TWM593976U - Packing machine - Google Patents

Abstract

A cartoning machine suitable for placing a product in a packaging box. The case packer includes a tray supply device, a tray pick and place device, a product supply device and a product pick and place device. The tray supply device is used to supply a tray. The tray pick and place device is used to pick up and place the tray in the packing box. The product supply device is used to supply products. The product pick-and-place device is used to pick up and place products on the tray in the packaging box or the packaging box. The cartoning machine can selectively switch between a first cartoning mode and a second cartoning mode. In the first cartoning mode, the product pick-and-place device picks up and places the product in the packaging box, and the second cartoning machine In the box mode, the tray pick-and-place device picks up and places the tray in the packaging box, and the product pick-and-place device picks up and places the product on the tray in the packaging box.

Description

Packing machine

The present invention relates to a cartoning machine, especially a cartoning machine for packing products in packaging boxes.

After the processing of the existing circuit board is completed, the circuit board on the conveyor belt is manually removed and placed in the packaging box for packing operation. However, the manual packaging of the circuit board not only consumes labor costs, but also has a poor packaging efficiency and consumes a lot of man-hours.

Therefore, an object of the present invention is to provide a boxing machine capable of overcoming at least one disadvantage of the prior art.

Therefore, the new boxing machine is suitable for placing a product in a packaging box.

The case packer includes a tray supply device, a tray pick and place device, a product supply device, and a product pick and place device. The tray supply device is used to supply a tray. The tray pick-and-place device is used to pick up and place the tray in the packaging box. The product supply device is used to supply the product. The product pick-and-place device is used to pick up and place the product in the packaging box or on the tray in the packaging box. The cartoning machine can selectively switch between a first cartoning mode and a second cartoning mode. During the first cartoning mode, the product pick-and-place device picks up and places the product in the packaging box In the second packing mode, the tray pick-and-place device picks up and places the tray in the packaging box, and the product pick-and-place device picks up and places the product on the tray in the packaging box.

According to the novel boxing machine, the tray pick-and-place device includes a transfer mechanism and a suction mechanism connected to the transfer mechanism, the transfer mechanism is used to drive the suction mechanism to a suction position for sucking the tray, and First, the sucked tray is moved between the unloading positions in the packaging box.

In the new type of boxing machine, the transfer mechanism includes a lateral movement assembly and a lifting assembly. The lateral movement assembly is connected to the lifting assembly to drive the lateral movement of the lifting assembly. The suction mechanism is connected to drive the suction mechanism to move up and down. The lifting assembly includes a lifting frame, a screw, a motor, and a pulley set. The lifting frame is movably connected to the lateral movement assembly, and the suction mechanism Set at the bottom of the lifting frame, the screw is screwed to the lifting frame, the motor is set at the lateral movement assembly, the pulley set is set between the screw and the motor, and the motor drives the screw to rotate through the pulley set So that the screw drives the lifting frame to move up and down.

In the novel boxing machine, the tray supply device includes two first guides Rail, at least one bearing frame slidably connected to the first guide rails, at least one driving mechanism connected to the bearing frame, and a lifting mechanism, the bearing frame is used to carry the tray, and the driving mechanism is used to drive the The carrying frame moves between a feeding position that is not aligned with the lifting mechanism, and a discharging position that is aligned with the lifting mechanism, and the lifting mechanism is used to raise the load carried by the carrying frame at the discharging position tray.

According to the novel boxing machine, the carrying frame includes a carrying plate for carrying the pallet, the carrying plate is formed with two through slots, the lifting mechanism includes a lifting member, and the lifting member has two spaced lifting arms , When the lifting member is at a lowest position, the height of the lifting arms is lower than the height of the bearing plate, when the bearing frame is at the discharge position and the lifting member is at the lowest position, the lifting arms are located at the load Under the board and aligned with the slots respectively, the lifting arms can respectively pass through the slots to lift the tray.

In the novel boxing machine, the product pick-and-place device includes a mechanical arm, and a gripping mechanism connected to the mechanical arm and capable of being driven to move. The gripping mechanism is used to grip the product supply device The product can also be placed in the packaging box or on the tray in the packaging box.

In the new type of boxing machine, the mechanical arm can drive the gripping mechanism to rotate between a first angle and a second angle. At the first angle, the product is horizontal, and at the second angle, The product is vertical, the gripping mechanism places the gripped product in the tray at the first angle, and the gripping mechanism places the gripped product in the tray at the second angle Inside the box.

Therefore, the new boxing machine is suitable for placing a product and a tray in a packaging box.

The cartoning machine includes a tray pick and place device and a product pick and place device. The tray pick-and-place device is used to pick up and place the tray in the packaging box. The product pick-and-place device is used to pick up and place the product in the packaging box or on the tray in the packaging box. The cartoning machine can selectively switch between a first cartoning mode and a second cartoning mode. During the first cartoning mode, the product pick-and-place device picks up and places the product in the packaging box In the second packing mode, the tray pick-and-place device picks up and places the tray in the packaging box, and the product pick-and-place device picks up and places the product on the tray in the packaging box.

