WO2021077637A1 - 一种装盘机及其装盘方法 - Google Patents

一种装盘机及其装盘方法 Download PDF

Info

Publication number
WO2021077637A1
WO2021077637A1 PCT/CN2020/071503 CN2020071503W WO2021077637A1 WO 2021077637 A1 WO2021077637 A1 WO 2021077637A1 CN 2020071503 W CN2020071503 W CN 2020071503W WO 2021077637 A1 WO2021077637 A1 WO 2021077637A1
Authority
WO
WIPO (PCT)
Prior art keywords
tray
bottle
conveying mechanism
rotating platform
loading machine
Prior art date
Application number
PCT/CN2020/071503
Other languages
English (en)
French (fr)
Inventor
陈华明
李俊
Original Assignee
楚天科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 楚天科技股份有限公司 filed Critical 楚天科技股份有限公司
Publication of WO2021077637A1 publication Critical patent/WO2021077637A1/zh

Links

Images

Classifications

    • 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
    • B65B43/54—Means for supporting containers or receptacles during the filling operation
    • B65B43/60—Means for supporting containers or receptacles during the filling operation rotatable
    • 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
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
    • B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks

Definitions

  • the invention relates to food and medicine packaging technology, in particular to a plate loading machine and a plate loading method thereof.
  • Plastic ampoules, etc. need to be plated after the filling is completed and before sterilization in order to carry out batch sterilization.
  • the filling line has high efficiency, but the manual filling efficiency is low and it is difficult to meet the requirements, and the labor intensity is high.
  • Most of the existing turntable machines use a robot to grab the bottle and place it directly on the tray. When the bottle is separated from the robot, it is easy to fall over. The bottle in the tray is also easy to fall when transferred to the subsequent station due to the large gap. Bottle phenomenon, and the position of the manipulator to put the bottle is different each time, resulting in a very complicated structure and control process of the manipulator.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a tray loading machine with simple and reliable structure and not easy to pour bottles.
  • the present invention further provides a disk loading method of the above-mentioned disk loading machine.
  • a pallet loading machine includes a pallet with a bottle stopper, a plate-in conveying mechanism, a plate-out conveying mechanism, a pallet rotating platform, a bottle conveying mechanism, a bottle grabbing mechanism, and a pallet that can move along the rotating pallet rotating platform.
  • the bottle protector, the tray-in conveying mechanism and the tray-out conveying mechanism are all butted with the tray rotating platform.
  • the bottle protecting member is a telescopic structure and is arranged obliquely below the pallet rotating platform.
  • the vacuum chuck is provided on the telescopic drive member
  • the telescopic drive member is provided on the rotary drive member
  • the rotary drive member is provided on the translation drive member.
  • the tray rotating platform is provided with a fixed plate opening mechanism for fixing the tray and opening the bottle stop shutter.
  • the tray is hinged with a connecting arm
  • the bottle stopper is arranged on the connecting arm
  • the fixed plate opening mechanism includes a first lifting drive and a first lifting drive.
  • the tray rotating platform is provided with a transitional conveying mechanism on one side close to the tray-out conveying mechanism, the transitional conveying mechanism is arranged on a second lifting drive, and the tray-in conveying mechanism It is arranged below the disc delivery conveying mechanism.
  • the tray-in conveying mechanism, the tray-out conveying mechanism and the transitional conveying mechanism are all roller conveying mechanisms.
  • a disk loading method of the above-mentioned disk loading machine includes the following steps:
  • the tray feeding mechanism transports the tray to the tray rotating platform, the tray rotating platform drives the tray to an inclined state, the bottle stopper is opened, and then the bottle protector moves to the higher side of the tray;
  • bottle body The grabbing mechanism grabs the bottle body on the bottle conveying mechanism and transfers it to the higher side of the tray and rotates the bottle body to be perpendicular to the tray;
