WO2022088514A1 - 一种全自动开装封箱码垛一体机 - Google Patents

一种全自动开装封箱码垛一体机 Download PDF

Info

Publication number
WO2022088514A1
WO2022088514A1 PCT/CN2021/071666 CN2021071666W WO2022088514A1 WO 2022088514 A1 WO2022088514 A1 WO 2022088514A1 CN 2021071666 W CN2021071666 W CN 2021071666W WO 2022088514 A1 WO2022088514 A1 WO 2022088514A1
Authority
WO
WIPO (PCT)
Prior art keywords
carton
conveying
palletizing
feeding
silo
Prior art date
Application number
PCT/CN2021/071666
Other languages
English (en)
French (fr)
Inventor
李文磊
杨益服
李俊杰
Original Assignee
浙江希望机械有限公司
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 浙江希望机械有限公司 filed Critical 浙江希望机械有限公司
Priority to RU2021125619A priority Critical patent/RU2766124C1/ru
Priority to EP21754693.6A priority patent/EP4039602B1/en
Publication of WO2022088514A1 publication Critical patent/WO2022088514A1/zh

Links

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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
    • B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
    • 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
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
    • 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
    • B65B43/52—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 roller-ways or endless conveyors
    • 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
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the invention relates to the field of pharmaceutical carton packaging, in particular to a fully automatic unpacking, sealing, and palletizing integrated machine for packing pharmaceutical cartons into boxes and then stacking them.
  • the carton is bundled and packed into the carton.
  • the carton is bundled by the carton strapping machine, and then the carton is packed by the unpacking and sealing machine. After the carton is packed by the opening and sealing machine, it needs to be palletized and then transported away by forklift.
  • the existing common palletizing method is to output the materials laterally through a conveying mechanism, and then palletize the cartons through a palletizing robot. However, this method can only palletize the cartons to the front end of the conveying mechanism.
  • the palletizing manipulator cannot transition to the right palletizing space when the left palletizing space is full, so it can only wait for the cartons in the left palletizing space to be transported by the forklift. You can only continue after you leave. Obviously, this method is discontinuous, which directly affects the efficiency. If the automatic carton packing equipment is designed to continuously discharge materials, this palletizing method cannot be properly matched. If the front and rear stacking spaces are arranged at the front end of the conveying mechanism, the forklift truck needs to remove the cartons in the front stacking space from the front side, and remove the cartons in the rear stacking space from the rear side. For forklifts, this method is It is very inconvenient, and it requires a lot of space on the rear side for the forklift to pass and adjust. This method is obviously unreasonable for the factory where the land is expensive.
  • the present invention innovatively provides a fully automatic unpacking, sealing and palletizing machine that can arrange two left and right palletizing spaces that do not interfere with each other.
  • This fully automatic unpacking, packing and palletizing machine includes an unpacking and packing machine and a carton palletizer, the unpacking and packing machine includes a carton conveying device, and it is characterized in that: the carton palletizer includes a A stacking manipulator and a stacking conveying device, the stacking conveying device is located in front of the stacking manipulator, and the stacking conveying device includes a feeding transverse conveying mechanism, the feeding end of the feeding transverse conveying mechanism and the carton conveying device The discharge end of the feeder is connected, one side of the feed transverse conveying mechanism is provided with a transition transverse conveying mechanism, the transition transverse conveying mechanism and the feeding transverse conveying mechanism are conveyed and connected, and one side of the transition transverse conveying mechanism is provided with a transition transverse conveying mechanism.
  • discharge longitudinal conveying mechanism There is a discharge longitudinal conveying mechanism, the conveying connection between the discharging longitudinal conveying mechanism and the transitional transverse conveying mechanism, and there is a first stacking space between one side of the discharging longitudinal conveying mechanism and the feeding transverse conveying mechanism, so the The other side of the discharging longitudinal conveying mechanism has a second stacking space, and the stacking manipulator can move the cartons on the discharging longitudinal conveying mechanism to the first stacking space and the second stacking space.
  • the transitional transverse conveying mechanism and the feeding transverse conveying mechanism realize conveying connection through a first conveying belt mechanism
  • the first conveying belt mechanism includes a first conveying belt
  • the feeding transverse conveying mechanism includes a plurality of feeding material conveying rollers
  • the transition transverse conveying mechanism includes a plurality of transition conveying rollers
  • the first conveying belt extends from between two feeding conveying rollers to between two transition conveying rollers
  • the first conveying belt mechanism It is drivingly connected with the first lifting power source that drives the first conveyor belt mechanism to lift up and down.
  • the transitional transverse conveying mechanism and the discharge longitudinal conveying mechanism are conveyed through a second conveyor belt mechanism, the second conveyor belt mechanism includes a second conveyor belt, and the transitional transverse conveying mechanism includes a plurality of transition conveyors rollers, the second conveyor belt is located between the two transition conveyor rollers, and the second conveyor belt mechanism is drivingly connected with a second lifting power source that drives the second conveyor belt mechanism to ascend and descend up and down.
  • the carton conveying device includes two synchronous conveying units on the left and right, a space for accommodating the carton is formed between the two synchronous conveying units on the left and right, a supporting bottom plate is arranged between the two synchronous conveying units on the left and right, and each synchronous conveying unit includes a There are two upper and lower conveyor belt mechanisms, the conveyor belt mechanism includes a conveyor belt, and a number of push box blocks are equally divided along the belt length direction on the conveyor belt.
  • the carton opening and sealing machine includes a carton conveying device, the conveying direction of the carton conveying device and the carton conveying device are the same, and a carton self-feeding conveying arrangement device is arranged between the carton conveying device and the carton conveying device , the carton self-feeding and conveying arrangement device includes a push box mechanism, an arrangement platform and a carton material control mechanism, and the carton material control mechanism includes a left control material plate and a right material control plate for clamping the carton,
  • a carton limiting mechanism is provided above the front end of the carton conveying device.
  • the carton limiting mechanism includes a front baffle and a front baffle power source that drives the front baffle to move back and forth.
  • the sorting platform is located in the carton.
  • the box pushing mechanism includes a pushing plate and a pushing plate power source that drives the pushing plate to push the carton on the carton conveying device to the finishing platform.
  • the unpacking and sealing machine includes a carton silo, the carton silo includes a silo rack, and a feeding frame that can move back and forth is installed on the silo frame, and two feeding frames are installed on the feeding frame.
  • the supporting plate assembly includes a supporting plate and a supporting plate rotating shaft, the supporting plate rotating shaft is rotatably installed on the unloading frame, the supporting plate is connected to the supporting plate rotating shaft, and the supporting plate rotates
  • a connecting piece is connected to the plate rotating shaft, and one end of the connecting piece is connected with a tension spring, and the other end of the tension spring is connected to the discharging frame.
  • a discharging platform the discharging platform is connected with the discharging power source that drives the discharging platform up and down.
  • a carton buffering mechanism is arranged between the discharging frame and the discharging platform.
  • the carton buffering mechanism includes two front and rear side baffles, and a buffering plate assembly is installed on the two side baffles.
  • the buffering plate assembly includes: There are a cache board, a cache board rotating shaft and a cache board power source for driving the cache board rotating shaft to rotate, the cache board is connected to the cache board rotating shaft, and the cache board has a first state entering between the left and right side baffles and a second state. In the second state coming out between the left and right side baffles, the front and rear cache plates are set opposite each other.
  • the unpacking and sealing machine includes a carton opening device, the carton opening device includes a carrying mechanism and a side supporting mechanism, the side supporting mechanism is located on one side of the carrying mechanism, and the carrying mechanism includes a vacuum suction cup , a suitcase arm and a suitcase power source that drives the suitcase arm to rotate up and down around the pivot point, the vacuum suction cup is mounted on the suitcase arm, and the side support box mechanism includes a side support plate, a column and a side that drives the column to rotate left and right around the pivot point.
  • the box-supporting power source, the side support plate is connected to the column; the box-carrying mechanism and the side-supporting box mechanism are installed on the box-feeding sliding seat, the box-feeding sliding seat is slidingly arranged on the machine base, and the box-feeding sliding seat is slidably arranged on the machine base.
  • the base is in driving connection with the case feeding power source which drives the case feeding sliding seat to slide.
  • the top of the carton conveying device is provided with a carton side cover opening device
  • the carton side cover opening device includes a fixed seat and a spreading rod assembly
  • the spreading rod assembly includes a spreading rod, a small connecting rod and a roller
  • the stretch rod has a connecting rod portion and an action rod portion
  • the connecting rod portion and the action rod portion have an included angle
  • the connecting rod portion of the stretch rod is rotatably mounted on the fixed seat
  • the stretch The connecting rod part of the rod is connected to one end of the small connecting rod
  • the roller is connected to the other end of the small connecting rod.
  • the power source transmission connection is opened, and the side cover supports the power source to be installed on the fixed seat.
  • the bar mechanism includes two front and rear silo bar components, each silo bar component includes a silo bar and a drag plate installed on the silo bar, and the front and rear silo bar components of each row of silo bar mechanisms are between the two silo bar components.