Therefore, the new boxing machine includes a pick and place device. The cartoning machine can be selectively switched between a first cartoning mode and a second cartoning mode. In the first cartoning mode, the pick-and-place device is used to pick up the transported to a predetermined position A product, and then put the grabbed product into a packaging box that is sent to a predetermined position; in the second packing mode, the pick and place device is used to grab a product that is sent to a predetermined position Tray, and then put the grabbed tray into the packaging box sent to the predetermined position, the pick-and-place equipment and further grab the product sent to the predetermined position, and then the grabbed product Place the pallet into the box.

Therefore, the new boxing machine includes a pick and place device. The boxing machine can selectively switch between a first boxing mode and a second boxing mode. In the packing mode, the pick-and-place equipment is used to grab a product that is sent to a predetermined position, and then put the grabbed product into a packaging box that is sent to a predetermined position; In the box mode, the pick-and-place device is used to grab a tray that is sent to a predetermined position, and then put the grabbed tray into the packaging box that is sent to the predetermined position, and the pick-and-place device further Grab a large number of the products that are sent to the predetermined position in sequence, and place the grabbed products in the tray placed in the packaging box in sequence, and then the pick-and-place equipment grabs and is sent to Another tray at the predetermined position, and then put the grabbed another tray into the packaging box.

The effect of the present invention lies in that the boxing machine can automatically carry out the boxing operation of the product, thereby saving the labor cost and man-hours for manual boxing. In addition, the boxing machine can selectively switch between the first boxing mode and the second boxing mode, which can increase the flexibility of use to meet the needs of different boxing methods.

11: packing box

11’: Packing box

111: vertical slot

112: accommodating space

12: Product

121: Side

13: tray

131: accommodating groove

200: Packing machine

2: rack

21: front end

22: backend

23: Base

24: Carrier body

25: top frame

26: Side frame

3: Packing device

31: Conveying mechanism

311: feeding end

312: Discharge end

4: Product supply device

41: Conveyor belt

411: feeding end

412: Discharge end

5: Product pick and place device

51: Robotic arm

511: pivot joint

52: gripping mechanism

521: Cylinder

522: clamping arm

53: The first camera

54: Second camera

6: tray supply device

60: bottom plate

61: First rail

61’: First rail

62: Carrying frame

621: Carrier board

622: First slider

623: Second slider

624: limit arm

625: Groove

626: Short side

627: Short side

63: Drive mechanism

631: Pulley

631’: pulley

632: belt

633: clamping piece

634: Motor

64: Lifting mechanism

640: Stand

641: Second rail

642: pulley

642’: pulley

643: belt

644: clamping piece

645: Lifting parts

646: Motor

647: Long slot

648: Slider

649: Lifting the board

650: Raise the arm

7: tray pick and place device

71: Stand

72: Transfer mechanism

720: Lateral movement assembly

721: Lifting assembly

722: rail

723: Sliding frame

724: drive unit

725: Tablet

726: Guide sleeve

727: Lifting frame

728: screw

729: Motor

730: Lower frame

731: Shelf body

732: connecting rod

733: screw hole

734: pulley set

74: suction mechanism

741: suction cup

P1: position to be loaded

P2: Position to be discharged

D: Conveying direction

X: front and back direction

Y: left and right direction

Z: up and down direction

Other features and functions of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a perspective view of an embodiment of the novel boxing machine; FIG. 2 is an incompleteness of the embodiment A three-dimensional view illustrating the configuration relationship between a box conveying device, a product supply device, a product pick-and-place device, a tray supply device, and a tray pick-and-place device; 3 is an incomplete top view of the embodiment; FIG. 4 is a perspective view of a mechanical arm and a gripping mechanism of the embodiment; FIG. 5 is a partial perspective exploded view of the tray supply device of the embodiment; 6 is an incomplete perspective view of the tray supply device of the embodiment; FIG. 7 is a perspective view of the tray pick and place device of the embodiment; FIG. 8 is an incomplete side view of the tray pick and place device of the embodiment FIG. 9 is a schematic diagram of the embodiment, illustrating a clamping mechanism at a first angle; FIG. 10 is a schematic diagram of the embodiment, illustrating the two clamping arms of the clamping mechanism in a clamping position; FIG. 11 Is a schematic diagram of the embodiment, illustrating the clamping mechanism at a second angle; FIG. 12 is a schematic diagram of the embodiment, illustrating that the clamping mechanism inserts a clamped product into a vertical position of a packaging box In a straight groove; FIG. 13 is a cross-sectional view of the packaging box of the embodiment, illustrating that each vertical groove of the packaging box contains a product; FIG. 14 is an incomplete top view of the embodiment; FIG. 15 is A schematic diagram of the tray supply device of this embodiment, illustrating one of the carrying frames moved to a discharge position; FIG. 16 is a schematic diagram of this embodiment, illustrating a suction mechanism in a suction position; FIG. 17 is a schematic diagram of the embodiment, illustrating that the suction mechanism is moved to a position corresponding to the top of the packaging box; FIG. 18 is a schematic diagram of the embodiment, illustrating that the suction mechanism is moved to a discharging position; FIG. 19 is the A schematic diagram of an embodiment illustrating that the gripping mechanism places the gripped product in a receiving groove of a tray in the packaging box; and FIG. 20 is a cross-sectional view of the packaging box of the embodiment, It means that each accommodating groove of the tray in the packaging box contains the product.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same number.