  • the tray loading machine disclosed in the present invention includes a tray rotating platform and a bottle protecting member that can move along the rotated tray rotating platform, and the tray rotating platform is used to drive the tray to rotate to tilt
  • the bottle protector is used to protect the bottle when the tray is loaded in the tilted state. Because the tray is loaded in the tilted state, the bottle body is not easy to pour the bottle after being separated from the grasping mechanism, and it can be used under the action of gravity. Eliminate the gap between the rows of bottles, which is beneficial to avoid bottle inversion, and can solve the problem of height space. Compared with the conventional tray loading machine, the reliability is higher. After each row of bottles is loaded, the bottle protector can be backed by one row. The distance of the bottle body keeps the position of the gripping mechanism consistent each time the bottle is placed, and the structure and movement process of the gripping mechanism are simpler.
  • Fig. 2 is a schematic top view of the structure of the disc loading machine of the present invention.
  • Fig. 4 is a plan view of Fig. 3.
  • Fig. 5 is a schematic diagram of the structure of the tray in the present invention.
  • Fig. 6 is a process schematic diagram of an embodiment of the disk loading method of the present invention.
  • the reference numbers in the figure indicate: 1. Tray; 11. Bottle stop gate; 12. Connecting arm; 2. In-tray conveying mechanism; 3. Out-tray conveying mechanism; 4. Pallet rotating platform; 41. Transitional conveying mechanism; 42. The second lifting drive part; 5. Bottle conveying mechanism; 6. Bottle grabbing mechanism; 61. Vacuum suction cup; 62. Telescopic drive part; 63. Rotation drive part; 64. Translation drive part; 7. Bottle protection part; , Fixed plate opening mechanism; 81, the first lifting drive member; 82, the connecting member; 83, the first pressure block.
  • FIGS 1 to 5 show an embodiment of the tray loading machine of the present invention.
  • the tray loading machine of this embodiment includes a tray with a bottle stopper 11, a tray feeding mechanism 2, a tray feeding mechanism 3,
  • the pallet rotating platform 4, the bottle conveying mechanism 5, the bottle body grabbing mechanism 6, and the bottle protecting member 7 that can move along the rotating pallet rotating platform 4, the tray-in conveying mechanism 2 and the tray-out conveying mechanism 3 are all connected with the pallet rotating platform 4 docking.
  • the tray loading machine includes a tray rotating platform 4 and a bottle protecting member 7 that can move along the rotating tray rotating platform 4.
  • the tray rotating platform 4 is used to drive the tray 1 to rotate to an inclined state, and the bottle protecting member 7 is used in the inclined state.
  • the bottle protecting member 7 is a telescopic structure (for example, a cylinder, a screw nut pair, etc.) and is arranged obliquely below the tray rotating platform 4.
  • the bottle protector 7 adopts a telescopic structure to realize the mobile bottle protector, and is arranged obliquely under the tray rotating platform 4.
  • the structure is simpler and more compact, and it takes up less space.
  • the tray rotating platform 4 drives the tray 1 to rotate to the bottle protector. 7 is parallel, and then the bottle protecting member 7 extends into the tray 1.
  • the bottle protecting member 7 is retracted by the distance of a row of bottles.
  • a bottle protection plate and a supporting translation mechanism can also be used to realize bottle protection during the tray loading process.
  • the disadvantage is that the structure is relatively complicated, which results in a large space occupied by the equipment.
  • the bottle grabbing mechanism 6 includes a vacuum suction cup 61, a telescopic driving member 62 (such as a cylinder, a screw nut pair, etc.) for driving the vacuum suction cup 61 to expand and contract, and a vacuum suction cup 61 for driving the rotation of the vacuum suction cup 61.
  • the rotating drive 63 (motor shaft, rotating cylinder, etc.) and the translation drive 64 (cylinder, slide rail, etc.) for driving the vacuum suction cup 61 to reciprocate between the bottle conveying mechanism 5 and the tray rotating platform 4.