  • the baffle lifting mechanism includes a synchronous belt and two synchronous wheels, the synchronous belt is wound on the synchronous wheel, and the synchronous belt is provided with a lifting piece, and the synchronous wheel is synchronized with the drive The driving connection of the lifting power source for the rotation of the wheel.
  • the carton can realize the transition from horizontal conveying to vertical conveying on the carton palletizing machine, so that two left and right stacking spaces that do not interfere with each other can be obtained.
  • the robot can continuously stack cartons in these two palletizing spaces.
  • Fig. 1 is the top view of unpacking and sealing machine
  • Fig. 2 is the perspective view of the carton palletizer
  • Figure 3 is a top view of the carton palletizer
  • Figure 4 is a top view of the stacking conveying device
  • Fig. 5 is the process flow chart of unpacking and sealing machine
  • Fig. 6 is the structural representation of the carton conveying device
  • Fig. 7 is the front view of the conveyor belt of the carton conveying device
  • FIG. 8 is a perspective view of a carton self-feeding conveying arrangement device
  • Figure 9 is a perspective view of a carton silo
  • Figure 10 is a front view of the discharge frame of the carton silo
  • Figure 11 is a front view of the carton buffer mechanism of the carton magazine
  • Figure 12 is a perspective view of the carton opening device
  • Figure 13 is a side view of the carton opening device
  • Figure 14 is a scene diagram of the use of the carton side cover opening device
  • Figure 15 is an exploded view of the carton side cover opening device
  • Figure 16 is a perspective view of the partition buffer storage bin
  • Figure 17 is the internal structure diagram of the partition buffer storage bin
  • FIG. 18 is a schematic structural diagram of a row of silo fence mechanisms of a partition buffer silo.
  • this fully automatic carton opening, sealing and palletizing machine includes a carton opening and sealing machine A and a carton stacker B. As shown in Figure 5, the carton opening and sealing machine A is used to complete the The carton packing work, and then the carton C enters the carton palletizer B for palletizing.
  • the carton opening and sealing machine A includes a carton conveying device A1, and the carton C is conveyed on the carton conveying device A1, and the packing work is completed at the same time.
  • the carton palletizer B includes a palletizing robot B2 and a palletizing conveying device B1, the palletizing conveying device B1 is located in front of the palletizing robot B2, and the palletizing conveying device B1 includes a feeding transverse conveying mechanism B10 , the feeding end of the feeding transverse conveying mechanism B10 is connected with the discharging end of the carton conveying device A1.
  • the carton conveying device A1 conveys the finished carton C to the feeding transverse conveying mechanism B10 of the carton palletizer B.
  • a transition transverse conveying mechanism B12 is provided on one side of the feeding transverse conveying mechanism B10.
  • One side of B12 is provided with a discharge longitudinal conveying mechanism B14, which is conveyed and connected between the discharging longitudinal conveying mechanism B14 and the transitional transverse conveying mechanism B12, and a side of the discharging longitudinal conveying mechanism B14 and the feeding transverse conveying mechanism B10 has a In the first stacking space B7, the other side of the discharging longitudinal conveying mechanism B14 has a second stacking space B8.
  • the cartons C change from horizontal conveying to vertical conveying, and finally come to the discharging longitudinal conveying mechanism B14, and the discharging longitudinal conveying mechanism B14 has a first stacking space B7 on the left and a second stacking space on the right.
  • the palletizing space B8 so that the palletizing robot B2 can first palletize the cartons C on the discharge longitudinal conveying mechanism B14 in the first palletizing space B7, and when the first palletizing space B7 is full, the palletizing robot B2 will The carton C on the material longitudinal conveying mechanism B14 is palletized in the second palletizing space B8.
  • the palletizing manipulator B2 starts from one pallet.
  • the transition from the palletizing space to another palletizing space will not interfere, and the palletizing robot B2 can realize continuous work.
  • the discharge direction of the carton opener A and the two stacking spaces of the carton stacker B are on the same horizontal line, and the whole machine is only lengthened in the horizontal direction, which is completely It conforms to the design specifications of the whole machine, and the forklift only needs to be operated on the front side of the carton stacker, without having to go around the back, which greatly facilitates the transportation of the forklift.
  • the transitional transverse conveying mechanism B12 and the feeding transverse conveying mechanism B10 are connected in conveyance, that is, the cartons C on the feeding transverse conveying mechanism B10 can be conveyed to the transitional transverse conveying mechanism B12.
  • the carton is pushed from the feeding transverse conveying mechanism B10 to the transition transverse conveying mechanism B12 by the cylinder-driven push plate;
  • the conveyor belt is equally divided with a plurality of push blocks along the length of the belt.
  • the conveyor belt is driven longitudinally. Before the carton comes to the push block, it is driven by the conveyor belt, and the push block can push the carton to the transitional horizontal conveying mechanism.
  • On B12 for example, a manipulator is set to move the carton from the feeding transverse conveying mechanism B10 to the transition transverse conveying mechanism B12.
  • the present invention also provides a method for realizing conveying connection through the first conveyor belt mechanism B11.
  • the first conveyor belt mechanism B11 includes a first conveyor belt B110
  • the feed transverse conveying mechanism B10 includes a There are multiple feed conveyor rollers B100
  • the transition transverse conveying mechanism B12 includes multiple transition conveyor rollers B120
  • the first conveyor belt B110 extends from between the two feed conveyor rollers B100 to between the two transition conveyor rollers B120
  • the first conveyor belt mechanism B11 is in driving connection with the first lifting power source that drives the first conveyor belt mechanism B11 to ascend and descend up and down.
  • the first lifting power source drives the first conveying belt mechanism B11 to rise, so that the first conveying belt B110 lifts the carton, and at the same time, the first conveying belt B110 conveys the carton to the transitional transverse direction.
  • the first lifting power source drives the first conveying belt mechanism B11 to descend, so that the carton is placed on the transition conveying roller B120 of the transitional transverse conveying mechanism B12. Transport forward.
  • the conveying connection between the transitional transverse conveying mechanism B12 and the discharging longitudinal conveying mechanism B14 that is, the cartons on the transitional transverse conveying mechanism B12 can be conveyed to the discharging longitudinal conveying mechanism B14.
  • the second conveying belt mechanism B13 includes a second conveying belt B130, and the transitional transverse conveying mechanism B12 It includes a plurality of transition conveying rollers B120, the second conveying belt B130 is located between the two transition conveying rollers B120, and the second conveying belt mechanism B13 is drivingly connected with the second lifting power source that drives the second conveying belt mechanism B13 to ascend and descend.
  • the second lifting power source drives the second conveying belt mechanism B13 to rise, so that the second conveying belt B130 lifts the carton, and at the same time the second conveying belt B130 conveys the carton to the discharge longitudinal direction.
  • the front end of the conveying mechanism B14, and then the second lifting power source drives the second conveyor belt mechanism B13 to descend, so that the carton is placed on the discharging longitudinal conveying mechanism B14, and the discharging longitudinal conveying mechanism B14 conveys the carton longitudinally.
  • the carton conveying device A1 of the carton opening and sealing machine A includes two left and right synchronous conveying units A11, and a space for accommodating the carton C is formed between the left and right synchronous conveying units A11.
  • a supporting base plate A12 is provided between the units A11, and each synchronous conveying unit A11 includes a conveyor belt mechanism A110.
  • the conveyor belt mechanism A110 includes a conveyor belt A1100, and the conveyor belt A1100 is equally divided along the belt length direction.
  • the conveying principle is as follows: As shown in Figure 6, when the carton C enters between the left and right synchronous conveying units A11, the supporting bottom plate A12 supports the carton C from the bottom, and the conveyor belts A1100 of the left and right synchronous conveying units A11 are synchronized. Rotate, the box pushing block A1101 on the conveyor belt A1100 will push the carton C forward from the back of the carton C.
  • This conveying method has a reasonable structure.
  • the box-pushing block A1101 can give a stable thrust to the carton C, and by calculating the position of the box-pushing block A1101, the equipment control system can know the position of the carton, so that without the need for sensors, the It can also control the precise action of the closing mechanism for closing the carton, thereby greatly simplifying the structure of the equipment and reducing the manufacturing cost. Even if the specifications of the carton change, there is no need to adjust the position of the sensor.
  • the carton opening and sealing machine A includes a carton conveying device A2, and the conveying direction of the carton conveying device A2 and the carton conveying device A1 is the same, and a carton conveying device A2 and the carton conveying device A1 are provided between them.
  • this carton self-feeding and conveying arrangement device A3 includes a box pushing mechanism A32, a sorting platform A33 and a carton material controlling mechanism A34; the sorting platform A33 is located on one side of the carton transporting device A2; the box pushing mechanism A32 includes a pushing plate A320 and a pushing plate power source A322 that drives the pushing plate A320 to push the carton D on the carton conveying device A2 to the sorting platform A33.
  • the bundled carton D will come to the front.
  • the pusher power source A322 drives the pusher A320 to move, and the pusher A320 discharges a sheet of paper.
  • the cassettes are pushed from the cassette conveyor A2 onto the finishing platform A33. After several such pushes, the multi-row carton is arranged on the sorting platform A33, and finally the multi-row carton D is grabbed by the manipulator at one time and placed in the carton.
  • a carton material control mechanism A34 is provided in the middle position of the paper box conveying device A2.
  • the paper box material control mechanism A34 includes a left
  • the material control board A340 and the right material control board A341 are provided with a carton limit mechanism A35 above the front end of the carton conveying device A2.
