CN113800040A

CN113800040A - Boxing machine and boxing method thereof

Info

Publication number: CN113800040A
Application number: CN202111235359.3A
Authority: CN
Inventors: 夏宏
Original assignee: Chongqing Huanshi High Tech Co ltd
Current assignee: Chongqing Huanshi High Tech Co ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2021-12-17

Abstract

The invention relates to the field of boxing machines, in particular to a semi-automatic or automatic boxing machine and a boxing method thereof, wherein the boxing machine comprises a rack, a workbench and a manipulator, wherein the manipulator is provided with a clamping jaw, the clamping jaw comprises two opposite clamping plates, one clamping plate is provided with a clamping part which can be elastically matched with the uneven part of the surface of an object to be boxed, and the other clamping plate is provided with a positioning part; a pressing plate is arranged between the two clamping plates, and a clamping opening is formed between the pressing plate and the two clamping plates; the clamping device has wide universality for clamping and packaging the objects to be boxed with uneven surfaces, and can realize stable clamping.

Description

Boxing machine and boxing method thereof

Technical Field

The invention relates to the field of boxing machines, in particular to a semi-automatic or automatic boxing machine.

Background

The packing box is a box body made of paperboard or composite materials, is mainly used for packing products during sale, and is sometimes bottled, bagged and then packed, or is sometimes packed into a big box after being packed into a small box and then is sometimes directly used for containing food and the like, and is widely applied to packing in industries such as medicine, food, electronic equipment and the like. At present, three box packing modes are mainly adopted: firstly, the box is packed manually, the equipment investment and the maintenance cost are not needed, but the speed is slow, and the labor productivity is low; secondly, semi-automatic boxing is generally completed by an operator matching with a boxing machine, boxing and packaging are completed by machines, box taking, printing, opening, bottom sealing, cover sealing and the like are completed, but product boxing is usually completed manually; and thirdly, full-automatic box packing is carried out, and other procedures are finished by the machine except that the packing boxes are manually placed in a box blank storage rack of the machine.

Semi-automatic and full-automatic boxing can use a boxing machine, and the boxing machine is a machine for loading prefabricated packaging boxes, sheet-shaped, block-shaped, bottle-shaped and bag-shaped objects and specifications into paper boxes and sealing the boxes in an adhering or inserting mode. The article feed end of the cartoning machine is connected to other automated equipment (typically quality inspection equipment) as the final step of the product packaging line. The specific boxing process comprises the following steps: after the quality of the products to be boxed is detected, the products to be boxed are regularly arranged in a transport box (usually hard boxes made of plastic materials such as acrylic materials) and are transported to a corresponding station of a box packing machine through a conveyer belt, after a control system of the box packing machine obtains a signal source, the flat prefabricated paper boxes are unfolded and formed into solid paper boxes, and the transport box is clamped or pushed to turn over by a manipulator, so that the transport box is buckled into the paper boxes, and then the articles to be boxed are loaded into the paper boxes. The problem with this cartoning machine is that:

1. the surfaces of some objects to be boxed are uneven, for example, bottle-shaped objects have cambered surfaces or depressions, and the conventional mechanical clamping jaw parts cannot be tightly attached, so that the clamping is unstable, and the objects fall off or cannot be accurately placed in a packing box;

2. the articles to be boxed are arrayed in the transport box, transported again and finally turned over to the paper box, so that the whole time consumption is long, and the products are easy to be damaged in the turning process;

3. the transport box and the carton box are generally horizontally placed on a conveyor belt or a workbench, and for some cylindrical/columnar/rod-shaped articles to be boxed (such as medicinal glass tubes, penicillin bottles, tube bottles, ampoule bottles, dropper bottles, test tubes and the like), the gravity center position is higher, but the bottom area is small, and the articles are easy to topple over when placed in the box body.

Disclosure of Invention

The invention aims to provide a boxing machine which is strong in universality and can clamp objects with uneven surfaces.

The basic scheme provided by the invention is as follows: a boxing machine comprises a rack, a workbench and a manipulator, wherein the manipulator is provided with a clamping jaw, the clamping jaw comprises two opposite clamping plates, one clamping plate is provided with a clamping part which can be elastically matched with the uneven part of the surface of an article to be boxed, and the other clamping plate is provided with a positioning part; a pressing plate is arranged between the two clamping plates, and a clamping opening is formed between the pressing plate and the two clamping plates.