1 and 2, it is an embodiment of the new boxing machine 200 of the present invention, suitable for multiple packaging boxes 11, multiple packaging boxes 11' (as shown in FIG. 14), multiple products 12 and multiple trays 13 matches. In this embodiment, the product 12 is a circuit board as an example. Of course, the product 12 may also be any board that needs to be boxed, such as a liquid crystal panel or a glass substrate, etc., not limited to the circuit board. The cartoning machine 200 includes a rack 2, a packaging box conveying device 3, a product supply device 4, a product pick and place device 5, a tray supply device 6, and a tray pick and place device 7.

The rack 2 includes a front end 21, a rear end 22, a base 23, and a bearing The frame body 24, a top frame body 25, and a side frame body 26. The directions passing through the front end 21 and the rear end 22 of the rack 2 are defined as a front-rear direction X, a left-right direction Y perpendicular to the front-rear direction X, and an up-down direction Z perpendicular to the front-rear direction X and the left-right direction Y. The carrier body 24 is disposed on the base 23 and adjacent to the rear end 22. The top frame body 25 is located above the base 23 at intervals. The side frame body 26 is disposed on the base 23 and located on the right side of the base 23.

Referring to FIG. 1, FIG. 2 and FIG. 3, the packaging box conveying device 3 is disposed on the base 23 of the rack 2 and protrudes from the front end 21 and the rear end 22 to transport two different forms of packaging boxes 11, 11' ( (As shown in Figure 14). The container conveying device 3 includes a conveying mechanism 31 extending in the front-rear direction X. The conveying mechanism 31 has a feed end 311 that is exposed outside the frame 2 and is located in front of the front end 21, and a discharge end 312 that is exposed outside the frame 2 and is located behind the rear end 22. The packaging box conveying device 3 of this embodiment may be provided with a box dividing mechanism (not shown) at an appropriate position of the conveying mechanism 31 near the feeding end 311, so that the worker can place a whole stack up and down at the feeding end 311 The packing boxes 11, 11' stacked together are placed on the conveying mechanism 31. When the conveying mechanism 31 conveys the entire stack of packaging boxes 11, 11' to the position of the sub-contracting mechanism, the sub-contracting mechanism will perform a boxing action on the entire stack of packaging boxes 11, 11', so that the conveying mechanism 31 can sequentially pack each package The boxes 11, 11' are transported toward the discharge end 312 in a transport direction D from front to back.

For example, taking the transport packaging box 11 as an example, when the transport mechanism 31 transports each packaging box 11 to a position P1 to be loaded at a distance in front of the discharge end 312, the transport mechanism 31 will stop the transport packaging box 11 from moving Position at the position to be loaded P1, to carry out the packing operation of the product 12. When the aforementioned packing operation is completed, the conveying mechanism 31 will convey the packaging box 11 to the discharging end 312 for discharging.

For example, taking the transport packaging box 11 ′ as an example, when the transport mechanism 31 transports each packaging box 11 ′ to the position P1 to be loaded, the transport mechanism 31 stops the movement of the transport packaging box 11 ′ and positions it at the position P1 to be loaded. Carry out the packing operation of the tray 13 and the product 12. When the aforementioned packing operation is completed, the conveying mechanism 31 will convey the packaging box 11' to the discharge end 312 for discharge.

In this embodiment, each packaging box 11 is formed with a plurality of vertical grooves 111 arranged at intervals in the front-rear direction X, and each vertical groove 111 is used for inserting a corresponding product 12. Each packing box 11' forms an accommodating space 112 (as shown in FIG. 14). The accommodating space 112 is used to accommodate a predetermined number of trays 13.

It should be noted that in other embodiments, the packaging box conveying device 3 may not have a box dividing mechanism. When feeding the packaging boxes 11, 11', the worker must sequentially place each one at the feeding end 311 The packaging boxes 11, 11' are placed on the transport mechanism 31, so that the transport mechanism 31 transports the packaging boxes 11, 11' in order.

The product supply device 4 is disposed on the base 23 of the rack 2 and is located on the left side of the box conveying device 3 and protrudes from the front end 21. The product supply device 4 includes a conveyor belt 41 extending in the front-rear direction X. The conveyor belt 41 has a feed end 411 that is exposed outside the frame 2 and is located in front of the front end 21, and a discharge end 412 located in the frame 2. The staff can place each product 12 on the conveyor belt 41 at the feeding end 411 in sequence. The conveyor belt 41 The product 12 is transported in the transport direction D toward the discharge end 412. When the conveyor belt 41 conveys each product 12 to a to-be-discharged position P2 located at a distance in front of the discharge end 32, the conveyor belt 41 stops the movement of the conveyed product 12 and positions it at the to-be-discharged position P2 for The product pick-and-place device 5 picks up the product 12 at the position P2 to be discharged.