  • the carton limit mechanism A35 includes a front baffle A350 and a drive front baffle A350 to move back and forth The front fender power source A351.
  • the carton conveying device A2 is continuously conveyed, and the bundled carton D is conveyed forward, so that the frontmost carton touches the front baffle A350, and then the left side of the carton control mechanism A34.
  • the feed control board A340 and the right feed control board A341 clamp the paper cassette in the middle part, so that even if the paper cassette conveying device A2 is still conveying, the clamped paper cassette and all the following paper cassettes will not move forward, and then the paper
  • the front baffle power source A351 of the box limit mechanism A35 drives the front baffle A350 to move backward, so that the carton in the front row will continue to move forward a certain distance under the conveying of the carton conveying device A2, so that the carton in the front row will continue to move forward for a certain distance.
  • the ejector plate power source A322 of the box-pushing mechanism A32 drives the ejector plate A320 to move, and pushes the separated row of paper boxes to the sorting platform A33.
  • the multi-row carton can be smoothly pushed onto the sorting platform A33, and finally the multi-row carton can be grabbed and packed by the manipulator at one time.
  • the unpacking and sealing machine A includes a carton silo A4, as shown in FIG. 9 , the carton silo A4 is used for storing flat cartons C. A stack of flat cartons C is placed in the silo and sucked up one by one by the manipulator. As shown in Fig. 9, the carton silo A4 includes a silo rack A41, and a feeding frame A42 that can move forward and backward is installed on the silo frame A41. As shown in Fig.
  • each supporting plate assembly A44 includes a supporting plate A440 and a supporting plate rotating shaft A442, wherein the supporting plate rotating shaft A442 is rotatably installed on the unloading frame A42, and the supporting plate A440 is connected to the supporting plate rotating shaft A442.
  • the plate rotating shaft A442 is connected with a connector A441, one end of the connector A441 is connected with the tension spring A443, and the other end of the tension spring A443 is connected to the discharging frame A42, the tension spring A443 drives the supporting plate A440 to turn to the inside;
  • a discharging platform A45 is arranged below the A42, and the discharging platform A45 is connected with the discharging power source that drives the discharging platform A45 up and down.
  • the feeding platform A45 rises to the height of the thickness of one carton, so that the suction point of the manipulator remains unchanged, and the cartons are sucked away one by one. .
  • the operator only needs to pull out the unloading frame A42, then put the carton on top and then push it in.
  • the support plate rotating shaft A442 is controlled to rotate to let the carton fall to the ground. It can be placed on the A45 feeding platform, which is very safe and convenient to operate.
  • a carton buffer mechanism A43 is provided between the discharge frame A42 and the discharge platform A45.
  • the carton buffer mechanism A43 includes two front and rear side baffles A430, two A buffer board assembly is installed on the side baffles A430.
  • the buffer board assembly includes a buffer board A431, a buffer board shaft A432, and a buffer board power source A433 that drives the buffer board shaft A432 to rotate.
  • the buffer board A431 is connected to the On the cache plate rotating shaft A432, driven by the cache plate power source A433, the cache plate A431 has a first state of entering between the left and right side baffles A430 and a second state of coming out between the left and right side baffles A430,
  • the front and rear cache boards A431 are set opposite each other. If there are cartons on the unloading platform A45, the cartons placed on the unloading frame A42 first fall to the carton buffer mechanism A43, that is, the cartons fall on the left and right cache boards A431 for storage.
  • the buffer plate power source A433 drives the buffer plate A431 to rotate, so that the carton C falls to the lower discharging platform A45.
  • the lowering of the carton on the carton buffer mechanism A43 can be controlled manually, or the action of the power source A433 of the buffer board can be controlled after sensing by a sensor.
  • the carton buffering mechanism A43 can be provided with multiple layers, that is, multiple buffering board assemblies are arranged on the side baffle A430 in the up-down direction, so that the height of the carton buffering mechanism A43 can be set higher, so that more Lots of cartons. As shown in the figure, the carton buffer mechanism A43 is provided with two layers.
  • the carton opening and sealing machine A includes a carton opening device A5, which is used for opening the carton C and feeding it into the carton conveying device A1.
  • the carton opening device A5 includes a carrying mechanism A51 and a side holding mechanism A52.
  • the side holding mechanism A52 is located on one side of the carrying mechanism A51.
  • the carrying mechanism A51 is used to lift the flat carton C, and the side holding mechanism A52 is used for The carton is supported from the side so that the carton can be stretched to form a three-dimensional structure to be closed.
  • the carrying mechanism A51 includes a vacuum suction cup A511, a carrying arm A510, and a carrying power source A512 that drives the carrying arm A510 to rotate up and down around the rotation point.
  • the vacuum suction cup A511 is installed on the carrying arm A510.
  • the suitcase arm A510 is driven by the suitcase power source A512 to rotate around the rotation point, and the vacuum suction cup A511 on the suitcase arm A510 can suck up the flat carton, and the carton will gradually open under the action of gravity.
  • the side support box mechanism A52 includes a side support plate A521, a column A520, and a side support box power source A522 that drives the column A520 to rotate left and right around the pivot point.
  • the side support plate A521 is connected to the column A520. Driven by the power source A522 of the side support box, the column A520 rotates left and right around the rotation point, so that the side support plate A521 on the column A520 acts on the side of the carton.
  • the carton a supporting force, so that when the carton C is completely lifted, the carton C can form a three-dimensional structure.
  • the present invention also installs the box carrying mechanism A51 and the side supporting box mechanism A52 on the box feeding slide A53, and the box feeding slide A53
  • the slide is arranged on the machine base, and the case feed carriage A53 is in transmission connection with the case feed power source A54 that drives the case feed carriage A53 to slide.
  • the carton feeding carriage A53 moves, and the carton feeding carriage A53 carries the carrying case mechanism A51 and the side support box mechanism A52 to move together, so that the carton C is fed into the carton conveying device A1.
  • an additional suction nozzle mechanism can be installed, the carton lifting mechanism A51 can be released from the carton, and the suction nozzle mechanism can transport the carton to the carton conveying device A1, which is also possible.
  • the carton side cover opening device A8 spreads the four side covers A above the carton C, and then the carton D is grasped by the robot and placed in the carton C.
  • the carton side cover opening device A8 includes a fixing base A80 and a spreading rod A83 assembly.
  • the spreading rod A83 assembly includes a spreading rod A83, a small connecting rod A86 and The roller A87, the spreading rod A83 has a connecting rod portion A830 and an action rod portion A831, the connecting rod portion A830 and the action rod portion A831 have an included angle, and the connecting rod portion A830 of the spreading rod A83 is rotatably mounted on the fixed seat A80,
  • the connecting rod portion A830 of the opening rod A83 is connected to one end of the small connecting rod A86
  • the roller A87 is connected to the other end of the small connecting rod A86
  • the roller A87 is located in the long groove A89 of the lifting block A88
  • the lifting block A88 is connected to the driving lift
  • the side cover of the block A88 moving up and down supports the transmission connection of the power source A82, and the side cover supports the power source A82 to be installed on the fixed seat A80.
  • the action principle is as follows: As shown in Figure 15, the side cover propels the power source A82 to drive the lifting block A88 to rise and fall, the lifting block A88 drives the small connecting rod A86 to rotate through the roller A87, and the small connecting rod A86 drives the opening rod A83 to rotate. Since the spreading rod A83 has a connecting rod portion A830 and an action rod portion A831, and the connecting rod portion A830 and the acting rod portion A831 have an included angle, the connecting rod portion A830 of the spreading rod A83 rotates, and the acting rod portion of the spreading rod A83 is rotated. The A831 can move up and down.
  • the action rod A831 of the stretch rod A83 moves downward, the action rod A831 of the stretch rod A83 can stretch the carton side cover C1; when the action rod A831 of the stretch rod A83 moves upward, it stretches The action of the rod A83 The rod part A831 no longer supports the side cover of the carton, so that the side cover C1 of the carton can be closed.
  • the unpacking and sealing machine A includes a clapboard buffer silo A9, as shown in FIG. 16, this clapboard buffer silo A9 includes a silo base A91, as shown in FIG. 17, the silo base A91
  • silo base A91 there are two rows of silo bar mechanisms on the left and right. Each row of silo bar mechanisms includes two front and rear silo bar assemblies A92.
  • the material plate A921, as shown in Fig. 17, is placed on the four dragging plates A921 of the four silo fence assemblies A92 after a stack of partitions E enters the silo.
  • the present invention is provided with a partition lifting mechanism A93 between the front and rear silo fences A920 components of each row of silo fence mechanisms.
  • the partition lifting mechanism A93 includes a synchronous belt A930 and two synchronous wheels, the synchronous belt A930 is wound around the synchronous wheels, and a lifting piece A931 is provided on the synchronous belt A930, and the synchronous wheel and the driving synchronous wheel rotate The lift power source drive connection.
  • the lifting power source drives the synchronous belt A930 to rotate, so that the lifting piece A931 located on the synchronous belt A930 lifts the partition E from the bottom, and the lifting piece A931 lifts each time the robot takes one.
  • the partition E is raised to the height of the thickness of one partition, in this way, the uppermost partition in the silo can always be in the suction position of the manipulator.
  • the partition buffer storage silo A9 with this structure because the manual feeding space is designed at the lower part of the silo, effectively avoids the problem of personnel operation safety caused by the internal operation of the case packer and the manipulator picking up the partition.
  • this partition buffer storage bin A9 can significantly increase the production efficiency of the equipment and ensure the reliability of the linkage between the front and rear equipment and the case packing machine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Abstract