The working principle and the advantages of the invention are as follows: the unevenness of the surface of the article to be boxed refers to the non-plane part of the surface of the article, and generally comprises two types: sunken or protruding, this scheme is provided with the clamping part with unevenness department elastic adaptation on the grip block, the clamping part has a certain amount of elastic deformation promptly, shape at the clamping part, the size is incomplete with under the condition of waiting to adorn box article matching, it is protruding for the surface when waiting to adorn box article, the clamping part is then for corresponding sunken shape, otherwise wait to adorn box article when sunken, the clamping part is the arch that corresponds, whatever kind of condition clamping part all can realize compressing tightly the effect like this, consequently to the waiting to adorn box article of different shapes, this scheme has extensive commonality.

When the manipulator of this scheme moved to the centre gripping station, the centre gripping mouth covers after waiting to pack article, and the manipulator continues to move down then the clamp plate pushes down article top, and two grip blocks move in opposite directions and drive location portion and article one side contact and support tightly, and the clamping part then compresses tightly the unevenness department on article surface, realizes stable centre gripping/presss from both sides and gets.

Further, the cartoning machine omits a feeding mechanism for transporting the objects to be cartoned.

The feeding mechanism of the boxing machine abroad at least comprises a feeding conveying belt, a transport box for loading articles and the like, the feeding mechanism and related accessories of the feeding mechanism are omitted, namely, no transport mechanism is arranged between the boxing machine and a previous process device (generally, quality detection device), and the manipulator directly grabs the articles to be boxed from a discharge hole of the previous process device and puts the articles into the packaging box; secondly, the field arrangement space is saved, and the equipment layout of the production line can be more compact because no feeding mechanism such as a conveying belt is arranged between the boxing machine and the previous process equipment; finally, because a middle circulation process is omitted, the manpower on the boxing production line can be saved, and at least 8 boxing machines can be defended by 1 worker at present.

Further, the clamping jaws comprise rotators, and the rotators can control the clamping jaws to do box supporting action when the clamping jaws are loaded.

This scheme is owing to what adopt waits that the technical route that packing box article directly put into packing carton, but often can face a problem: due to the processing error of the packaging box, the reason that the arrangement of the articles to be packaged is not orderly/tight after the articles to be packaged are put into the packaging box and the like, when the packaging box is fully packaged by the articles to be packaged, the residual space of the packaging box is often insufficient, the designed packaging box space cannot be reached, and the situation that the articles to be packaged in the residual articles to be packaged cannot be packaged is caused.

Therefore, the rotator is preferably additionally arranged on the clamping jaw, so that the box opening action is performed when the box is filled, namely, when the clamping jaw drives the object to be filled to swing outwards, the clamping jaw is contacted with the packing box or the object to be filled to push the side edge of the packing box to open outwards, so that the packing box is opened, and after the clamping jaw is loosened, the object to be filled smoothly inclines and falls into the packing box, so that the problem of insufficient space of the packing box is solved. Of course, the box-supporting mode is suitable for the current mainstream packing box, namely the packing box made of the cardboard or other light and wear-resistant composite materials (so that the packing box has certain deformability and can be supported), and is not suitable for the hard packing box which is not mainstream.

Furthermore, the depth of the clamping opening is smaller than the length of the article to be boxed, so that when the article to be boxed is clamped, the non-clamping end of the article to be boxed can extend out of the clamping opening.

Preferably, the structure is adopted, when the clamping jaw is used for supporting the box, the non-clamping end of the object to be packaged can be used for pushing the side edge of the packaging box, so that the clamping jaw is not directly contacted with the packaging box, and the packaging box is prevented from being scratched or being shifted by being pushed/pushed when the clamping jaw returns.

Furthermore, the free end of at least one clamping plate or the free end of the positioning part is provided with an inverted structure facing the inner side of the clamping opening, and the inverted structure is an inclined plane, a boss or a convex strip.

This scheme adds the back-off structure at the grip block free end, and the shape can be inclined plane, boss, sand grip etc. for example when waiting to pack article for bottle form article (like xiLin bottle, tube-system bottle, ampoule etc.), its bottleneck usually has sunkenly, adopts the back-off structure can catch on the sunken position of bottleneck effectively.