  • the bottle grabbing mechanism 6 grabs or releases the bottle by the vacuum suction cup 61.
  • the telescopic drive member 62 is used to drive the vacuum suction cup 61 up and down and in and out of the tray 1, and the rotary drive member 63 is used to drive the bottle body on the vacuum suction cup 61 by Rotate in a horizontal state to be perpendicular to the tray 1 for convenient bottle placement.
  • the translation drive 64 is used to drive the vacuum sucker 61 to move back and forth between the bottle conveying mechanism 5 and the tray rotating platform 4, so as to realize the transfer of the bottle body on the bottle conveying mechanism 5 In the tray 1, compared with the manipulator, the structure is simpler, the cost is lower, and the action is reliable.
  • the vacuum chuck 61 is provided on the telescopic drive member 62
  • the telescopic drive member 62 is provided on the rotary drive member 63
  • the rotary drive member 63 is provided on the translation drive member 64, that is, the telescopic drive
  • the member 62 individually drives the vacuum chuck 61 to lift and enter and exit the tray 1
  • the rotary drive member 63 drives the vacuum chuck 61 and the telescopic drive member 62 to rotate integrally
  • the translation drive member 64 drives the vacuum chuck 61, the telescopic drive member 62 and the rotary drive member 63 to translate as a whole.
  • the connection relationship between the driving parts can also be adjusted, so that the action required by the vacuum chuck 61 can be realized.
  • the tray rotating platform 4 is provided with a fixed plate opening mechanism 8 for fixing the tray 1 and opening the bottle stop shutter 11.
  • a fixed plate opening mechanism 8 for fixing the tray 1 and opening the bottle stop shutter 11.
  • the tray 1 can be fixed on the pallet rotating platform 4 to facilitate the rotation of the tray 1, and the bottle blocking shutter 11 can be opened to facilitate bottle placement.
  • the fixed plate opening mechanism is integrated, which can save space and simplify the mechanism.
  • the tray 1 can also be provided with the opening and closing components of the bottle stop shutter 11 itself.
  • the tray 1 is hinged with a connecting arm 12, the bottle stopper 11 is provided on the connecting arm 12, and the fixed plate opening mechanism 8 includes a first lifting drive 81 (for example, an air cylinder, a screw nut Auxiliary, etc.) and a connecting piece 82 connected to the first lifting drive 81.
  • the two ends of the connecting piece 82 are provided with first pressing blocks 83 for pressing the tray 1, and between the two first pressing blocks 83 are arranged for driving the connecting arm 12
  • the second pressing block that rotates around the hinge (not shown in the figure).
  • the first lifting driving member 81 drives the connecting member 82, the second pressing block and the first pressing blocks 83 at both ends to descend, thereby pressing the pallet 1 on the pallet rotating platform 4.
  • the connecting arm 12 rotates around the hinge, and then drives the bottle stopper 11 to open.
  • the first lifting drive 81 drives the connecting piece 82, the second pressing block and the first pressing at both ends.
  • the block 83 rises, the bottle blocking gate 11 is closed, the tray 1 can be output from the tray rotating platform 4, and the structure is simple and reliable.
  • the tray 1 and the bottle protecting member 7 is in place and the bottle body grabbing mechanism 6 grabs the bottle body in place, preferably at the same time to improve efficiency, of course, it can also be done sequentially (for example, when the tray 1 is filled and the output starts, the bottle body grabs The picking mechanism 6 can of course pick up the next row of bottles; or, after waiting for the tray 1 to be in place, the bottle grabbing mechanism 6 then grabs the bottles), there is no mandatory requirement.
  • the bottle body grabbing mechanism 6 moves the bottle body horizontally to the higher side of the tray 1 and then rotates the bottle body to be perpendicular to the tray 1. Keep the bottle in a horizontal state during the translation process, and rotate it after moving it in place, which is beneficial to maintain the stability during the translation process, and it is also convenient to find the best rotation angle when the equipment is debugged.

