece directly applies clamping force to the packaging box, and opening multiple holes on the clamping piece will reduce the structural strength of the clamping piece and shorten the service life. The first holes 1433 of the connecting portion are distributed in a straight line to adjust the distance between the two clamping pieces 11 along the straight line, so that the two clamping pieces 11 always correspond to each other. The first positioning member 115 is disposed at a position corresponding to the first hole 1433 on the connecting portion 143. The clamping member 11 and the connecting portion 143 are defined in one of the selected first holes 1433 by the first positioning member 115. Optionally, the first positioning member 115 is provided with an external thread, and the first hole 1433 is provided with an internal thread matching the external thread of the first positioning member 115. By arranging the first positioning member 115 in different first holes 1433, the relative position of the two clamping members 11 can be adjusted.

Preferably, the first holes 1433 are arranged in multiple rows in parallel and spaced apart on the connecting portion 143, and the number of the first positioning members 115 corresponds to the number of rows of the first holes 1433. The first positioning member 115 is fixedly connected with a predetermined row of the first holes 1433, and the clamping member 11 is thus stably positioned on the connecting portion 143, which can avoid clamping due to excessive clamping force when clamping the packaging box Pieces of rotation. Specifically, as shown in FIGS. 4 and 5, the connecting portion 143 is provided with two rows of the first holes 1433, and there are two first positioning members 115 of each clamping member 11, and the first positioning member 115 Fixed connection with the first holes 1433 in the second row from the outside.

Or, as an alternative implementation of the above solution, as shown in FIG. 6, the connecting portion 143 is provided with a first guide groove 1434, and the clip 11 passes through the first guide through the first positioning member 115. The groove 1434 and the clamping member 11 are positioned at a predetermined position on the connecting portion 143. Of course, the first guide groove can also be provided on the clamping piece, but the clamping piece directly applies a clamping force to the packaging box. Slotting on the clamping piece will reduce the structural strength of the clamping piece and shorten the service life. The first positioning member 115 is disposed at a position corresponding to the first guide groove 145 on the connecting portion 143. The clamping piece 11 can slide along the first guide groove 145 relative to the connecting portion 143, and is fixed at a predetermined position by the first positioning member 115, and the relative position of the clamping piece 11 and the connecting portion 143 can be continuously adjusted, thereby continuously adjusting The distance between the two clamping pieces 11 is adapted to the continuous adjustment of the clamping position of the packaging box with small size changes, and the adjustment accuracy of the clamping position is higher.

As a preferred embodiment, the first guide grooves 1434 are arranged in multiple rows in parallel and spaced apart on the connecting portion 143, and the number of the first positioning members 115 corresponds to the number of rows of the first guide grooves 1434. The plurality of first positioning members 115 are connected with the first guide grooves 1434 arranged in multiple rows, and the clamping member 11 is stably positioned at the predetermined position of the connecting portion 143, which can avoid the clamping force caused by the clamping and placing of the packaging box. Too large causes the clamping piece to rotate. Specifically, as shown in FIG. 6, the connecting portion 143 is provided with two rows of the first guide grooves 1434, and there are two first positioning members 115 in total.

Specifically, the connecting portion 143 includes: a first connecting portion 1431 connected to the first clamping piece 111 and a second connecting portion 1432 connected to the second clamping piece 112. The first holes 1433 or the first guide grooves 1434 on the first connecting portion 1431 and the second connecting portion 1432 correspond to each other, so that the installation positions of the first clamping piece 111 and the second clamping piece 112 correspond to each other, thereby being symmetrical The clamping box.

For packaging boxes of different sizes, the clamping positions of the clamping members are different. In order to adjust the clamping position of the clamping members, as a preferred embodiment, as shown in Figures 4 and 6, the mounting member further includes The mounting body 142 is relatively movable and fixedly connected to the connecting portion 143.