Further, the clamping part is a convex rubber strip or a concave rubber groove; the positioning part is a flat plate made of hard materials; the clamping part is detachably connected with the clamping plate; the rubber strip is a cylindrical rubber strip; the rubber groove is an arc groove or a L-shaped groove.

Preferably, a rubber material is used as the clamping part, the positioning part is a flat plate made of a hard material, so that when an article to be boxed is clamped, the elastic clamping part presses the article on the hard flat plate, so that the article can be positioned, and the clamping is very stable and is not easy to move/swing; in addition, although the clamping part of the scheme has certain universality, for some articles with special shapes, the shape of the clamping part can be accurately clamped only by being matched with the shape of the article to be boxed, if the clamping part and the clamping jaw are of an integrated structure, the whole clamping jaw needs to be replaced, so that the clamping part is designed into a detachable structure, and at the moment, only the clamping part needs to be replaced, the clamping jaw does not need to be replaced, and the clamping device is more convenient to use and lower in cost.

When the boxed article is a bottle-shaped article, if the head of the bottle body is clamped, the rubber strip is cylindrical and can be elastically matched with the neck of the bottle, and if the bottom of the bottle body is clamped, the rubber groove in the shape of the L can be elastically matched with the bottom of the bottle; if the bottle body is clamped, the arc-shaped rubber groove can be elastically matched with the curved bottle body.

Further, the manipulator further comprises a three-dimensional moving module connected with the clamping jaw, and the clamping jaw comprises a clamping device capable of controlling the clamping plate to open and close.

This scheme adopts the removal of three-dimensional removal module control clamping jaw to when the station, and the angle that the ware adjustment clamp was got is pressed from both sides and is got thereby the ware is connected opening and shutting of control clamping jaw with the grip block, realizes pressing from both sides and gets.

Further, the clamping device comprises a slide rail and two clamping fingers which can be close to or far away from each other along the slide rail, a limiting plate is arranged between the strokes of the two clamping fingers, and the clamping fingers are respectively connected with the clamping plates on the same side.

When this scheme of adoption, through the setting of limiting plate, the convenience is injectd the grip block minimum distance formation, and then has prevented from mechanical structure that the clamping jaw from pressing from both sides article bad.

Furthermore, the table top of the workbench is sequentially divided into a waste box station, a box packing station and a finished product station along the longitudinal direction of the workbench, and the workbench is provided with a mobile table capable of moving along the longitudinal direction of the table top; a box placing plate is hinged on the mobile platform; and a jacking mechanism is arranged below the box placing plate of the mobile platform.

The workstation of this scheme cartoning machine sets up three station and mobile station, and the packing carton is placed on the mobile station, and the packing carton is then removed to useless box station and is detected the back at the completion of dress box work like this, and qualified packing carton then follows the output of finished product station, and whole process efficiency is higher, and the structure of cartoning machine also arranges very compactly.

In addition, for some cylindrical/columnar/rod-shaped products (such as medicinal glass tubes, penicillin bottles, tube bottles, ampoule bottles, dropper bottles, test tubes and the like), the gravity center position is higher, but the bottom area is small, and the cylindrical/columnar/rod-shaped products are easy to topple when the cylindrical/rod-shaped products are vertically placed into a box body; when the box is packed, the first row of articles are obliquely pressed on the side edge of the packing box, and the rear row of articles are obliquely pressed on the front row of articles due to self weight, so that the problem that the articles are easy to topple is solved by an oblique box packing mode, no gap exists between the front row of articles and the rear row of articles, and the box is more compact.

Furthermore, packing box baffles capable of moving up and down are arranged between the waste box station and the box packing station and between the box packing station and the finished product station. In the scheme, the baffle can limit the movement of the mobile station, and the electric control system on the box packing machine can control the action sequence of the mobile station and the baffle of the packing box, so that the waste boxes can be removed and the qualified packing box can be output.

The invention also provides a boxing method, which solves the problem that an article to be boxed with an uneven surface is difficult to clamp in the prior art.

The boxing method comprises the steps of conveying a box, clamping, boxing, discharging the box and the like, wherein in the clamping step, when the clamping jaw clamps an article to be boxed, the clamping part of the clamping plate is elastically matched with the uneven part of the surface of the article to be boxed, and the positioning part is clung to the surface of the article to be boxed, so that after the clamping opening covers the article to be boxed, the clamping jaw can realize stable clamping.