Abstract

一种装盘机及装盘方法，该装盘机包括带挡瓶闸板（11）的托盘（1）、进盘输送机构（2）、出盘输送机构（3）、托盘旋转平台（4）、输瓶机构（5）、瓶体抓取机构（6）以及护瓶件（7），进盘输送机构和出盘输送机构均与托盘旋转平台对接。该装盘方法包括以下步骤：a、装盘准备：托盘旋转平台带动托盘旋转至倾斜状态，挡瓶闸板打开，护瓶件移动至托盘位置较高的一侧；瓶体抓取机构抓取输瓶机构上的瓶体转移至托盘位置较高的一侧并将瓶体旋转至与托盘垂直；b、装盘：瓶体抓取机构将瓶体放于托盘内，直至托盘装满，护瓶件退出托盘；c、出盘：挡瓶闸板关闭，然后托盘旋转平台带动托盘旋转至水平状态，出盘输送机构将托盘从托盘旋转平台输出。该装盘机具有结构简单、可靠，不易倒瓶等优点。

Description

一种装盘机及其装盘方法 技术领域
本发明涉及食品、药品包装技术，尤其涉及一种装盘机及其装盘方法。
背景技术
塑料安瓿瓶等在灌装完成后灭菌前需要进行装盘，以便进行批量化进行灭菌，灌装线效率较高，而人工装盘效率低难以满足要求，且劳动强度大。现有的转盘机大都采用机械手抓取瓶体直接放置于托盘上，在瓶体与机械手分离时容易出现倒瓶，托盘内的瓶体由于间隙较大在往后续工位转移时也容易出现倒瓶现象，且机械手每次放瓶的位置也不相同，导致机械手的结构及控制过程非常复杂。
发明内容
本发明要解决的技术问题是克服现有技术的不足，提供一种结构简单、可靠，不易倒瓶的装盘机。
本发明进一步提供一种上述装盘机的装盘方法。
为解决上述技术问题，本发明采用以下技术方案：
一种装盘机，包括带挡瓶闸板的托盘、进盘输送机构、出盘输送机构、托盘旋转平台、输瓶机构、瓶体抓取机构、以及可沿旋转后的托盘旋转平台移动的护瓶件，所述进盘输送机构和出盘输送机构均与托盘旋转平台对接。
作为上述技术方案的进一步改进：所述护瓶件为伸缩结构并倾斜布置于所述托盘旋转平台的下方。
作为上述技术方案的进一步改进：所述瓶体抓取机构包括真空吸盘、用于带动真空吸盘伸缩的伸缩驱动件、用于带动真空吸盘旋转的旋转驱动件、以及用于带动真空吸盘在输瓶机构与托盘旋转平台之间往复移动的平移驱动件。
作为上述技术方案的进一步改进：所述真空吸盘设于所述伸缩驱动件上，所述伸缩驱动件设于所述旋转驱动件上，所述旋转驱动件设于所述平移驱动件上。
作为上述技术方案的进一步改进：所述托盘旋转平台上设有用于固定托盘并打开挡瓶闸板的定盘开闸机构。
作为上述技术方案的进一步改进：所述托盘与一连接臂铰接，所述挡瓶闸板设于所述连接臂上，所述定盘开闸机构包括第一升降驱动件及与第一升降驱动件相连的连接件，所述连接件两端设有用于压紧所述托盘的第一压块，两所述第一压块之间设有用于带动所述连接臂绕铰接处旋转的第二压块。
作为上述技术方案的进一步改进：所述托盘旋转平台靠近所述出盘输送机构的一侧设有过渡输送机构，所述过渡输送机构设于一第二升降驱动件上，所述进盘输送机构设于所述出盘输送机构下方。
作为上述技术方案的进一步改进：所述进盘输送机构、所述出盘输送机构及过渡输送机构均为滚筒输送机构。
一种上述的装盘机的装盘方法，包括以下步骤：
a、装盘准备：进盘输送机构输送托盘至托盘旋转平台上，托盘旋转平台带动托盘旋转至倾斜状态，挡瓶闸板打开，然后护瓶件移动至托盘位置较高的一侧；瓶体抓取机构抓取输瓶机构上的瓶体转移至托盘位置较高的一侧并将瓶体旋转至与托盘垂直；
b、装盘：瓶体抓取机构将瓶体放于托盘内，然后瓶体抓取机构再次抓瓶放瓶，每放入一排瓶体，护瓶件向托盘位置较低的一侧移动一排瓶体的距离，直至托盘装满，护瓶件退出托盘；
c、出盘：挡瓶闸板关闭，然后托盘旋转平台带动托盘旋转至水平状态，出盘输送机构将托盘从托盘旋转平台输出。
作为上述技术方案的进一步改进：步骤a和b中，瓶体抓取机构将瓶体水平移动至托盘位置较高的一侧后再将瓶体旋转至与托盘垂直。