Referring to FIGS. 2, 3 and 4, the product pick-and-place device 5 and the tray pick-and-place device 7 together constitute a pick-and-place device of the boxing machine 200 (as shown in FIG. 1 ). The product pick-and-place device 5 includes a mechanical arm 51, a gripping mechanism 52, a first camera 53, a second camera 54, and a controller (not shown). The robot arm 51 is a six-axis robot arm, which is disposed on the carrier body 24 of the frame 2 and has a pivot joint 511 at the end. The gripping mechanism 52 is connected to the pivot joint 511 and can be moved by the robot arm 51. The clamping mechanism 52 includes a cylinder 521 and two clamping arms 522 connected to the cylinder 521 and spaced apart from each other. The air cylinder 521 is used to drive the two clamping arms 522 to move between an open position away from each other (as shown in FIG. 4) and a clamping position close to each other (as shown in FIG. 10). The clamping mechanism 52 clamps the product 12 on the conveyor belt 41 at the position P2 to be discharged through the two clamping arms 522, and drives the clamping mechanism 52 to move into the packaging box 11 at the position P1 to be loaded by the mechanical arm 51, so that the clamp The two clamping arms 522 of the picking mechanism 52 can place the gripped product 12 in the packaging box 11. In addition, the mechanical arm 51 can drive the gripping mechanism 52 through a pivot joint 511 to rotate between a first angle (as shown in FIG. 9) and a second angle (as shown in FIG. 11). At this time, the product 12 gripped by the gripping mechanism 52 is horizontal. At the second angle, the product 12 gripped by the gripping mechanism 52 is vertical.

The first camera 53 is a charge coupled device (CCD) disposed on the top frame body 25. The first camera 53 is used to capture the image of the product 12 at the position P2 to be discharged. The second camera 54 is a charge-coupled device (CCD) disposed on the top frame body 25. The second camera 54 is used to capture the image of the packaging box 11 at the position P1 to be loaded. The controller is electrically connected to the robot arm 51, the first camera 53 and the second camera 54. After the controller receives the image captured by the first camera 53, it will recognize the positions of the two sides 121 of the product 12 through the built-in image recognition software, so that the controller can control the robot arm 51 to move accurately The two clamping arms 522 of the clamping mechanism 52 move to a position to be clamped (as shown in FIG. 9) aligned with the two sides 121 of the product 12 to clamp the product 12. When the controller receives the image captured by the second camera 54, it will recognize the position of the empty vertical slot 111 of the packaging box 11 through the built-in image recognition software, so that the controller can control the robot arm 51 to move accurately The two clamping arms 522 of the clamping mechanism 52 move above the corresponding empty vertical groove 111 to place the product 12 in a vertical shape in the corresponding empty vertical groove 111.

Referring to FIGS. 3 and 5, the pallet supply device 6 is disposed on the base 23 of the rack 2 and is located on the right side of the box conveying device 3. The tray supply device 6 includes a bottom plate 60, two first guide rails 61, 61', two bearing frames 62, two driving mechanisms 63, and a lifting mechanism 64. The bottom plate 60 is disposed on the base 23, and the bottom plate 60 has an elongated shape and its longitudinal direction extends along the front-rear direction X. The two first guide rails 61, 61' are disposed on the top surface of the bottom plate 60 and are spaced apart in the left-right direction Y, and each first guide rail 61, 61' is elongated and its long direction is along the front-rear direction X extend. The two bearing frames 62 are slidably connected to the first guide rails 61, 61' and spaced apart in the front-rear direction X. Each bearing frame 62 includes a bearing plate 621, two first sliders 622, two second sliders 623, and four limiting arms 624. The carrying plate 621 has an elongated shape and its longitudinal direction extends in the front-rear direction X, and is used to carry a whole stack of trays 13 stacked up and down. The carrying plate 621 is formed with two through slots 625 spaced apart in the front-rear direction X, and each through slot 625 is elongated and its length extends in the left-right direction Y. The two first sliders 622 are slidably connected to the left first guide rail 61 and locked to the bottom surface of the carrying plate 621 by screwing. The two first sliders 622 are respectively adjacent to the two short sides 626 and 627 of the carrier plate 621. The two second sliders 623 are slidably connected to the first rail 61' on the right side and locked to the bottom surface of the bearing plate 621 by screwing. The two second sliders 623 are adjacent to one of the short sides 626 of the carrier plate 621, and the aforementioned short sides 626 are close to a corresponding short side of the bottom plate 60. The distance between the two second sliders 623 is smaller than the distance between the two first sliders 622. The two first sliders 622 and the two second sliders 623 are arranged on the bottom surface of the carrier plate 621, so that the short sides 627 of the carrier plate 621 except the first slider 622 are suspended, that is to say The aforementioned areas are spaced above the bottom plate 60 and the first rail 61'. The four limiting arms 624 are disposed on the top surface of the carrying plate 621 and are respectively adjacent to the four corners of the carrying plate 621. The four limiting arms 624 are used to block the four corners of each tray 13 to prevent each The tray 13 shakes on the carrier plate 621.

In this embodiment, each tray 13 is rectangular and has a plurality of accommodating grooves 131. The number of the accommodating grooves 131 is four. For example, the shape of each accommodating groove 131 It has the same shape as the product 12 to accommodate the product 12.