Specifically, as shown in FIG. 6, the mounting body 142 is further provided with a plurality of second holes 1423 at intervals, and the connecting portion 143 passes through the second hole 1423 and the connection through the second positioning member 1435. The part 143 is positioned at a predetermined position on the mounting body 142. Of course, the second hole 1423 may also be provided on the connecting portion 143. By fixing the second positioning member 1435 in different second holes 1423, the relative position of the connecting portion 143 and the mounting member body 142 is fixed and adjustable, so that the relative position of the clamping member and the mounting member body can be adjusted. Optionally, the second positioning member 1435 is provided with an external thread, and the second hole 1423 is provided with an internal thread matching the external thread of the second positioning member 1435.

Or, as an alternative implementation of the above solution, as shown in FIG. 4, the mounting member body 142 is provided with a second guide groove 1424, and the connecting portion 143 passes through the second guide through the second positioning member 1435. The groove 1424 and the mounting member body 142 are positioned at predetermined positions on the mounting member body 142. Of course, the second guide groove 1424 can also be provided on the connecting portion 143. The connecting portion 143 can move relative to the mounting member body 142 and is fixed at a predetermined position by the second positioning member 1435, and the relative position of the connecting portion 143 and the mounting member body 142 can be continuously adjusted, thereby continuously adjusting the clamping member 11 and the mounting The relative position of the piece body 142 is adapted to the continuous adjustment of the clamping height of the packaging box with small size changes.

The mounting member body 142 includes a first mounting member body 1421 connected to the first connecting portion 1431, and a second mounting member body 1422 connected to the second connecting portion 1432. The first mounting member body 1421 and the second mounting member body 1421 are The second holes 1423 or the second guide grooves 1424 are provided corresponding to each other, so that the mounting heights of the first connecting portion 1431 and the second connecting portion 1432 correspond to each other, so that the heights of the two clamping members 11 correspond to each other, so that the clamping Hold the box at the same height.

As a preferred embodiment, as shown in FIG. 7, a second groove 116 matching the connecting portion 143 is formed in the relative position of the clamping piece 11 and the connecting portion 143, and the connecting portion 143 is inserted into the second groove.槽116。 In the slot 116. The clamping piece 11 and the connecting portion 143 are snap-fitted through the second groove 116 to limit the rotation of the clamping piece 11 relative to the connecting portion 13, and prevent the clamping piece 11 from rotating relative to the connecting portion 143 when the clamping force is large. The contact area between the clamping member 11 and the packaging box will become smaller, and the packaging box will be easily clamped.

In order to hold the packaging box more stably, as shown in Figure 1, Figure 2 and Figure 4-6, the box grasping device 1 can be provided with two sets of clamping assemblies 110, which are arranged up and down, and are respectively arranged on the mounting parts. The two ends of 14 can clamp the different height positions of the packing box when clamping. The first limiting members 13 of the two sets of clamping assemblies 110 are installed on the clamping members 11 on different sides. When the clamping members 11 are separated, the upper and lower first limiting members 13 expand to both sides, so the first limiting The position piece 13 can intercept the packaging box from both sides.