Because the position of the surface unevenness of the article to be boxed is elastically matched with the clamping part, the clamping part can realize the pressing effect under the condition that the shape and the size of the clamping part are not completely matched with the article to be boxed, and the clamping part has wide universality.

Further, in the clamping step, the clamping jaws directly clamp the articles to be boxed from the discharging end of the previous process equipment and place the articles into the packaging box. The feeding process of the objects to be boxed is omitted, feeding mechanisms such as transport boxes and transport belts are not needed, on one hand, the cost and the site arrangement space are saved, and on the other hand, the manpower on the boxing production line can be saved.

Furthermore, in the boxing step, the clamping jaws clamp the objects to be boxed, the rotator controls the clamping jaws to swing outwards, so that the clamping jaws can push the side edges of the packing boxes to open outwards or the objects to be boxed, the packing boxes are further unfolded, and the objects to be boxed fall into the packing boxes after the clamping jaws are loosened. Therefore, the problem of insufficient residual space of the packaging box is solved, and the packaging box can be unfolded to enable the articles to be packaged to be smoothly put in the packaging box on the premise of not damaging the packaging box.

Drawings

FIG. 1 is a schematic structural diagram of a first boxing machine in accordance with the present invention;

FIG. 2 is a schematic structural view of the robot shown in FIG. 1 with the robot removed;

FIG. 3 is a schematic view of the table frame and table of FIG. 1;

FIG. 4 is a schematic view of the structure of the working table of FIG. 3 (with the box placing plate and the positioning plate removed from the mobile station);

FIG. 5 is a schematic structural diagram of the manipulator in FIG. 1 (penicillin bottles are located at the clamping ports);

FIG. 6 is a schematic diagram of the mechanism of the clamping jaw in FIG. 5 (penicillin bottle is located at the clamping opening);

FIG. 7 is a right side view of FIG. 6;

FIG. 8 is a schematic view of the rotator of FIG. 6 with the rotator removed;

fig. 9 is a schematic view of the gripper housing of fig. 8 with the gripper housing removed;

FIG. 10 is a front view of FIG. 9;

fig. 11 is a schematic view of a first row of penicillin bottles being placed into a carton (without a robot) in the first embodiment of the cartoning machine according to the present invention;

FIG. 12 is a schematic view of the last row of penicillin bottles being placed into a carton (without the robot) in the first embodiment of the cartoning machine according to the present invention;

FIG. 13 is a schematic structural view of a clamping jaw in a second embodiment of the boxing machine of the present invention (penicillin bottles are located at the clamping opening);

FIG. 14 is a schematic structural view of a third clamping plate of the boxing machine of the present invention (penicillin bottles are located at the clamping openings);

FIG. 15 is a schematic structural view of a clamping plate in the fourth embodiment of the cartoning machine of the present invention (penicillin bottles are located at the clamping openings);

FIG. 16 is a top view of the clamp plate of the fourth embodiment of the cartoning machine of the present invention;

fig. 17 is a schematic structural view of a clamp plate in the fifth embodiment of the boxing machine of the present invention (penicillin bottles are located at the clamping openings).

Detailed Description

The following is further detailed by the specific embodiments:

reference numerals in the drawings of the specification include; the automatic box feeding device comprises a rack 1, a base 11, a workbench frame 12, a manipulator support 13, a movable screw rod 14, a paper box frame 15 and a box feeding cylinder 16; the automatic box loading device comprises a workbench 2, a waste box station 21, a box loading station 22, a qualified plate 23, a paper box jacking cylinder 24, a box discharging cylinder 25, a moving table 26, a hinge 26a, a box placing plate 26b, a through hole 26c and a positioning plate 26 d; a left baffle cylinder bracket 27, a left baffle cylinder 27a and a left baffle 27 b; a right baffle cylinder bracket 28, a right baffle cylinder 28a, and a right baffle 28 b; the manipulator 3, the clamping jaw 4, the rotator 41, the gripper 42, the shifter 43, the shifting plate 43a, the guide rod 43b, the clamping finger 44, the clamping plate 45, the positioning part 45a, the clamping part 45b, the reversing structure 45c, the limiting plate 46, the belly 46a, the wing 46b, the pressing plate 47 and the pressing strip 47 a; three-dimensional removal module 5, X axle slip table 51, Y axle slip table 52, Z axle slip table 53, fixed block 6.