Two driving mechanisms 63 are provided on the bottom plate 60 and spaced apart in the front-rear direction X. Each driving mechanism 63 includes two pulleys 631, 631', a belt 632, a clamping member 633, and a motor 634. Two pulleys 631, 631' are located on the top surface of the bottom plate 60 and are spaced in the front-rear direction X, one of the pulleys 631 is connected to the motor 634 fixed on the bottom surface of the bottom plate 60, and the other pulley 631' is pivotally pivotally connected to the bottom plate 60. The belt 632 is wound around the two pulleys 631, 631'. The clamping member 633 is clamped and fixed to the belt 632 and is locked to the bottom surface of the bearing plate 621 by screwing. The motor 634 is used to drive the pulley 631 to rotate. When the pulley 631 rotates, it simultaneously drives the belt 643 and another pulley 631' to rotate. During the rotation of the belt 643, the bearing frame 62 is driven by the clamping member 633 to move in the front-rear direction X. Thereby, each driving mechanism 63 can drive the carrying frame 62 to move laterally between a feeding position (as shown in FIG. 5) and a discharging position (as shown in FIG. 15). When the carrying frame 62 is in the feeding position, the carrying frame 62 is close to the corresponding short side of the bottom plate 60. At this time, the worker can place a stack of trays 13 stacked up and down on the carrying plate 621 to carry out the tray 13 Feeding operations. When the carrying frame 62 is in the discharging position, the carrying frame 62 is located in the middle of the bottom plate 60 for subsequent discharging operations. With the design of the two carrier frames 62, when one of the carrier frames 62 is discharged at the discharging position, the other carrier frame 62 is charged at the feeding position, so that the two carrier frames 62 of the tray supply device 6 can The tray 13 is continuously supplied alternately. Thereby, the cartoner 200 does not need to stop to carry out the feeding operation of the tray 13.

5 and 6, the lifting mechanism 64 includes a stand 640, two second guide rails 641, two pulleys 642, 642', a belt 643, a clamping member 644, a lifting member 645, and a motor 646 . The stand 640 is disposed on the side frame body 26 (see FIG. 1) and is located on the right side of the bottom plate 60 and corresponds to the middle of the bottom plate 60. The stand 640 forms a long slot 647, and the length of the long slot 647 extends in the vertical direction Z. The two second guide rails 641 are disposed on the left side of the stand 640 and spaced in the front-rear direction X and located on the opposite side of the long slot 647. Each second guide rail 641 is elongated and extends in the up-down direction Z. Two pulleys 642, 642' are pivotally connected to the right side of the stand 640. The pulley 642 is located at the lower end of the long slot 647 and the pulley 642' is located at the upper end of the long slot 647. The belt 643 is wound around the two pulleys 642, 642'. The clamping member 644 is inserted into the long slot 647 and clamped and fixed on the belt 643. The lifting member 645 includes two sliders 648 (only one of which is shown in FIG. 6 ), and a lifting plate 649. The two sliders 648 are slidably connected to the two second guide rails 641 respectively. The lifting plate 649 is locked to the clamping member 644 and the two sliders 648 by a screw lock. The lifting plate 649 has two lifting arms 650 spaced apart in the front-rear direction X, and each lifting arm 650 is elongated and its length is along the left and right sides. The direction Y extends, and each lifting arm 649 is spaced above the first guide rail 61'. The motor 646 is disposed on the right side of the stand 640 and connected to the pulley 642. The motor 646 is used to drive the pulley 642 to rotate. When the pulley 642 rotates, the belt 643 and another pulley 642' are simultaneously rotated. The belt 643 passes through the clamping member 644 during the rotation The lifting member 645 is driven to move up and down in the vertical direction Z. When the lifting member 645 is at the lowest position as shown in FIG. 6, the height of the two lifting arms 650 of the lifting member 645 is lower than the height of the bearing plate 621 of the bearing frame 62. In addition, when lifting the piece When 645 is at the lowest position and the carrying frame 62 is at the feeding position, the two through slots 625 of the carrying frame 62 are not aligned above the two lifting arms 650 of the lifting member 645. When the lifting member 645 is at the lowest position and the carrying frame 62 is at the discharging position, the two through slots 625 of the carrying frame 62 are respectively aligned above the two lifting arms 650 of the lifting member 645. At this time, the two lifting arms 650 can pass through the two Pass through the slot 625 to lift the entire stack of trays 13 on the carrier plate 621 upward.

Referring to FIG. 2, FIG. 7 and FIG. 8, the tray pick-and-place device 7 includes a bracket 71, a transfer mechanism 72, and a suction mechanism 74. The bracket 71 is provided on the base 23. The transfer mechanism 72 includes a lateral movement assembly 720 and a lifting assembly 721. The lateral movement assembly 720 includes two guide rails 722 provided on the bracket 71, a slide bracket 723 slidably connected to the two guide rails 722, and a driving unit 724. The two guide rails 722 are spaced apart in the up-down direction Z, and each guide rail 722 is elongated and its long direction extends in the left-right direction Y. The sliding frame 723 has a flat plate 725, and a plurality of guide sleeves 726 disposed on the flat plate 725 and spaced apart from each other. The driving unit 724 is connected to the carriage 723 to drive the carriage 723 to move laterally in the left-right direction Y. The lifting assembly 721 includes a lifting frame 727, a screw 728, and a motor 729. The lifting frame 727 includes a lower frame 730 below the flat plate 725, an upper frame 731 above the flat plate 725, and a plurality of connecting rods 732. Each connecting rod 732 is elongated and its length extends in the up-down direction Z. Each connecting rod 732 is movably penetrated in the corresponding guide sleeve 726 and the upper and lower ends are fixedly connected to the upper frame body 731 and the lower frame respectively体730. The screw 728 is screwed into a screw hole 733 of the upper frame body 731, the screw 728 passes through the flat plate 725 and the bottom end of the screw 728 protrudes from the bottom surface of the flat plate 725. Motor 729 settings The bottom end of the motor 729 protrudes from the bottom surface of the flat plate 725 on the flat plate 725. The bottom end of the screw 728 and the bottom end of the motor 729 are connected by a pulley set 734. The motor 729 drives the screw 728 to rotate through the pulley set 734. When the screw 728 rotates, the lifting frame 727 will move the lifting frame 727 down or up in the up-down direction Z. The suction mechanism 74 includes a plurality of suction cups 741 disposed on the lower frame 730. The number of the suction cups 741 is four, and each suction cup 741 is used to suction the tray 13.