As a preferred embodiment, as shown in FIGS. 1 and 4, the mounting member 14 is provided with a second through hole 1401, and further includes a protruding member 1402 penetrating through the second through hole 1401 to The distance between the two mounting parts 14 is limited. Specifically, the protruding member 1402 may be a screw threaded through the second through hole 1401. The second through hole 1401 may be provided on one of the mounting members 14 and opposite to the other mounting member 14. The second through hole 1401 An internal thread can be provided, and the protruding member 1402 can be connected to the second through hole 1401 through the internal thread, or it can be positioned by arranging a nut on the protruding member 1402, that is, the mounting member 14 is provided with the second through hole 1401. The corresponding nut fixes the protrusion 1402 in the second through hole 1401. In use, the minimum distance between the two mounting members 14 can be adjusted by adjusting the length of the two protruding members 1402 protruding from the mounting member 14, thereby adjusting the distance between the two clamping members 11 shortest distance. The minimum distance between the two clamping pieces 11 can be adjusted to be slightly larger than the size of the packaging box, leaving a certain moving space for the packaging box, which can not only prevent the packaging box from falling, but also prevent damage to the packaging box. The above structure has low cost and is easy to replace. Of course, two corresponding second through holes 1401 can be provided on the two mounting members 14 respectively, and the two second through holes 1401 are each provided with a protruding member 1402, which is set by the cooperation of the two protruding members 1402. The minimum distance between the two clamping members 11, at the same time, solves the problem that when one protruding member 1402 is provided, the impact frequency of the contact position of the protruding member 1402 and the mounting member 14 is high and easy to damage. When two protruding members 1402 are provided , The protruding member 1402 will not directly collide with the mounting member 14, and the protruding member 1402 can be replaced regularly as a directly impacted component, and the replacement and maintenance of the equipment are easier. It should be noted here that the two protruding members 1402 can choose screws with different outer diameters, so that the alignment of the two protruding members 1402 on the two mounting members is more convenient.

As a preferred embodiment, as shown in FIGS. 2 and 5, the mounting member 14 is connected to the first driving member 12 to drive the two mounting members 14 to be clamped and separated, thereby driving the two clamping members 11 Clamping and separating. In this embodiment, an air cylinder is selected to be connected with the two mounting parts 14 to drive the clamping and separation of the two mounting parts 14.

As a preferred embodiment, as shown in Figure 1, Figure 4 and Figure 6, the clip 11 includes an open end 117 opposite to the closed end 114, and the open end 117 of each clip is provided with an A second protrusion 1171 is raised between the two clamping members 11. When the two clamping members 11 are clamped, the outer surface of the packaging box is attached to the two clamping members 11, and the second protrusion 1171 can limit the displacement of the packaging box and prevent the packaging box from falling from the open end 117. Specifically, the angle between the side of the second protrusion 115 close to the first limiting member 13 and the corresponding clamping member 11 is a right angle. For a rectangular packaging box, the second protrusion 115 and The clamping members 11 are attached to the outer edge of the packaging box, which can restrict the movement of the packaging box on the one hand, and promote the packaging box to expand into a rectangle on the other hand. The length of the second protrusion 115 can be set as required.

As a preferred embodiment, as shown in FIGS. 1, 4, and 6, a first guide surface 1172 is provided on the side of the open end 117 away from the first limiting member 13 to guide the packaging box into the two Between the clamping pieces 11. The packaging box 101 that enters the clamping assembly 110 is usually in a half-open state or has a position deviation, so it will collide with the open end 117 of the clamping member. The arrangement of the first guide surface 1172 effectively ensures that the packaging box can smoothly enter between the two clamping members 11. The first guide surface 1172 is preferably an arc surface, so that no jamming occurs when it contacts the packaging box or the packaging box.