与现有技术相比，本发明的优点在于：本发明公开的装盘机，包括托盘旋转平台和可沿旋转后的托盘旋转平台移动的护瓶件，托盘旋转平台用于带动托盘旋转至倾斜状态，护瓶件用于倾斜状态下装盘时的护瓶，由于采用旋转至倾斜状态装盘，配合护瓶件，瓶体在与抓取机构分离后不易倒瓶，且在重力作用下可消除各排瓶体之间的间隙，有利于避免倒瓶，同时可解决高度空间问题，相比常规的装盘机可靠性更高，每装入一排瓶体后护瓶件可后退一排瓶体的距离，使得抓取机构每次放瓶的位置保持一致，抓取机构的结构及运动过程更简单。
本发明公开的装盘方法，效率高，托盘旋转至倾斜状态后再进行装盘，可消除各排瓶体之间的间隙，有利于避免倒瓶，并解决解决高度空间问题，每装入一排瓶体后护瓶件后退一排瓶体的距离，使得抓取机构每次放瓶的位置保持一致，抓取机构的动作更简单。
附图说明
图1是本发明装盘机的主视结构示意图。
图2是本发明装盘机的俯视结构示意图。
图3是本发明中的瓶体抓取机构的剖视结构示意图。
图4是图3的俯视图。
图5是本发明中的托盘的结构示意图。
图6是本发明装盘方法的一种实施例的过程示意图。
图中各标号表示：1、托盘；11、挡瓶闸板；12、连接臂；2、进盘输送机构；3、出盘输送机构；4、托盘旋转平台；41、过渡输送机构；42、第二升降驱动件；5、输瓶机构；6、瓶体抓取机构；61、真空吸盘；62、伸缩驱动件；63、旋转驱动件；64、平移驱动件；7、护瓶件；8、定盘开闸机构；81、第一升降驱动件；82、连接件；83、第一压块。
具体实施方式
以下结合说明书附图和具体实施例对本发明作进一步详细说明。
图1至图5示出了本发明装盘机的一种实施例，本实施例的装盘机，包括带挡瓶闸板11的托盘1、进盘输送机构2、出盘输送机构3、托盘旋转平台4、输瓶机构5、瓶体抓取机构6、以及可沿旋转后的托盘旋转平台4移动的护瓶件7，进盘输送机构2和出盘输送机构3均与托盘旋转平台4对接。
该装盘机，包括托盘旋转平台4和可沿旋转后的托盘旋转平台4移动的护瓶件7，托盘旋转平台4用于带动托盘1旋转至倾斜状态，护瓶件7用于倾斜状态下装盘时的护瓶，由于采用旋转至倾斜状态装盘，配合护瓶件7，瓶体在与抓取机构6分离后不易倒瓶，且在重力作用下可消除各排瓶体之间的间隙，有利于避免倒瓶，同时可解决高度空间问题，相比常规的装盘机可靠性更高，每装入一排瓶体后护瓶件7可后退一排瓶体的距离，使得抓取机构6每次放瓶的位置保持一致，抓取机构6的结构及运动过程更简单。
作为优选的技术方案，本实施例中，护瓶件7为伸缩结构(例如气缸、丝杆螺母副等)并倾斜布置于托盘旋转平台4的下方。护瓶件7采用伸缩结构实现移动护瓶，并倾斜布置于托盘旋转平台4的下方，结构更简单、紧凑，占用空间少，装盘前，托盘旋转平台4带动托盘1旋转至与护瓶件7平行，然后护瓶件7伸入托盘1内，装盘过程中，每装入一排瓶体，则护瓶件7缩回一排瓶体的距离。当然在其他实施例中，也可以采用护瓶板并配套设置平移机构实现装盘过程中的护瓶，不足之处在于结构较复杂，导致设备占用空间大。
进一步地，本实施例中，瓶体抓取机构6包括真空吸盘61、用于带动真空吸盘61伸缩的伸缩驱动件62(例如气缸、丝杆螺母副等)、用于带动真空吸盘61旋转的旋转驱动件63(电机轴、旋转气缸等)、以及用于带动真空吸盘61在输瓶机构5与托盘旋转平台4之间往复移动的平移驱动件64(气缸、滑轨等)。该瓶体抓取机构6通过真空吸盘61抓取或释放瓶体，伸缩驱动件62用于带动真空吸盘61上下升降以及进出托盘1，旋转驱动件63用于带动真空吸盘61上的瓶体由水平状态旋转至与托盘1垂直，便于放瓶，平移驱动件64用于带动真空吸盘61在输瓶机构5与托盘旋转平台4之间往复移动，从而实现将输瓶机构5上的瓶体转移至托盘1内，相比机械手，结构更简单、成本更低，动作可靠。