一种可以布置左右两个互不干涉的码垛空间的全自动开装封箱码垛一体机。该全自动开装封箱码垛一体机包括开装封箱机（A）与纸箱码垛机（B），开装封箱机包括有纸箱输送装置（A1），纸箱码垛机包括有码垛机械手（B2）与码垛输送装置（B1），码垛输送装置位于码垛机械手的前方。该全自动开装封箱码垛一体机，纸箱能在纸箱码垛机上实现横向输送到纵向输送的转变，从而可以获得左右两个互不干涉的码垛空间，码垛机械手能连续将纸箱堆放在这两个码垛空间。

Description

一种全自动开装封箱码垛一体机 技术领域
本发明涉及一种药物纸盒包装领域，具体涉及一种将药物纸盒装箱后进行码垛的全自动开装封箱码垛一体机。
 背景技术
一般纸盒经捆扎打包后装入纸箱内，目前纸盒的捆扎由纸盒捆扎机完成，之后就通过开装封箱机进行装箱。纸盒经开装封箱机装箱后，就需要进行码垛，然后通过叉车运走。现有普通的码垛方式就是通过一个输送机构将物料横向输出来，然后通过码垛机械手将纸箱进行码垛，然而这种方式只能将纸箱码垛到输送机构的前端。如果在输送机构的前端布置左右两个码垛空间，那么码垛机械手在左边码垛空间垛满的情况下无法过渡到右边的码垛空间，因此只能等左边码垛空间的纸箱被叉车运走后才能继续，很显然，这种方式是不连续的，直接影响效率，如果全自动纸盒装箱设备设计成连续出料，那么这种码垛方式就无法进行正常匹配。如果在输送机构的前端布置前后两个码垛空间，那么叉车需要从前侧运走前侧码垛空间的纸箱，从后侧运走后侧码垛空间的纸箱，对于叉车来说，这样方式是很不方便的，而且需要在后侧腾出很大的空间给叉车通过与调整，对于寸土寸金的厂房来说，这种方式显然是不合理的。
 技术问题
鉴于现有技术存在的不足，本发明创新提供了一种可以布置左右两个互不干涉的码垛空间的全自动开装封箱码垛一体机。
 技术解决方案
这种全自动开装封箱码垛一体机包括开装封箱机与纸箱码垛机，所述开装封箱机包括有纸箱输送装置，其特征在于：所述纸箱码垛机包括有码垛机械手与码垛输送装置，所述码垛输送装置位于码垛机械手的前方，所述码垛输送装置包括有进料横向输送机构，所述进料横向输送机构的进料端与纸箱输送装置的出料端衔接，所述进料横向输送机构的一侧设有过渡横向输送机构，所述过渡横向输送机构与进料横向输送机构之间输送衔接，所述过渡横向输送机构的一侧设有出料纵向输送机构，所述出料纵向输送机构与过渡横向输送机构之间输送衔接，所述出料纵向输送机构的一侧与进料横向输送机构之间具有第一码垛空间，所述出料纵向输送机构的另一侧具有第二码垛空间，所述码垛机械手可将出料纵向输送机构上的纸箱移放到第一码垛空间与第二码垛空间。
所述过渡横向输送机构与进料横向输送机构之间通过第一输送带机构实现输送衔接，所述第一输送带机构包括有第一输送带，所述进料横向输送机构包括有多个进料输送辊，所述过渡横向输送机构包括有多个过渡输送辊，所述第一输送带从两个进料输送辊之间延伸到两个过渡输送辊之间，所述第一输送带机构与驱动第一输送带机构上下升降的第一升降动力源传动连接。
所述过渡横向输送机构与出料纵向输送机构之间通过第二输送带机构实现输送衔接，所述第二输送带机构包括有第二输送带，所述过渡横向输送机构包括有多个过渡输送辊，所述第二输送带位于两个过渡输送辊之间，所述第二输送带机构与驱动第二输送带机构上下升降的第二升降动力源传动连接。
所述纸箱输送装置包括有左右两个同步输送单元，左右两个同步输送单元之间形成容纳纸箱的间距，所述左右两个同步输送单元之间设有支撑底板，每个同步输送单元包括有上下两个输送带机构，所述输送带机构包括输送带，所述输送带上沿带长方向等分设有若干个推盒块。
所述开装封箱机包括有纸盒输送装置，所述纸盒输送装置与纸箱输送装置的输送方向相同，所述纸盒输送装置与纸箱输送装置之间设有纸盒自送输送排列装置，所述纸盒自送输送排列装置包括有推盒机构、整理平台以及纸盒控料机构，所述纸盒控料机构包括有用于夹住纸盒的左控料板与右控料板，所述纸盒输送装置的前端上方设有纸盒限位机构，所述纸盒限位机构包括有前挡板与驱动前挡板前后移动的前挡板动力源，所述整理平台位于纸盒输送装置的一侧，所述推盒机构包括有推料板以及驱动推料板将纸盒输送装置上的纸盒推到整理平台上的推料板动力源。
所述开装封箱机包括有纸箱料仓，所述纸箱料仓包括有料仓机架，所述料仓机架上安装有可前后移动的放料框，所述放料框上安装有两个相对的支撑板组件，所述支撑板组件包括有支撑板与支撑板转轴，所述支撑板转轴可转动地安装在放料框上，所述支撑板连接在支撑板转轴上，所述支撑板转轴上连接有连接件，所述连接件与拉簧一头连接，所述拉簧另一头连接在放料框上，所述拉簧驱使支撑板转向内侧，所述放料框的下方设有放料平台，所述放料平台与驱动放料平台上下升降的放料动力源传动连接。
所述放料框与放料平台之间设有纸箱缓存机构，所述纸箱缓存机构包括有前后两个侧档板，两个侧档板上均安装有缓存板组件，所述缓存板组件包括有缓存板、缓存板转轴以及驱动缓存板转轴转动的缓存板动力源，所述缓存板连接在缓存板转轴上，所述缓存板具有进入左右两个侧档板之间的第一状态与从左右两个侧档板之间出来的第二状态，前后两个缓存板相对设置。
所述开装封箱机包括有纸箱撑开装置，所述纸箱撑开装置包括有提箱机构与侧撑箱机构，所述侧撑箱机构位于提箱机构一侧，所述提箱机构包括有真空吸盘、提箱臂以及驱动提箱臂绕转动点上下转动的提箱动力源，所述真空吸盘安装在提箱臂上，所述侧撑箱机构包括有侧撑板、立柱以及驱动立柱绕转动点左右转动的侧撑箱动力源，所述侧撑板连接在立柱上；所述提箱机构与侧撑箱机构安装在送箱滑座上，所述送箱滑座滑动设置在机座上，所述送箱滑座与驱动送箱滑座滑动的送箱动力源传动连接。
所述纸箱输送装置上方设有纸箱边盖撑开装置，所述纸箱边盖撑开装置包括有固定座与撑开杆组件，所述撑开杆组件包括有撑开杆、小连杆以及滚轮，所述撑开杆具有连接杆部与作用杆部，所述连接杆部与作用杆部具有夹角，所述撑开杆的连接杆部可转动地安装在固定座上，所述撑开杆的连接杆部连接在小连杆的一端，所述滚轮连接在小连杆的另一端，所述滚轮位于升降块的长槽内，所述升降块与驱动升降块上下移动的边盖撑开动力源传动连接，所述边盖撑开动力源安装在固定座上。
所述纸箱输送装置的一侧设有隔板缓存料仓，所述隔板缓存料仓包括有料仓机架，所述料仓机架上安装有左右两排料仓栏机构，每排料仓栏机构包括有前后两个料仓栏组件，每个料仓栏组件包括有料仓栏以及安装在料仓栏上的拖料板，每排料仓栏机构的前后两个料仓栏组件之间设有隔板抬升机构，所述隔板抬升机构包括有同步带与两个同步轮，所述同步带绕于同步轮上，所述同步带上设有抬升片，所述同步轮与驱动同步轮转动的抬升动力源传动连接。
 有益效果
按照本发明提供的一种全自动开装封箱码垛一体机，纸箱能在纸箱码垛机上实现横向输送到纵向输送的转变，从而可以获得左右两个互不干涉的码垛空间，码垛机械手能连续将纸箱堆放在这两个码垛空间。
 附图说明
图1为开装封箱机的俯视图；
图2为纸箱码垛机的立体图；
图3为纸箱码垛机的俯视图；
图4为码垛输送装置的俯视图；
图5为开装封箱机的工艺流程图；
图6为纸箱输送装置的结构示意图；
图7为纸箱输送装置输送带的主视图；
图8为纸盒自送输送排列装置的立体图；
图9为纸箱料仓的立体图；
图10为纸箱料仓的放料框主视图；
图11为纸箱料仓的纸箱缓存机构的主视图；
图12为纸箱撑开装置的立体图；
图13为纸箱撑开装置的侧视图；
图14为纸箱边盖撑开装置的使用场景图；
图15为纸箱边盖撑开装置的爆炸图；
图16为隔板缓存料仓的立体图；
图17为隔板缓存料仓的内部结构图；
图18为隔板缓存料仓的一排料仓栏机构的结构示意图。
 本发明的实施方式
如图1与图2所示，这种全自动开装封箱码垛一体机包括开装封箱机A与纸箱码垛机B，如图5所示，开装封箱机A用于完成纸盒的装箱工作，之后纸箱C就进入到纸箱码垛机B上进行码垛。