As shown in Figure 8, the box blank 101 when the packaging box is not unfolded, the main panel 1011 and the side panel 1012 are folded in a staggered position, the main cover 1013 and the side cover 1014 are also folded in a staggered position, the folded main cover 1013 and the side cover 1014 are attached to each other Close, a socket 1015 is opened between the main cover 1013 and the side cover 1014. The box blank needs to be pre-deployed to a half-open state before entering the clamping assembly. Therefore, as shown in FIG. 9, the box grasping device 1 provided by the first embodiment of the present application further includes: a box taking unit capable of grasping the box blank 101 15. A first driving unit 151 connected to the box taking unit 15 to drive the box blank 101 to move according to a preset path, and a second limiter 152 provided on the preset path, so that the second limit The position member 152 is inserted into the socket 1015, so that the second limit member 152 can only limit the displacement of the main cover 1013 opposite to the socket 1015, and at the same time, the main cover 1013 and the side cover 1014 forming the socket 1015 can be removed in the box. The unit 15 continues to move, thereby realizing the preliminary separation of the misaligned and folded main cover 1013 and the side cover 1014, that is, realizing the initial opening of the box blank. The box taking unit 15 can grab the box blank 101. Here, the box taking unit 15 is preferably a plurality of pneumatic suction cups, which is easy to control and can be suitable for grabbing the box blanks 101 of different sizes and specifications. The first driving unit 151 can be selected according to whether the preset path requires multiple displacements or whether other displacements need to be made. Here, it is preferably an electric cylinder. The second limiting member 152 can be any shape corresponding to the socket 1015, preferably a cone shape, which is easy to pass through the socket 1015, and the cone shape makes the second limiting member 152 and the socket 1015 still have a certain position error. Can work normally. The pneumatic suction cup grabs the main panel 1011 on the side of the box blank 101. When the two clamping pieces 11 of the box grasping device are separated, the first driving unit 151 drives the pneumatic suction cup to move the box blank 101 into the first clamping piece 111 and the second clamping piece 111. Between the clamping pieces 112, because the pneumatic suction cup only sucks the main panel 1011 on one side, it can only drive the main cover 1013 on one side to move. The second limiter 152 in the socket 1015 blocks the main cover 1013 on the other side. Move, so the two main covers 1013 of the box blank 101 are separated from each other under the action of the pneumatic sucker, and the box blank 101 is initially opened. At this time, the first clamping piece 111 and the second clamping piece 112 are clamped, and the box blank 101 is in The clip 11 is further expanded into a packaging box, and the packaging box is kept in an unfolded state.

When the box grasping device provided in this application is used as a part of the packaging machine for packaging box packaging, it usually needs to be installed on a packaging machine, and when the packaged material is placed in the packaging box, the box grasping device needs to bear a certain weight. In order to solve the problem of installation and load-bearing, as shown in FIG. 10, the box grasping device 1 further includes a mounting frame 16, the clamping piece 11 is provided on the mounting frame 16, and one side of the clamping piece 11 is also With supporting parts 17. Specifically, the clamping member 11 is connected to the mounting frame 16 through the first driving member 12, the supporting member 17 is connected to the mounting frame 16, and the supporting member 17 is located below the clamping assembly 110 to support The packaging box clamped by the clamping assembly 110. When the box grabbing device 1 grabs the packaging box, the packaging box moves between the two clamping members 11 and can be placed on the supporting member 17, so the supporting member 17 bears part of the weight of the packaging box, and the clamping assembly 110 only needs A small force is applied to the packaging box, and the packaging box can be clamped, positioned and transported, so as to prevent the packaging box from being separated from the clamping assembly 110 due to its own weight. The clamping assembly 110 does not need to bear much weight when clamping the packaging box. The height difference between the supporting member 17 and the clamping assembly 110 is set according to the requirements of the clamping position of the packaging box.

As a preferred embodiment of the above-mentioned embodiment, as shown in FIG. 11, the supporting member 17 includes a first end 171 connected to the mounting frame 16 and a second end 172 away from the mounting frame. The two ends 172 are provided with a first inclined surface 1721 opposite to the clamping assembly 110, and the first inclined surface 1721 is inclined to the side away from the clamping assembly 110. When grabbing a packaging box that is attached to the ground or placed in close contact with other objects, the outer thickness of the supporting member 17 is relatively thin, and the supporting member 17 can be inserted into the gap between the packaging box and other things through the first inclined surface 1721, The packaging box is gradually lifted along the first inclined surface 1721 into between the two clamping members 111 or moved in a predetermined direction, so that the packaging box is easier to be held by the supporting member 17 without applying extra to the packaging box. The clamping force can make it leave the ground or other objects that fit together, and for the packaging box that is easily damaged outside, it further ensures the integrity of the packaging box.