作为优选的技术方案，本实施例中，真空吸盘61设于伸缩驱动件62上，伸缩驱动件62设于旋转驱动件63上，旋转驱动件63设于平移驱动件64上，也即伸缩驱动件62单独驱动真空吸盘61升降以及进出托盘1，旋转驱动件63带动真空吸盘61和伸缩驱动件62整体旋转，平移驱动件64带动真空吸盘61、伸缩驱动件62和旋转驱动件63整体平移。当然在其他实施例中，各驱动件之间的连接关系也可以进行调整，能够实现真空吸盘61所需的动作即可。
进一步地，本实施例中，托盘旋转平台4上设有用于固定托盘1并打开挡瓶闸板11的定盘开闸机构8。通过设置定盘开闸机构8可将托盘1固定于托盘旋转平台4上便于带动托盘1旋转，并将挡瓶闸板11打开便于放瓶，定盘开闸一体化，可以节约空间、精简机构。当然在其他实施例中，托盘1也可自身带有挡瓶闸板11开合部件。
更进一步地，本实施例中，托盘1与一连接臂12铰接，挡瓶闸板11设于连接臂12上，定盘开闸机构8包括第一升降驱动件81(例如气缸、丝杆螺母副等)及与第一升降驱动件81相连的连接件82，连接件82两端设有用于压紧托盘1的第一压块83，两第一压块83之间设有用于带动连接臂12绕铰接处旋转的第二压块(图中未示出)。托盘1输送至托盘旋转平台4上后，第一升降驱动件81带动连接件82、第二压块及两端的第一压块83下降，从而将托盘1压紧于托盘旋转平台4上，第二压块下压时使得连接臂12绕铰接处旋转，进而带动挡瓶闸板11打开，装盘完成后，第一升降驱动件81带动连接件82、第二压块及两端的第一压块83上升，挡瓶闸板11闭合，托盘1可从托盘旋转平台4上输出，结构简单、可靠。
进一步地，本实施例中，托盘旋转平台4靠近出盘输送机构3的一侧设有过渡输送机构41，过渡输送机构41设于一第二升降驱动件42(例如气缸、丝杆螺母副等)上，进盘输送机构2设于出盘输送机构3下方。作为优选的技术方案，进盘输送机构2、出盘输送机构3及过渡输送机构41例如可以是滚筒输送机构。进盘时，第二升降驱动件42带动过渡输送机 构41下降与进盘输送机构2平齐，托盘1转移至过渡输送机构41上，然后第二升降驱动件42带动过渡输送机构41上升至与托盘旋转平台4平齐，过渡输送机构41启动将托盘1转移至托盘旋转平台4上，完成装盘后，过渡输送机构41启动将托盘旋转平台4上的托盘1转移至出盘输送机构3上，进出盘通过升降方式实现高位和低位的转化，结构紧凑，占用空间少。
图6示出了本发明装盘机的装盘方法的一种实施例，本实施例的装盘机的装盘方法，包括以下步骤：
a、装盘准备：进盘输送机构2输送托盘1至托盘旋转平台4上，托盘旋转平台4带动托盘1旋转至倾斜状态，挡瓶闸板11打开，然后护瓶件7移动至托盘1位置较高的一侧；瓶体抓取机构6抓取输瓶机构5上的瓶体转移至托盘1位置较高的一侧并将瓶体旋转至与托盘1垂直；其中需要说明的是，托盘1及护瓶件7的就位与瓶体抓取机构6抓取瓶体就位，优选同时进行以提高效率，当然也可以先后进行(例如托盘1装满之后开始输出，此时瓶体抓取机构6当然可以抓取下一排瓶体；或者先等待托盘1就位之后，瓶体抓取机构6再去抓取瓶体)，无强制要求。
b、装盘：瓶体抓取机构6将瓶体放于托盘1内，然后瓶体抓取机构6再次抓瓶放瓶，每放入一排瓶体，护瓶件7向托盘1位置较低的一侧移动一排瓶体的距离，直至托盘1装满，护瓶件7退出托盘1；
c、出盘：挡瓶闸板11关闭，然后托盘旋转平台4带动托盘1旋转至水平状态，出盘输送机构3将托盘1从托盘旋转平台4输出。
优选地，本实施例中，步骤a和b中，瓶体抓取机构6将瓶体水平移动至托盘1位置较高的一侧后再将瓶体旋转至与托盘1垂直。平移过程中保持瓶体处于水平状态，移动到位后再进行旋转，有利于保持平移过程中的稳定性，也方便设备调试时找到最佳的旋转角度。
虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明。任何熟悉本领域的技术人员，在不脱离本发明技术方案范围的情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均应落在本发明技术方案保护的范围内。