如图1所示，开装封箱机A包括有纸箱输送装置A1，纸箱C在纸箱输送装置A1上输送的同时，完成装箱工作。如图2所示，纸箱码垛机B包括有码垛机械手B2与码垛输送装置B1，码垛输送装置B1位于码垛机械手B2的前方，码垛输送装置B1包括有进料横向输送机构B10，进料横向输送机构B10的进料端与纸箱输送装置A1的出料端衔接。纸箱输送装置A1将完成装箱的纸箱C输送到纸箱码垛机B的进料横向输送机构B10上。如图3与图4所示，在进料横向输送机构B10的一侧设有过渡横向输送机构B12，过渡横向输送机构B12与进料横向输送机构B10之间输送衔接，而在过渡横向输送机构B12的一侧设有出料纵向输送机构B14，该出料纵向输送机构B14与过渡横向输送机构B12之间输送衔接，出料纵向输送机构B14的一侧与进料横向输送机构B10之间具有第一码垛空间B7，出料纵向输送机构B14的另一侧具有第二码垛空间B8。
在码垛输送装置B1上，纸箱C从横向输送变成纵向输送，最终来到出料纵向输送机构B14上，而出料纵向输送机构B14左边具有第一码垛空间B7，右边具有第二码垛空间B8，这样码垛机械手B2就可以将出料纵向输送机构B14上的纸箱C先码垛在第一码垛空间B7，第一码垛空间B7堆满后，码垛机械手B2又将出料纵向输送机构B14上的纸箱C码垛在第二码垛空间B8，由于第一码垛空间B7与第二码垛空间B8是分布在出料点的两边，因此码垛机械手B2从一个码垛空间过渡到另一个码垛空间不会发生干涉，码垛机械手B2可以实现连续工作。同时，由于这样的码垛空间布局，开装封箱机A的出料方向与纸箱码垛机B的两个码垛空间就在同一条横线上，整机只是在横向上加长，这完全符合整机设计规范，而叉车只需要在纸箱码垛机的前侧操作即可，无需绕到背后，大大方便了叉车运输。
如上面所述，过渡横向输送机构B12与进料横向输送机构B10之间输送衔接，即进料横向输送机构B10上的纸箱C可以输送到过渡横向输送机构B12上。纸箱从进料横向输送机构B10输送到过渡横向输送机构B12上的方式比较多：比如通过气缸驱动推板将纸箱从进料横向输送机构B10推送到过渡横向输送机构B12上；比如在上方设置输送带，输送带上沿带长方向等分设有多个推块，输送带沿纵向传动，纸箱来到推块前，就通过输送带的传动，推块就能推着纸箱来到过渡横向输送机构B12上；比如设置机械手，将纸箱从进料横向输送机构B10上移送到过渡横向输送机构B12上。
不过上面几种方式结构不是很紧凑，会占用较大的空间，而且成本较高。为此，本发明还提供了一种通过第一输送带机构B11实现输送衔接的方式，如图所示，第一输送带机构B11包括有第一输送带B110，而进料横向输送机构B10包括有多个进料输送辊B100，过渡横向输送机构B12包括有多个过渡输送辊B120，第一输送带B110就从两个进料输送辊B100之间延伸到两个过渡输送辊B120之间，第一输送带机构B11与驱动第一输送带机构B11上下升降的第一升降动力源传动连接。当纸箱进入到进料横向输送机构B10上后，第一升降动力源驱动第一输送带机构B11上升，这样第一输送带B110就托起纸箱，同时第一输送带B110将纸箱输送到过渡横向输送机构B12的上方，然后第一升降动力源驱动第一输送带机构B11下降，这样纸箱就至于过渡横向输送机构B12的过渡输送辊B120上，过渡横向输送机构B12通过其过渡输送辊B120将纸箱往前输送。
过渡横向输送机构B12与出料纵向输送机构B14之间输送衔接，即过渡横向输送机构B12上的纸箱可以输送到出料纵向输送机构B14上。纸箱从过渡横向输送机构B12输送到出料纵向输送机构B14上的方式也比较多，其跟从进料横向输送机构B10输送到过渡横向输送机构B12上的方式相同，这里不再重复描述。
也是基于同样的原因，过渡横向输送机构B12与出料纵向输送机构B14之间通过第二输送带机构B13实现输送衔接，第二输送带机构B13包括有第二输送带B130，过渡横向输送机构B12包括有多个过渡输送辊B120，第二输送带B130位于两个过渡输送辊B120之间，第二输送带机构B13与驱动第二输送带机构B13上下升降的第二升降动力源传动连接。当纸箱进入到过渡横向输送机构B12的末端，第二升降动力源驱动第二输送带机构B13上升，这样第二输送带B130就托起纸箱，同时第二输送带B130将纸箱输送到出料纵向输送机构B14的前端，然后第二升降动力源驱动第二输送带机构B13下降，这样纸箱就至于出料纵向输送机构B14上，出料纵向输送机构B14将纸箱进行纵向输送。
如图6所示，开装封箱机A的纸箱输送装置A1包括有左右两个同步输送单元A11，左右两个同步输送单元A11之间形成容纳纸箱C的间距，另外在左右两个同步输送单元A11之间设有支撑底板A12，每个同步输送单元A11包括有输送带机构A110，如图7所示，输送带机构A110包括输送带A1100，而在输送带A1100上沿带长方向等分设有若干个推盒块A1101。
其输送原理如下：如图6所示，当纸箱C进入到左右两个同步输送单元A11之间时，支撑底板A12从底部支撑起纸箱C，而左右两个同步输送单元A11的输送带A1100同步转动，输送带A1100上的推盒块A1101就从纸箱C的背面推着纸箱C前进。这种输送方式结构合理，推盒块A1101可以给纸箱C稳定的推力，而且可以通过对推盒块A1101位置的计算，设备控制系统便能知道纸箱所在位置，从而在不需要传感器的情况下，也能控制用于纸箱合盖的合盖机构精确动作，从而大大简化了设备结构，降低了制造成本，即使纸箱规格发生变化，也无需调节传感器位置。
如图8所示，开装封箱机A包括有纸盒输送装置A2，而在纸盒输送装置A2与纸箱输送装置A1的输送方向相同，纸盒输送装置A2与纸箱输送装置A1之间设有纸盒自送输送排列装置A3。如图8所示，这种纸盒自送输送排列装置A3包括有推盒机构A32、整理平台A33与纸盒控料机构A34；整理平台A33位于纸盒输送装置A2的一侧；推盒机构A32包括有推料板A320以及驱动推料板A320将纸盒输送装置A2上的纸盒D推到整理平台A33上的推料板动力源A322。通过纸盒输送装置A2的输送，捆扎好的纸盒D就来到前方，当纸盒累积到一定量后，推料板动力源A322驱动推料板A320动作，推料板A320将一排纸盒从纸盒输送装置A2上推送到整理平台A33上。通过多次这样的推送，整理平台A33上就排列起多排纸盒，最后由机械手将多排纸盒D一次性抓取，并放到纸箱内。
由于纸盒输送装置A2实现不间断输送，所以前后相邻的纸盒会紧紧挨在一起，如果直接将前面部分的一排纸盒推出去，那么最末个纸盒会与相邻的纸盒产生阻力，从而导致无法正常分离。因此，为了使前段一排纸盒能被顺利推出来，在纸盒输送装置A2的中间位置设有纸盒控料机构A34，该纸盒控料机构A34包括有用于夹住纸盒D的左控料板A340与右控料板A341，而在纸盒输送装置A2的前端上方设有纸盒限位机构A35，纸盒限位机构A35包括有前挡板A350与驱动前挡板A350前后移动的前挡板动力源A351。工作时，纸盒输送装置A2不间断输送，将一排排捆扎好的纸盒D往前输送，这样最前端的纸盒就碰到前挡板A350上，然后纸盒控料机构A34的左控料板A340与右控料板A341夹住中间部分的纸盒，这样即使纸盒输送装置A2仍在输送，被夹住的纸盒以及后面的所有纸盒都不会往前移动，接着纸盒限位机构A35的前挡板动力源A351驱动前挡板A350后移，这样前面一排的纸盒就会在纸盒输送装置A2的输送下继续往前移动一定的距离，这样前面一排的纸盒就与被夹住的纸盒分离开一定间距，然后推盒机构A32的推料板动力源A322驱动推料板A320动作，将这分离的一排纸盒推到整理平台A33。如此往复，就可以将多排纸盒顺利推到整理平台A33上，最后由机械手将多排纸盒一次性抓取装箱。