The transfer mechanism 72 is used to drive the suction mechanism 74 to move between a suction position (shown in FIG. 16) and a discharge position (shown in FIG. 18). In the suction position, the suction mechanism 74 is located above a top tray 13 of the stack of trays 13 carried by the carrying frame 62 at the discharge position, so that the suction tray 741 can suck the top tray 13. In the unloading position, the suction mechanism 72 is located in the packaging box 11' (see FIG. 18) at the loading position P1, so that the suction cup 741 can place the sucked tray 13 in the receiving space 112 of the packaging box 11' (Figure 18).

Referring to FIG. 3, the boxing machine 200 can selectively switch between a first boxing mode and a second boxing mode. In the first packing mode, the package conveying device 3 conveys a package 11 having a plurality of vertical slots 111, and the product pick-and-place device 5 picks up a product 12 supplied by the product supply device 4 and places it in In the corresponding vertical slot 111 of the packaging box 11, the product 12 is continuously picked up and placed until each vertical slot 111 in the packaging box 11 contains the product 12. In other words, the product pick-and-place device 5 picks up and places a predetermined number of products 12 in the packaging box 11. In the second packing mode, the packing box conveying device 3 conveys a packing box with an accommodating space 112 11' (see Fig. 14), the tray pick-and-place device 7 first picks up a tray 13 supplied by the tray supply device 6 and places it in the receiving space 112 (see Fig. 14) of the packaging box 11'. Subsequently, the product pick-and-place device 5 picks up a product 12 supplied by the product supply device 4 and places it in the corresponding receiving groove 131 of the tray 13 in the packaging box 11 ′, by continuously picking up and placing the product 12 until Each accommodating groove 131 in the packaging box 11 ′ contains the product 12, that is to say, the product pick-and-place device 5 will pick up and place a predetermined number of products 12 on the tray 13 in the packaging box 11 ′. After that, the tray pick-and-place device 7 will pick up another tray 13 supplied by the tray supply device 6 and place it in the receiving space 112 of the packing box 11 ′ to be stacked on the tray 13 that is full of the aforementioned product 12 on. Next, the operation of placing the product 12 on the tray 13 by the product pick-and-place device 5 is repeated. The tray pick-and-place device 7 picks up and places a predetermined number of trays 13 in the packaging box 11' in the second packing mode.

The first packing mode of the packing machine 200 will be described in detail below: referring to FIGS. 3, 9 and 10, the packing box conveying device 3 will convey the packing box 11 to the position P1 to be loaded and position the packing box 11 at the waiting position At the loading position P1, the first camera 53 will capture the image of the product 12 at the position P2 to be discharged. The controller will first drive the pivot joint 511 of the mechanical arm 51 to drive the clamping mechanism 52 to the first angle shown in FIG. 9, and then, the controller drives the clamping mechanism 52 according to the image captured by the first camera 53. The two clamping arms 522 move to a position to be clamped aligned with the two sides 121 of the product 12 Set. Next, the air cylinder 521 drives the two clamping arms 522 to move from the expanded position to the clamping position shown in FIG. 10, so that the two clamping arms 522 are clamped to the two sides 121 respectively.

Referring to FIG. 3, FIG. 11 and FIG. 12, the second camera 54 (see FIG. 2) will capture the image of the packing box 11 at the position P1 to be loaded, so that the controller recognizes the packing box 11 through the built-in image recognition software 111 position of empty vertical slot. The controller will control the robotic arm 51 to move the product 12 away from the conveyor belt 41 and above the packaging box 11 at the loading position P1 according to the aforementioned information. Then, the controller drives the robotic arm 51 to drive the gripping mechanism 52 to rotate to The second angle shown makes the product 12 gripped by the gripping mechanism 52 vertical and aligned above one of the empty vertical slots 111. Next, the mechanical arm 51 drives the gripping mechanism 52 to move down to insert the product 12 into the corresponding vertical groove 111 to complete the placement of one product 12.

By repeating the foregoing operation steps, each vertical slot 111 in the packaging box 11 can contain the product 12 as shown in FIG. 13. After the aforementioned packaging box 11 has finished loading the product 12, the packaging box conveying device 3 will transport the loaded packaging box 11 to the discharge end 312 for discharging, and transport another empty packaging box 11 to the position to be loaded P1, to The loading operation of the product 12 is continued.