Claims (10)

  1. 一种装盘机，其特征在于：包括带挡瓶闸板(11)的托盘(1)、进盘输送机构(2)、出盘输送机构(3)、托盘旋转平台(4)、输瓶机构(5)、瓶体抓取机构(6)、以及可沿旋转后的托盘旋转平台(4)移动的护瓶件(7)，所述进盘输送机构(2)和出盘输送机构(3)均与托盘旋转平台(4)对接。
  2. 根据权利要求1所述的装盘机，其特征在于：所述护瓶件(7)为伸缩结构并倾斜布置于所述托盘旋转平台(4)的下方。
  3. 根据权利要求1所述的装盘机，其特征在于：所述瓶体抓取机构(6)包括真空吸盘(61)、用于带动真空吸盘(61)伸缩的伸缩驱动件(62)、用于带动真空吸盘(61)旋转的旋转驱动件(63)、以及用于带动真空吸盘(61)在输瓶机构(5)与托盘旋转平台(4)之间往复移动的平移驱动件(64)。
  4. 根据权利要求3所述的装盘机，其特征在于：所述真空吸盘(61)设于所述伸缩驱动件(62)上，所述伸缩驱动件(62)设于所述旋转驱动件(63)上，所述旋转驱动件(63)设于所述平移驱动件(64)上。
  5. 根据权利要求1至4中任一项所述的装盘机，其特征在于：所述托盘旋转平台(4)上设有用于固定托盘(1)并打开挡瓶闸板(11)的定盘开闸机构(8)。
  6. 根据权利要求5所述的装盘机，其特征在于：所述托盘(1)与一连接臂(12)铰接，所述挡瓶闸板(11)设于所述连接臂(12)上，所述定盘开闸机构(8)包括第一升降驱动件(81)及与第一升降驱动件(81)相连的连接件(82)，所述连接件(82)两端设有用于压紧所述托盘(1)的第一压块(83)，两所述第一压块(83)之间设有用于带动所述连接臂(12)绕铰接处旋转的第二压块。
  7. 根据权利要求1至4中任一项所述的装盘机，其特征在于：所述托盘旋转平台(4)靠近所述出盘输送机构(3)的一侧设有过渡输送机构(41)，所述过渡输送机构(41)设于一第二升降驱动件(42)上，所述进盘输送机构(2)设于所述出盘输送机构(3)下方。
  8. 根据权利要求7所述的装盘机，其特征在于：所述进盘输送机构(2)、所述出盘输送机构(3)及过渡输送机构(41)均为滚筒输送机构。
  9. 一种权利要求1至8中任一项所述的装盘机的装盘方法，其特征在于：包括以下步骤：
    a、装盘准备：进盘输送机构(2)输送托盘(1)至托盘旋转平台(4)上，托盘旋转平台(4)带动托盘(1)旋转至倾斜状态，挡瓶闸板(11)打开，然后护瓶件(7)移动至托盘 (1)位置较高的一侧；瓶体抓取机构(6)抓取输瓶机构(5)上的瓶体转移至托盘(1)位置较高的一侧并将瓶体旋转至与托盘(1)垂直；
    b、装盘：瓶体抓取机构(6)将瓶体放于托盘(1)内，然后瓶体抓取机构(6)再次抓瓶放瓶，每放入一排瓶体，护瓶件(7)向托盘(1)位置较低的一侧移动一排瓶体的距离，直至托盘(1)装满，护瓶件(7)退出托盘(1)；
    c、出盘：挡瓶闸板(11)关闭，然后托盘旋转平台(4)带动托盘(1)旋转至水平状态，出盘输送机构(3)将托盘(1)从托盘旋转平台(4)输出。
  10. 根据权利要求9所述的装盘方法，其特征在于：步骤a和b中，瓶体抓取机构(6)将瓶体水平移动至托盘(1)位置较高的一侧后再将瓶体旋转至与托盘(1)垂直。
PCT/CN2020/071503 2019-10-21 2020-01-10 一种装盘机及其装盘方法 WO2021077637A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911001856.X 2019-10-21
CN201911001856.XA CN110667930A (zh) 2019-10-21 2019-10-21 一种装盘机及其装盘方法

Publications (1)

Publication Number Publication Date
WO2021077637A1 true WO2021077637A1 (zh) 2021-04-29

Family

ID=69083631

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/071503 WO2021077637A1 (zh) 2019-10-21 2020-01-10 一种装盘机及其装盘方法

Country Status (2)