开装封箱机A包括有纸箱料仓A4，如图9所示，这种纸箱料仓A4就是用于存放扁平的纸箱C。一叠扁平的纸箱C放置在该料仓中，由机械手一张张吸走。 如图9所示，纸箱料仓A4包括有料仓机架A41，料仓机架A41上安装有可前后移动的放料框A42，如图10所示，放料框A42上安装有两个相对的支撑板组件A44，每支撑板组件A44包括有支撑板A440与支撑板转轴A442，其中支撑板转轴A442可转动地安装在放料框A42上，支撑板A440连接在支撑板转轴A442上，支撑板转轴A442上连接有连接件A441，连接件A441与拉簧A443一头连接，而拉簧A443另一头连接在放料框A42上，该拉簧A443驱使支撑板A440转向内侧；而在放料框A42的下方设有放料平台A45，该放料平台A45与驱动放料平台A45上下升降的放料动力源传动连接。
当需要放纸箱时，将纸箱C放置在放料框A42上，如图10所示，由于拉簧A443拉着支撑板A440转向内侧，这样纸箱C就至于两边的支撑板A440上，同时，拉簧A443拉着支撑板A440，防止支撑板A440在纸箱重力作用下往外转动。当放料平台A45上的纸箱用完时，就转动支撑板转轴A442，让支撑板A440转向外侧，这样纸箱C就落地下方的放料平台A45上。放料平台A45通过放料动力源的驱动实现上下升降，当机械手每吸走一张，放料平台A45上升一张纸箱厚度的高度，这样机械手的吸取点不变，纸箱一张张被吸取走。通过这种结构，只需要操作人员将放料框A42拉出来，然后将纸箱放上去后再推进去，当放料平台A45上的纸箱用完时，就控制支撑板转轴A442转动，让纸箱落地放料平台A45上即可，操作十分安全，也十分方便。
为了能缓存较多的纸箱C，在放料框A42与放料平台A45之间设有纸箱缓存机构A43，如图9所示，纸箱缓存机构A43包括有前后两个侧档板A430，两个侧档板A430上均安装有缓存板组件，如图11所示，缓存板组件包括有缓存板A431、缓存板转轴A432以及驱动缓存板转轴A432转动的缓存板动力源A433，缓存板A431连接在缓存板转轴A432上，通过缓存板动力源A433的驱动，缓存板A431具有进入左右两个侧档板A430之间的第一状态与从左右两个侧档板A430之间出来的第二状态，前后两个缓存板A431相对设置。若放料平台A45上还有纸箱时，放入放料框A42上的纸箱先落到纸箱缓存机构A43，即纸箱落地在左右两边的缓存板A431上进行缓存，当放料平台A45上没有纸箱时，缓存板动力源A433驱动缓存板A431转动，这样纸箱C就落地到下方的放料平台A45上。当然，纸箱缓存机构A43上的纸箱下放可以人工进行控制，也可以通过传感器感应后控制缓存板动力源A433动作。这里值得一提的是，纸箱缓存机构A43可设置多层，即侧档板A430上沿上下方向设置多个缓存板组件，这样纸箱缓存机构A43的高度就可以设置的更高，从而可以缓存更多的纸箱。如图所示，纸箱缓存机构A43就设置两层。
如图12所示，开装封箱机A包括有纸箱撑开装置A5，纸箱撑开装置A5用于将纸箱C撑开并送入纸盒输送装置A1。这种纸箱撑开装置A5包括有提箱机构A51与侧撑箱机构A52，侧撑箱机构A52位于提箱机构A51一侧，提箱机构A51用于将扁平纸箱C提起，而侧撑箱机构A52用于从侧面支撑纸箱，这样纸箱就能被撑开，形成待合盖的立体结构。
如图12与图13所示，提箱机构A51包括有真空吸盘A511、提箱臂A510以及驱动提箱臂A510绕转动点上下转动的提箱动力源A512，真空吸盘A511安装在提箱臂A510上。通过提箱动力源A512驱动提箱臂A510绕转动点转动，提箱臂A510上的真空吸盘A511就能将扁平的纸箱吸起来，纸箱在重力的作用下会逐渐撑开。
纸箱在被提起的过程中，还必须要同时给纸箱侧面一个作用力，这样纸箱被完全提起后就形成立体形状。因此在提箱机构A51的一侧还设有侧撑箱机构A52。如图12与图13所示，侧撑箱机构A52包括有侧撑板A521、立柱A520以及驱动立柱A520绕转动点左右转动的侧撑箱动力源A522，侧撑板A521连接在立柱A520上。通过侧撑箱动力源A522的驱动，立柱A520绕转动点左右转动，这样立柱A520上的侧撑板A521就作用在纸箱的侧面，当纸箱在被提起的过程中，侧撑板A521就从侧面给纸箱一个支撑力，这样当纸箱C被完全提起后，纸箱C就能形成立体结构。
纸箱C形成立体后，需要送入下一个工位，为此，如图12所示，本发明还将提箱机构A51与侧撑箱机构A52安装在送箱滑座A53上，送箱滑座A53滑动设置在机座上，而送箱滑座A53与驱动送箱滑座A53滑动的送箱动力源A54传动连接。通过送箱动力源A54的驱动，送箱滑座A53移动，送箱滑座A53便载着提箱机构A51与侧撑箱机构A52一起移动，这样纸箱C就被送入纸盒输送装置A1。当然，可以另外装一个吸嘴机构，将提箱机构A51放掉纸箱，让这个吸嘴机构将纸箱输送至纸盒输送装置A1，这样也可以。
如图14所示，当纸箱C通过纸箱输送装置A1输送过来后，需要将纸箱C上的四个边盖C1打开，为此，在纸盒输送装置A1上方还设有纸箱边盖撑开装置A8。这种纸箱边盖撑开装置A8将纸箱C上方的四个边盖A撑开，之后就由机械手抓取纸盒D放入纸箱C内。如图14所示，这种纸箱边盖撑开装置A8包括有固定座A80与撑开杆A83组件，如图15所示，撑开杆A83组件包括有撑开杆A83、小连杆A86以及滚轮A87，撑开杆A83具有连接杆部A830与作用杆部A831，连接杆部A830与作用杆部A831具有夹角，撑开杆A83的连接杆部A830可转动地安装在固定座A80上，而撑开杆A83的连接杆部A830连接在小连杆A86的一端，滚轮A87连接在小连杆A86的另一端，滚轮A87位于升降块A88的长槽A89内，而升降块A88与驱动升降块A88上下移动的边盖撑开动力源A82传动连接，边盖撑开动力源A82安装在固定座A80上。
其动作原理如下：如图15所示，边盖撑开动力源A82驱动升降块A88升降，升降块A88就通过滚轮A87带动小连杆A86转动，小连杆A86又带动撑开杆A83转动，由于撑开杆A83具有连接杆部A830与作用杆部A831，并且连接杆部A830与作用杆部A831具有夹角，这样撑开杆A83的连接杆部A830转动，撑开杆A83的作用杆部A831就能上下移动。当撑开杆A83的作用杆部A831往下移动时，撑开杆A83的作用杆部A831就能撑开纸箱边盖C1；当撑开杆A83的作用杆部A831往上移动时，撑开杆A83的作用杆部A831就不再撑开纸箱边盖，这样纸箱边盖C1便能合盖。
如图5所示，纸盒放到纸箱C内后，还需要通过隔板E能将多层的纸盒D分隔开。为此，开装封箱机A包括有隔板缓存料仓A9，如图16所示，这种隔板缓存料仓A9包括有料仓机座A91，如图17所示，料仓机座A91上安装有左右两排料仓栏机构，每排料仓栏机构包括有前后两个料仓栏组件A92，每个料仓栏组件A92包括有料仓栏A920以及安装在料仓栏A920上的拖料板A921，如图17所示，一叠隔板E进入料仓内后就至于四个料仓栏组件A92的四个拖料板A921上。为了能将放置好的隔板E往上逐渐抬起，如图18所示，本发明在每排料仓栏机构的前后两个料仓栏A920组件之间设有隔板抬升机构A93。如图18所示，隔板抬升机构A93包括有同步带A930与两个同步轮，同步带A930绕于同步轮上，另外在同步带A930上设有抬升片A931，同步轮与驱动同步轮转动的抬升动力源传动连接。当隔板E放置好后，抬升动力源驱动同步带A930转动，这样位于同步带A930上的抬升片A931就从底部将隔板E抬起，机械手每取走一张，抬升片A931就抬着隔板E上升一张隔板厚度的高度，通过这种方式就能确保料仓内最上方的一张隔板始终处于机械手吸取位置。这种结构的隔板缓存料仓A9，由于人工放料空间设计在料仓下部，从而有效避免了装箱机内部运行和机械手吸取隔板时，产生的人员操作安全性难题。同时解决了原有放隔板时，装箱机因为必须保证操作人员的安全性而产生的停机，所带来的时间浪费问题。因此，配置这种隔板缓存料仓A9，可以显著增加设备的生产效率，保证前后道设备与装箱机的联动可靠性。