After the box grasping device 1 grips the packaging box, it is usually necessary to transport the packaging box to the next process station. In order to realize the transfer of the packaging box, the box grasping device 1 further includes a rotation drive unit 161 connected to the mounting frame 16. The mounting frame 16 is driven to rotate on a preset plane. Here, the rotation driving unit 161 can drive the mounting frame 16 to rotate parallel to the plane where the supporting member 17 is located, and can be used to transport the packaging box on the plane. The rotary drive unit 161 can be in the form of a rotary cylinder or a servo motor, preferably a servo motor, which can accurately control the angle of rotation as required. If only one displacement is required, that is, the angular position of rotation is determined, a rotary cylinder can also be used.

As a preference of the above-mentioned embodiment, as shown in FIG. 10, the box grabbing device 1 further includes a guide rail 162 connected to the rotation driving unit 161, and connected to the rotation driving unit 161 to drive the rotation driving unit 161 The second driving member 163 moving along the guide rail 162 realizes the movement of the mounting frame 16 in another dimension. The second driving member 163 is preferably an electric cylinder, which can precisely control the moving distance of the mounting frame 16, so as to be suitable for various precise transportation. The direction of the guide rail 162 is preferably corresponding to the position where the first inclined surface 1721 of the supporting member 17 is provided, so as to facilitate the insertion and withdrawal of the supporting member 17.

Alternatively, the packaging box transfer can also be realized by the following structure. As shown in Figures 12 and 13, the box grabbing device 1 includes a rotating member 18, and multiple sets of the clamping assembly 110 are distributed along the circumference of the rotating member 18 and are linked with the rotating member 18, and are connected to multiple sets of The clamping assembly 110 is correspondingly connected to control the plurality of first driving members 12 clamped or separated by the clamping assembly 110. The first driving member 12 that drives the multiple sets of clamping assemblies 110 is also provided in multiple groups, so as to control each set of clamping assemblies 110 individually. Specifically, the rotating member 18 is connected to the mounting frame 16, the number of the clamping assembly 110 is set as required, and its distribution in the circumferential direction of the rotating member 18 can be set according to the situation, and can be of various types Staggered setting can also be set for one type of interval. The rotating member 18 is connected with an external driving member to drive the rotating member 18 to rotate. Specifically, a servo motor or a stepping motor can be selected to drive the rotating member 18 to rotate. The shape of the rotating member 18 is preferably a circle, but can also be other shapes, and can be adjusted according to the distribution form of other components of the packaging machine.

As a preference of the above-mentioned embodiment, the box grasping device 1 further includes a controller 121 electrically connected to a plurality of the first driving members 12 to individually control each first driving member 12. The controller 121 can be a programmable controller such as PLC, which is easy to edit and control. Through a plurality of clamping assemblies 110 divided in the circumferential direction of the rotating member 18, and a plurality of first driving members 12 corresponding to the plurality of clamping assemblies 110, it is realized that a plurality of workstations can simultaneously clamp and take the packaging box. The controller 121 corresponding to the plurality of first driving members 12 individually controls the action of each group of clamping components 110, so that when a problem occurs in the operation of one of the clamping components 110, it can be adjusted separately without hindering others Of the work station.

Further, as shown in FIG. 13, the box grasping device 1 further includes a detection component 122 for detecting whether a packaging box enters the clamping assembly 110, and the detection component 122 is electrically connected to the controller 121. When detecting that a packaging box enters the clamping assembly 110, the detecting element 122 outputs an electrical signal to the controller 121, and the controller 121 controls the first driving element 12 to drive the clamping assembly 110 to clamp, thereby clamping the package entering the clamping assembly 110 box. When the detecting element 122 does not detect that the packaging box enters the clamping assembly 110, it does not transmit an electrical signal to the controller 121, and the controller 121 does not control the clamping assembly 110 to clamp, and the clamping assembly 110 continues to follow The rotating member 18 is rotated to other positions, such as the positions corresponding to the mechanism such as loading or box sealing, but the controller 121 does not receive the signal of entering the packaging box, and the position where the clamping assembly 110 is rotated is parallel Without operation, the adjustment of the single clamping assembly 110 is realized without affecting the continued work of other clamping assemblies 110. The detection element 122 is preferably a laser detection sensor, and the detection result is relatively accurate and the signal is stable.