Country Link
CN (1) CN110667930A (zh)
WO (1) WO2021077637A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120156001A1 (en) * 2010-12-21 2012-06-21 Marchesini Group S.P.A. Method For Supplying Blanks To A Marking Apparatus. A Conveyor Device For Transporting Blanks And A Transfer Device For Blanks
CN103640906A (zh) * 2013-12-28 2014-03-19 连云港千樱医疗设备有限公司 口服液瓶或者安瓿瓶自动卸盘装置与灭菌托盘
CN107310765A (zh) * 2017-08-09 2017-11-03 山东力诺特种玻璃股份有限公司 玻璃安瓿自动包装机
EP3266718A1 (de) * 2016-07-08 2018-01-10 MediSeal GmbH Verpackungsmaschine mit einer zwischenablageeinrichtung für verpackte pharmazeutische erzeugnisse
CN109051724A (zh) * 2018-06-27 2018-12-21 楚天科技股份有限公司 用于瓶型容器的装盘机

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103832611B (zh) * 2014-01-24 2015-12-30 浙江海拓机械科技有限公司 装盒机
CN104627432B (zh) * 2015-02-03 2018-06-12 常州赛瑞克包装机械有限公司 立式装盒机
CN105445281B (zh) * 2015-12-31 2018-11-09 中国科学院自动化研究所 回转式自动灯检机
CN205770473U (zh) * 2016-05-18 2016-12-07 白杨 一种西林瓶外观与尺寸检测整理入托机
CN209069402U (zh) * 2018-12-18 2019-07-05 珠海弘创自动化设备有限公司 一种自动称重抓取旋转摆放机构
CN210734657U (zh) * 2019-10-21 2020-06-12 楚天科技股份有限公司 一种装盘机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120156001A1 (en) * 2010-12-21 2012-06-21 Marchesini Group S.P.A. Method For Supplying Blanks To A Marking Apparatus. A Conveyor Device For Transporting Blanks And A Transfer Device For Blanks
CN103640906A (zh) * 2013-12-28 2014-03-19 连云港千樱医疗设备有限公司 口服液瓶或者安瓿瓶自动卸盘装置与灭菌托盘
EP3266718A1 (de) * 2016-07-08 2018-01-10 MediSeal GmbH Verpackungsmaschine mit einer zwischenablageeinrichtung für verpackte pharmazeutische erzeugnisse
CN107310765A (zh) * 2017-08-09 2017-11-03 山东力诺特种玻璃股份有限公司 玻璃安瓿自动包装机
CN109051724A (zh) * 2018-06-27 2018-12-21 楚天科技股份有限公司 用于瓶型容器的装盘机

Also Published As

Publication number Publication date
CN110667930A (zh) 2020-01-10

Similar Documents

Publication Publication Date Title
WO2006090683A1 (ja) バイアル瓶搬送装置およびそのアーム
JP3008758B2 (ja) タイヤ移載装置
CN115523213A (zh) 预灌封注射器装针机
WO2021077637A1 (zh) 一种装盘机及其装盘方法
CN203699421U (zh) 一种口服液瓶或者安瓿瓶自动卸盘装置与灭菌托盘
CN210734657U (zh) 一种装盘机
TWM566711U (zh) Clamping feeding mechanism
CN209921656U (zh) 一种叠盘包装装置
JP2944844B2 (ja) コンテナ移載装置
CN110642003B (zh) 一种料仓结构及其全自动led封装机
CN207107859U (zh) 一种预充针卸车装置
JP5420286B2 (ja) 搬送装置
CN216248759U (zh) 双列双面曝光机
KR100223094B1 (ko) 수직식핸들러의 튜브 로딩 및 언로딩장치
CN215557009U (zh) 一种输送机的上下料装置
JPH068916A (ja) 缶投入機の缶上昇装置
CN219098110U (zh) 灌装桶自动码垛机
JPH09249207A (ja) カートンへの物品充填装置
CN219575587U (zh) 晶片翻箱倒片机
TWM512563U (zh) 面板包裝機及其包材清潔裝置
CN219192658U (zh) 一种安瓿瓶自动装盘机构
CN213445053U (zh) 高效传送的硅片下片机
CN113682725B (zh) 一种用于饲料生产的可移动码垛机
JP2002087584A (ja) 整列装置
KR101981741B1 (ko) 스파우트 파우치 공급 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20878197

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20878197

Country of ref document: EP

Kind code of ref document: A1