Claims (10)

  1. 一种全自动开装封箱码垛一体机，包括开装封箱机(A)与纸箱码垛机(B)，所述开装封箱机(A)包括有纸箱输送装置(A1)，其特征在于：所述纸箱码垛机(B)包括有码垛机械手(B2)与码垛输送装置（B1），所述码垛输送装置（B1）位于码垛机械手(B2)的前方，所述码垛输送装置（B1）包括有进料横向输送机构(B10)，所述进料横向输送机构(B10)的进料端与纸箱输送装置(A1)的出料端衔接，所述进料横向输送机构(B10)的一侧设有过渡横向输送机构(B12)，所述过渡横向输送机构(B12)与进料横向输送机构(B10)之间输送衔接，所述过渡横向输送机构(B12)的一侧设有出料纵向输送机构(B14)，所述出料纵向输送机构(B14)与过渡横向输送机构(B12)之间输送衔接，所述出料纵向输送机构(B14)的一侧与进料横向输送机构(B10)之间具有第一码垛空间(B7)，所述出料纵向输送机构(B14)的另一侧具有第二码垛空间(B8)，所述码垛机械手(B2)可将出料纵向输送机构(B14)上的纸箱移放到第一码垛空间(B7)与第二码垛空间(B8)。
  2. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述过渡横向输送机构(B12)与进料横向输送机构(B10)之间通过第一输送带机构(B11)实现输送衔接，所述第一输送带机构(B11)包括有第一输送带 (B110)，所述进料横向输送机构(B10)包括有多个进料输送辊(B100)，所述过渡横向输送机构(B12)包括有多个过渡输送辊(B120)，所述第一输送带 (B110)从两个进料输送辊(B100)之间延伸到两个过渡输送辊(B120)之间，所述第一输送带机构(B11)与驱动第一输送带机构(B11)上下升降的第一升降动力源传动连接。
  3. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述过渡横向输送机构(B12)与出料纵向输送机构(B14)之间通过第二输送带机构(B13)实现输送衔接，所述第二输送带机构(B13)包括有第二输送带 (B130)，所述过渡横向输送机构(B12)包括有多个过渡输送辊(B120)，所述第二输送带 (B130)位于两个过渡输送辊(B120)之间，所述第二输送带机构(B13)与驱动第二输送带机构(B13)上下升降的第二升降动力源传动连接。
  4. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述纸箱输送装置(A1)包括有左右两个同步输送单元(A11)，左右两个同步输送单元(A11)之间形成容纳纸箱的间距，所述左右两个同步输送单元(A11)之间设有支撑底板（A12），每个同步输送单元(A11)包括有上下两个输送带机构(A110)，所述输送带机构(A110)包括输送带(A1100)，所述输送带(A1100)上沿带长方向等分设有若干个推盒块(A1101)。
  5. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述开装封箱机(A)包括有纸盒输送装置(A2)，所述纸盒输送装置(A2)与纸箱输送装置(A1)的输送方向相同，所述纸盒输送装置(A2)与纸箱输送装置(A1)之间设有纸盒自送输送排列装置(A3)，所述纸盒自送输送排列装置(A3)包括有推盒机构(A32)、整理平台(A33)以及纸盒控料机构(A34)，所述纸盒控料机构(A34)包括有用于夹住纸盒的左控料板(A340)与右控料板(A341)，所述纸盒输送装置(A2)的前端上方设有纸盒限位机构(A35)，所述纸盒限位机构(A35)包括有前挡板(A350)与驱动前挡板(A350)前后移动的前挡板动力源(A351)，所述整理平台(A33)位于纸盒输送装置(A2)的一侧，所述推盒机构(A32)包括有推料板(A320)以及驱动推料板(A320)将纸盒输送装置(A2)上的纸盒推到整理平台(A33)上的推料板动力源(A322)。
  6. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述开装封箱机(A)包括有纸箱料仓(A4)，所述纸箱料仓(A4)包括有料仓机架(A41)，所述料仓机架(A41)上安装有可前后移动的放料框(A42)，所述放料框(A42)上安装有两个相对的支撑板组件(A44)，所述支撑板组件(A44)包括有支撑板(A440)与支撑板转轴(A442)，所述支撑板转轴(A442)可转动地安装在放料框(A42)上，所述支撑板(A440)连接在支撑板转轴(A442)上，所述支撑板转轴(A442)上连接有连接件(A441)，所述连接件(A441)与拉簧(A443)一头连接，所述拉簧(A443)另一头连接在放料框(A42)上，所述拉簧(A443)驱使支撑板(A440)转向内侧，所述放料框(A42)的下方设有放料平台(A45)，所述放料平台(A45)与驱动放料平台(A45)上下升降的放料动力源传动连接。
  7. 根据权利要求6所述的一种全自动开装封箱码垛一体机，其特征在于：所述放料框(A42)与放料平台(A45)之间设有纸箱缓存机构(A43)，所述纸箱缓存机构(A43)包括有前后两个侧档板(A430)，两个侧档板(A430)上均安装有缓存板组件，所述缓存板组件包括有缓存板(A431)、缓存板转轴(A432)以及驱动缓存板转轴(A432)转动的缓存板动力源(A433)，所述缓存板(A431)连接在缓存板转轴(A432)上，所述缓存板(A431)具有进入左右两个侧档板(A430)之间的第一状态与从左右两个侧档板(A430)之间出来的第二状态，前后两个缓存板(A431)相对设置。
  8. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述开装封箱机(A)包括有纸箱撑开装置(A5)，所述纸箱撑开装置(A5)包括有提箱机构(A51)与侧撑箱机构(A52)，所述侧撑箱机构(A52)位于提箱机构(A51)一侧，所述提箱机构(A51)包括有真空吸盘(A511)、提箱臂(A510)以及驱动提箱臂(A510)绕转动点上下转动的提箱动力源(A512)，所述真空吸盘(A511)安装在提箱臂(A510)上，所述侧撑箱机构(A52)包括有侧撑板(A521)、立柱(A520)以及驱动立柱(A520)绕转动点左右转动的侧撑箱动力源(A522)，所述侧撑板(A521)连接在立柱(A520)上；所述提箱机构(A51)与侧撑箱机构(A52)安装在送箱滑座(A53)上，所述送箱滑座(A53)滑动设置在机座上，所述送箱滑座(A53)与驱动送箱滑座(A53)滑动的送箱动力源(A54)传动连接。
  9. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述纸箱输送装置(A1)上方设有纸箱边盖撑开装置(A8)，所述纸箱边盖撑开装置(A8)包括有固定座(A80)与撑开杆组件，所述撑开杆组件包括有撑开杆(A83)、小连杆(A86)以及滚轮(A87)，所述撑开杆(A83)具有连接杆部(A830)与作用杆部(A831)，所述连接杆部(A830)与作用杆部(A831)具有夹角，所述撑开杆(A83)的连接杆部(A830)可转动地安装在固定座(A80)上，所述撑开杆(A83)的连接杆部(A830)连接在小连杆(A86)的一端，所述滚轮(A87)连接在小连杆(A86)的另一端，所述滚轮(A87)位于升降块(A88)的长槽(A89)内，所述升降块(A88)与驱动升降块(A88)上下移动的边盖撑开动力源(A82)传动连接，所述边盖撑开动力源(A82)安装在固定座(A80)上。
  10. 根据权利要求1所述的一种全自动开装封箱码垛一体机，其特征在于：所述纸箱输送装置(A1)的一侧设有隔板缓存料仓(A9)，所述隔板缓存料仓(A9)包括有料仓机座(A91)，所述料仓机座(A91)上安装有左右两排料仓栏机构，每排料仓栏机构包括有前后两个料仓栏组件(A92)，每个料仓栏组件(A92)包括有料仓栏(A920)以及安装在料仓栏(A920)上的拖料板(A921)，每排料仓栏机构的前后两个料仓栏组件(A92)之间设有隔板抬升机构(A93)，所述隔板抬升机构(A93)包括有同步带(A930)与两个同步轮，所述同步带(A930)绕于同步轮上，所述同步带(A930)上设有抬升片(A931)，所述同步轮与驱动同步轮转动的抬升动力源传动连接。
PCT/CN2021/071666 2020-10-31 2021-01-14 一种全自动开装封箱码垛一体机 WO2022088514A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
RU2021125619A RU2766124C1 (ru) 2020-10-31 2021-01-14 Полностью автоматическая машина для раскрытия, упаковки и штабелирования
EP21754693.6A EP4039602B1 (en) 2020-10-31 2021-01-14 Fully automated unpacking, sealing, and palletizing all-in-one machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011199033.5A CN112193849A (zh) 2020-10-31 2020-10-31 一种全自动开装封箱码垛一体机
CN202011199033.5 2020-10-31