Further, a plurality of the clamping components 110 are arranged at even intervals along the circumferential direction of the rotating member 18, so that the setting of the rotation rhythm of the rotating member 18 is simpler, and it only needs to be based on the clamping components Set the angle corresponding to the length of the 110 interval, corresponding to the operation flow of other components or the signal rotation of other components, and there is no need to set multiple rotation angles.

The box sealing device provided by the first embodiment of the present application has a simple structure and is easy to install. When used for product packaging, it can be used in combination with the devices used in the operation process of box embryo unfolding, box grabbing, and material grabbing, or it can be used with Combination of components used in other packaging processes of the main cover or side cover.

The second embodiment of the present application provides a packaging machine, which includes the box grabbing device 1 described above.

The box grasping device provided by the first embodiment of the present application has a simple structure and easy installation. It can be used to unfold the box blank into a packaging box and grasp the packaging box. When used for product packaging, it can correspond to the clamping of the box grasping device The assembly 110 is provided with a loading unit 2 and/or a box sealing unit 3. Therefore, as a preference, as shown in FIG. 13, the second embodiment of the present application provides a packaging machine, which includes the box grasping device 1 described above, and also includes a device corresponding to the clamping assembly 110 of the box grasping device. The loading unit 2 and/or the box sealing unit 3 are electrically connected to the controller 121, so that when there is no packaging box in the clamping assembly 110, The loading unit 2 and/or the box sealing unit 3 will not perform corresponding operations, which saves energy and avoids unnecessary losses caused by operations on empty stations.

Claims

A box grabbing device, characterized in that it comprises:

Two clamping pieces arranged oppositely, namely clamping components;

And a first limiting member arranged on one of the clamping members and protruding toward the direction of the other clamping member to limit the packaging box located between the two clamping members along the clamping Displacement in the direction of the closing member, the first limiting member can move along the clamping member.
The box grasping device according to claim 1, wherein a sliding groove is provided on the clamping member, and the first limiting member includes a first protrusion corresponding to the sliding groove.
The box grasping device according to claim 2, wherein the first limiting member includes a first through hole corresponding to the sliding groove, and further includes a first through hole inserted in the first through hole and the sliding groove. The positioning bolts in the grooves limit the displacement of the first limiting member.
The box grasping device according to claim 1, wherein the clamping member includes a closed end with a first groove to be fixed to the mounting member.
The box grasping device according to claim 4, wherein the mounting member is provided with a second through hole, and further comprises a protruding member penetrating through the second through hole to restrict two The distance between the mounting parts.
The box grasping device according to claim 1, wherein the first limiting member comprises a first limiting member body, and an extension provided at one end of the first limiting member body.
The box grasping device according to claim 1, further comprising a mounting frame, the clamping member is provided on the mounting frame, and a supporting member is further provided on one side of the clamping member.
The box grasping device according to claim 7, further comprising a rotary drive unit connected to the mounting frame, a guide rail connected to the rotary drive unit, and a rotary drive unit connected to the rotary drive unit to drive the The second driving member that the rotary driving unit moves along the guide rail.
The box grasping device according to claim 1, further comprising a rotating member, the clamping assembly is distributed along the circumference of the rotating member and linked with the rotating member, corresponding to multiple sets of the clamping assembly The plurality of first driving parts connected to control the clamping or separation of the clamping assembly are electrically connected with the plurality of first driving parts to individually control the controller of each first driving part.
9. The box grasping device according to claim 9, further comprising a detection element for detecting whether a packaging box enters the clamping assembly, and the detection element is electrically connected to the controller.
A packaging machine, characterized by comprising the box grasping device according to any one of claims 1-10.
A packaging machine, characterized by comprising the box grasping device as claimed in claim 9, and further comprising a loading unit and/or a box sealing unit provided corresponding to the clamping assembly, the loading unit and/or Or the box sealing unit is electrically connected to the controller.