The second packing mode of the packing machine 200 will be described in detail below: referring to FIGS. 5, 14, 15 and 16, the packing box conveying device 3 will convey the packing box 11 ′ to the position to be loaded P1 and make the packing box 11'position in the position to be loaded P1. One of the driving mechanisms 63 drives the carrying frame 62 to move laterally from the discharging position toward the feeding position. Since the short side 627 of the carrying plate 621 except the first slider 622 is suspended, and the lifting member 645 is at the lowest In the position, the height of the two lifting arms 650 is lower than the height of the carrying plate 621, therefore, the carrying plate 62 can cross the two lifting arms 650 during the movement of the carrying frame 62 from the discharging position to the feeding position. When the carrying frame 62 is traversed to the feeding position shown in FIG. 15, the two lifting arms 650 are respectively aligned under the two through slots 625 of the carrying plate 621. Next, the motor 646 of the lifting mechanism 64 drives the pulley 642 to rotate, causing it to move the lifting plate 649 upward through the belt 643 and the clamping member 644. The two lifting arms 650 of the lifting plate 649 will respectively lift up the entire stack of trays 13 on the carrying plate 621 through the two through slots 625, so as to move the uppermost tray 13 of the stack of trays 13 to a position as shown in FIG. 16 The predetermined height position shown.

Next, the lateral movement assembly 720 of the transfer mechanism 72 drives the suction mechanism 74 to move laterally in the left-right direction Y above the tray 13 aligned at a predetermined height. Subsequently, the lifting assembly 721 drives the suction mechanism 74 to move down to the suction position shown in FIG. 16. At this time, the suction cup 741 contacts the tray 13 so that the suction cup 741 can suck the tray 13 by vacuuming. After the suction cup 741 sucks the tray 13, the lifting assembly 721 drives the suction mechanism 74 to move up a suitable distance to move the tray 13 at a predetermined height away from the other tray 13 below it.

Referring to FIGS. 17 and 18, the lateral movement assembly 720 of the transfer mechanism 72 drives the suction mechanism 74 to move laterally in the left-right direction Y to the position shown in FIG. The accommodating space 112 of the packaging box 11' at the loading position P1 is above. Subsequently, the lifting assembly 721 drives the suction mechanism 74 to move down to the discharging position shown in FIG. 18. By releasing the vacuum state of each suction cup 741, the suction cup 741 is separated from the tray 13 and the tray 13 is placed in the accommodation space 112. After the placement of the tray 13 is completed, the transfer mechanism 72 drives the suction mechanism 74 to return to the suction position shown in FIG. 16 for suction of the next tray 13. It should be noted that, when the suction mechanism 74 sucks away the tray 13 at a predetermined height, the two lifting arms 650 of the lifting mechanism 64 will lift the stack of trays 13 by an appropriate distance, so that the stack of trays 13 The uppermost tray 13 is moved up to a predetermined height position, so that when the suction mechanism 74 moves to the suction position, the next tray 13 can be sucked at the same height to improve the efficiency of the suction mechanism 74 to suck the tray 13.

14 and 19, the first camera 53 will capture the image of the product 12 at the position P2 to be discharged, so that the controller drives the two clamping arms 522 of the clamping mechanism 52 according to the image captured by the first camera 53 Hold the product 12. On the other hand, the second camera 54 (see FIG. 2) will capture the image of the tray 13 in the packaging box 11' at the position P1 to be loaded. When the controller receives the image captured by the second camera 54, it will pass The built-in image recognition software recognizes the position of the empty recess 131 of the tray 13, thereby allowing the controller to control the robot arm 51 to precisely drive the gripping mechanism 52 to place the gripped product 12 horizontally on the corresponding The recess 131 is accommodated to complete the placement of one product 12. By repeating the foregoing operation steps, each accommodating groove 131 of the tray 13 in the packaging box 11' can accommodate the product 12.

When each accommodating groove 131 of the aforementioned tray 13 contains the product 12, the tray pick-and-place device 7 will pick up another tray 13 and place it in the accommodating space 112 of the packaging box 11' to stack Place on the aforementioned tray 13. Then, the product pick-and-place device 5 repeats the foregoing steps so that each receiving groove 131 of the other tray 13 contains the product 12. When the tray pick-and-place device 7 places a predetermined number of trays 13 in the packaging box 11' as shown in FIG. 20, and the product pick-and-place device 5 places a predetermined number of products 12 on each tray 13 as shown in FIG. 20, the packaging box 11' is to complete the loading of the pallet 13 and the product 12, the packaging box conveying device 3 will transfer the loaded packaging box 11' to the discharge end 312 to discharge, and transport another packaging box 11' to the loading position P1, The loading operation of the tray 13 and the product 12 is carried out successively.

In summary, the boxing machine 200 of this embodiment can automatically carry out the boxing operation of the product 12, thereby saving the labor cost and man-hours for manual boxing. In addition, the boxing machine 200 can selectively switch between the first boxing mode and the second boxing mode, which can increase the flexibility of use to meet the needs of different boxing methods, so it can really achieve the new cost. purpose.

However, the above are only examples of the new model. When the scope of the new model cannot be limited by this, any simple equivalent changes and modifications made according to the patent application scope and patent specification content of the new model are still regarded as Within the scope of this new patent.