Publications (1)

Publication Number Publication Date
WO2022088514A1 true WO2022088514A1 (zh) 2022-05-05

Family

ID=74010657

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/071666 WO2022088514A1 (zh) 2020-10-31 2021-01-14 一种全自动开装封箱码垛一体机

Country Status (2)

Country Link
CN (1) CN112193849A (zh)
WO (1) WO2022088514A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115158965A (zh) * 2022-08-26 2022-10-11 中山市正隆智能科技有限公司 一种滚筒输送线
CN115320937A (zh) * 2022-08-09 2022-11-11 深圳市锐巽自动化设备有限公司 一种两线共用开箱封箱的生产线
CN115489810A (zh) * 2022-09-28 2022-12-20 苏州鼎纳自动化技术有限公司 一种自动上料机构
CN115973782A (zh) * 2023-02-16 2023-04-18 重庆协兴同创环保科技有限公司 一种带有自动定位机构的成品纸箱码垛设备

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112173739A (zh) * 2020-10-31 2021-01-05 浙江希望机械有限公司 一种物料码垛输送装置、应用该装置的码垛机及码垛方法
CN112193849A (zh) * 2020-10-31 2021-01-08 浙江希望机械有限公司 一种全自动开装封箱码垛一体机
CN114313775A (zh) * 2021-12-27 2022-04-12 盐城工学院 双工位双吸盘上料机
CN114852704B (zh) * 2022-07-05 2022-09-30 广东金玉兰包装机械有限公司 一种包装纸盒全自动分层堆叠码垛装置及其码垛方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204078830U (zh) * 2014-07-04 2015-01-07 上海汇众汽车制造有限公司 直角转弯输送辊道及输送辊道的直角变向机构
CN206345083U (zh) * 2016-12-16 2017-07-21 上海星派自动化股份有限公司 一种机器人开箱装箱码垛一体机
CN206679878U (zh) * 2017-04-24 2017-11-28 云南鼎彩瓦业有限公司 一种合成树脂瓦搬运码垛装置
JP6348322B2 (ja) * 2014-04-10 2018-06-27 大森機械工業株式会社 集積装置及び箱詰め装置
CN208103828U (zh) * 2018-04-09 2018-11-16 三门峡三星智能装备制造有限公司 一种工件码垛系统及其工件码垛装置
CN109051008A (zh) * 2018-09-07 2018-12-21 瑞安市华科机械科技有限公司 一种全流程自动包装生产线
CN110626558A (zh) * 2019-09-10 2019-12-31 合肥哈工龙延智能装备有限公司 一种全自动智能开封装码垛一体机
CN112193849A (zh) * 2020-10-31 2021-01-08 浙江希望机械有限公司 一种全自动开装封箱码垛一体机

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6348322B2 (ja) * 2014-04-10 2018-06-27 大森機械工業株式会社 集積装置及び箱詰め装置
CN204078830U (zh) * 2014-07-04 2015-01-07 上海汇众汽车制造有限公司 直角转弯输送辊道及输送辊道的直角变向机构
CN206345083U (zh) * 2016-12-16 2017-07-21 上海星派自动化股份有限公司 一种机器人开箱装箱码垛一体机
CN206679878U (zh) * 2017-04-24 2017-11-28 云南鼎彩瓦业有限公司 一种合成树脂瓦搬运码垛装置
CN208103828U (zh) * 2018-04-09 2018-11-16 三门峡三星智能装备制造有限公司 一种工件码垛系统及其工件码垛装置
CN109051008A (zh) * 2018-09-07 2018-12-21 瑞安市华科机械科技有限公司 一种全流程自动包装生产线
CN110626558A (zh) * 2019-09-10 2019-12-31 合肥哈工龙延智能装备有限公司 一种全自动智能开封装码垛一体机
CN112193849A (zh) * 2020-10-31 2021-01-08 浙江希望机械有限公司 一种全自动开装封箱码垛一体机

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4039602A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115320937A (zh) * 2022-08-09 2022-11-11 深圳市锐巽自动化设备有限公司 一种两线共用开箱封箱的生产线
CN115158965A (zh) * 2022-08-26 2022-10-11 中山市正隆智能科技有限公司 一种滚筒输送线
CN115489810A (zh) * 2022-09-28 2022-12-20 苏州鼎纳自动化技术有限公司 一种自动上料机构
CN115489810B (zh) * 2022-09-28 2023-11-28 苏州鼎纳自动化技术有限公司 一种自动上料机构
CN115973782A (zh) * 2023-02-16 2023-04-18 重庆协兴同创环保科技有限公司 一种带有自动定位机构的成品纸箱码垛设备
CN115973782B (zh) * 2023-02-16 2023-06-20 重庆协兴同创环保科技有限公司 一种带有自动定位机构的成品纸箱码垛设备

Also Published As

Publication number Publication date
CN112193849A (zh) 2021-01-08

Similar Documents

Publication Publication Date Title
WO2022088514A1 (zh) 一种全自动开装封箱码垛一体机
EP4039602B1 (en) Fully automated unpacking, sealing, and palletizing all-in-one machine
CN114803532B (zh) 袋装货物重力拆垛机
CN109378285A (zh) 一种芯片封装用排片机
CN110775650A (zh) 一种袋装物料包的自动拆垛系统
CN209374409U (zh) 芯片封装用排片机
KR100858654B1 (ko) 제품 케이싱 시스템
WO2022088513A1 (zh) 一种物料码垛输送装置、应用该装置的码垛机及码垛方法
CN209374417U (zh) 芯片封装用排片机的自动送料单元
JP2011173678A (ja) 袋物用パレタイザ
CN216971305U (zh) 一种整层式全自动码垛机
CN216736522U (zh) 一种龙门式全自动码垛机
CN210558018U (zh) 一种果杯码垛机
CN213864422U (zh) 一种全自动开装封箱码垛一体机
JP3796628B2 (ja) チューブの箱詰め方法及び装置
CN110282442B (zh) 一种果杯码垛机
CN210914411U (zh) 一种喷油器包装盒的码垛升降装置
CN113911448A (zh) 一种光学膜用全自动包装码垛生产线
CN209374408U (zh) 芯片封装用排片机的自动抓取单元
CN210854388U (zh) 一种袋装物料包的自动拆垛机
KR100877463B1 (ko) 박스 보관 및 반출 시스템 및 그 방법
JPH06144582A (ja) 積重ねコンテナ分解装置
CN220549294U (zh) 一种自动装箱装置
CN109390259A (zh) 一种芯片封装用排片机的自动抓取单元
CN219525356U (zh) 一种包装盒码垛输送设备

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2021754693

Country of ref document: EP

Effective date: 20210823

NENP Non-entry into the national phase

Ref country code: DE