11: packing box

12: Product

13: tray

23: Base

24: Carrier body

25: top frame

3: Packing device

31: Conveying mechanism

311: feeding end

4: Product supply device

41: Conveyor belt

411: feeding end

412: Discharge end

5: Product pick and place device

53: The first camera

54: Second camera

6: tray supply device

7: tray pick and place device

X: front and back direction

Y: left and right direction

Z: up and down direction

Claims (10)

A cartoning machine suitable for placing a product in a packaging box. The cartoning machine includes: a tray supply device for supplying a tray; a tray pick and place device for picking up and placing the tray in the package Inside the box; a product supply device for supplying the product; and a product pick-and-place device for picking up and placing the product in the box or on the tray in the box; the boxing machine is optional The ground changes between a first packing mode and a second packing mode. During the first packing mode, the product pick-and-place device picks up and places the product in the packaging box, and the second packing box In the mode, the tray pick-and-place device picks up and places the tray in the packaging box, and the product pick-and-place device picks up and places the product on the tray in the packaging box. The cartoning machine according to claim 1, wherein the tray pick-and-place device includes a transfer mechanism, and a suction mechanism connected to the transfer mechanism, the transfer mechanism is used to drive the suction mechanism to suck the The suction position of the tray moves between the unloading position where the sucked tray is placed in the packaging box. The cartoning machine according to claim 2, wherein the transfer mechanism includes a lateral movement assembly and a lifting assembly, the lateral movement assembly is connected to the lifting assembly to drive the lifting assembly to move laterally , The lifting assembly is connected to the suction mechanism to drive the suction mechanism to move up and down, the lifting assembly includes a lifting frame, a screw, a motor, and a pulley set, the lifting frame can be up and down It is movably connected to the lateral movement assembly, the suction mechanism is arranged at the bottom end of the lifting frame, the screw is screwed to the lifting frame, the motor is arranged at the lateral movement assembly, and the pulley set is arranged at the screw and the motor In between, the motor drives the screw to rotate through the pulley set, so that the screw drives the lifting frame to move up and down. The cartoning machine according to claim 1, wherein the tray supply device includes two first guide rails, at least one bearing frame slidably connected to the first guide rails, and at least one drive mechanism connected to the bearing frame , And a lifting mechanism, the carrying frame is used to carry the tray, the driving mechanism is used to drive the carrying frame between a feeding position that is not aligned with the lifting mechanism, and a discharging position that is aligned with the lifting mechanism Moving, the lifting mechanism is used to lift the tray carried by the carrying frame at the discharging position. The cartoning machine according to claim 4, wherein the carrying frame includes a carrying plate for carrying the pallet, the carrying plate is formed with two through slots, the lifting mechanism includes a lifting member, and the lifting member has two When the lifting pieces are at a lowest position, the height of the lifting arms is lower than the height of the bearing plate. When the bearing frame is at the discharge position and the lifting piece is at the lowest position, the The lifting arms are located under the bearing plate and are aligned with the through slots respectively, and the lifting arms can respectively pass through the through slots to lift the tray. The cartoning machine according to claim 1, wherein the product pick-and-place device includes a mechanical arm, and a gripping mechanism connected to the mechanical arm and capable of being driven to move, the gripping mechanism is used for gripping The product on the product supply device can be placed in the packaging box or the tray in the packaging box. The cartoning machine according to claim 6, wherein the mechanical arm can drive the clip The picking mechanism rotates between a first angle and a second angle. At the first angle, the product is horizontal, at the second angle, the product is vertical, and the gripping mechanism is at the first angle. The clamped product is placed in the tray at an angle, and the clamping mechanism places the clamped product in the packaging box at the second angle. A cartoning machine suitable for placing a product and a tray in a packaging box. The cartoning machine includes: a tray pick-and-place device for picking up and placing the tray in the box; and a product pick-and-place A device for picking up and placing the product in the packaging box or on the pallet in the packaging box; the boxing machine can selectively switch between a first boxing mode and a second boxing mode, In the first packing mode, the product pick and place device picks up and places the product in the packaging box, and in the second packing mode, the tray pick and place device picks and places the tray in the packaging box, And the product pick-and-place device picks up and places the product on the tray in the packaging box. A cartoning machine includes: a pick and place device; the cartoning machine can selectively switch between a first cartoning mode and a second cartoning mode, and in the first cartoning mode, the pick and place The equipment is used to grab a product sent to a predetermined position, and then put the grabbed product into a packaging box sent to a predetermined position; in the second packing mode, the pick and place device Used to grab a tray sent to a predetermined position, and then put the grabbed tray into the packaging box sent to the predetermined position Inside, the pick-and-place device further grips the product sent to the predetermined position, and then puts the gripped product into the tray placed in the packaging box. A cartoning machine includes: a pick and place device; the cartoning machine can selectively switch between a first cartoning mode and a second cartoning mode, and in the first cartoning mode, the pick and place The equipment is used to grab a product sent to a predetermined position, and then put the grabbed product into a packaging box sent to a predetermined position; in the second packing mode, the pick and place device It is used to grab a tray sent to a predetermined position, and then put the grabbed tray into the packaging box sent to the predetermined position, the pick-and-place equipment further grabs a plurality of sent To the product at the predetermined position, and put the grabbed product into the tray placed in the packaging box in sequence, and then the pick-and-place device grabs another tray sent to the predetermined position, Then, the grabbed another tray is placed in the packaging box.

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