Example one

As shown in fig. 1 to 12, a frame 1 of a boxing machine is different from a traditional boxing machine, a feeding mechanism such as a conveying belt and a feeding hole connected with a previous process device (generally, a quality detection device) is eliminated, and a manipulator 3 directly clamps objects to be boxed from a discharging hole of the previous process device.

The boxing machine comprises a rack 1, a workbench 2, a manipulator 3 and a control system, wherein the rack 1 is divided into a base 11, a workbench frame 12 and a manipulator support 13 from bottom to top, the workbench frame 12 is installed at the top end of the base 11, the manipulator support 13 is fixed at the left end of the workbench frame 12, and the suspended manipulator 3 is installed on the manipulator support 13. A gap is reserved at the right end of the workbench frame 12, and the workbench 2 is installed at the gap. A movable screw 14 is arranged on the front side of the workbench frame from left to right (longitudinally), a box conveying cylinder 16 is arranged on the rear side of the workbench frame, an output shaft of the box conveying cylinder 16 is connected with a box conveying lifting table, and a paper box frame 15 is in threaded connection with the box conveying lifting table.

The workbench 2 is divided into a waste box station 21, a boxing station 22 and a finished product station from left to right, the waste box station 21 and the boxing station 22 are both positioned on the same table top, the boxing station 21 is aligned with the paper box frame 15, a paper box jacking cylinder 24 is installed on the boxing station 22, and an output shaft of the paper box jacking cylinder 24 faces upwards; the finished product station is a liftable qualified plate 13, a box outlet cylinder 25 is installed at the right end of the frame of the workbench 12, an output shaft of the box outlet cylinder 25 is in threaded connection with the qualified plate 23, and the qualified plate 23 can be driven by the box outlet cylinder 25 to move up and down.

On the workbench 2, a slide block of the movable lead screw 14 is in threaded connection with a movable platform 26, and the movable platform 26 can move left and right along the table surface to any one of a waste box station 21, a box packing station 22 and a finished product station; the right side of the mobile station 26 is hinged with a box placing plate 26b through a hinge 26a, and the left end of the mobile station 26 is provided with a through hole 26 c; when the moving table 26 moves to the boxing station 22, the output shaft of the carton jacking cylinder 24 penetrates through the through hole 26c from bottom to top to extend out, and the carton placing plate 26 is pushed to rotate for a certain angle around the hinged position. A positioning plate 26d is fixed to the movable table 26 on the same side as the movable screw 24.

A left baffle cylinder bracket 27 and a right baffle cylinder bracket 28 are respectively arranged on the workbench frame 12 from left to right, and the left baffle cylinder bracket 27 and the right baffle cylinder bracket 28 both span on the table surface of the workbench 2; a left baffle cylinder 27a is vertically arranged on the left baffle cylinder support 27, an output shaft of the left baffle cylinder 27a faces downwards, the output shaft is fixedly connected with a left baffle frame, and a left baffle 27b is installed at the free end of the left baffle frame. A right baffle cylinder 28a is vertically arranged on the right baffle cylinder support 28, an output shaft of the right baffle cylinder 28a faces downwards, the output shaft is fixedly connected with a right baffle frame, and a right baffle 28b is installed at the free end of the right baffle frame. The left baffle plate 27b is positioned between the waste box station 21 and the box packing station 22, the right baffle plate 28b is positioned between the box packing station 22 and the finished product station, and the plate surfaces of the left baffle plate 27b and the right baffle plate 28b are vertical to the table surface of the workbench 2. When the moving table 26 moves to the boxing station, the left baffle plate 27b, the positioning plate 26d and the right baffle plate 28b form a U-shaped box inlet, and the opening of the box inlet is opposite to and on the same side as the carton frame 15.

As shown in fig. 5 to 12, the manipulator 3 includes a three-dimensional moving module 5 and a clamping jaw 4, and the three-dimensional moving module 5 is configured to drive the clamping jaw 4 to move along an X axis, a Y axis, and a Z axis.

Three-dimensional removal module 5 includes X axle slip table 51, Y axle slip table 52 and Z axle slip table 53, X axle slip table 51 fixed connection is on manipulator support 13, Y axle slip table 52 fixed connection is at X axle slip table 51's output, Z axle slip table 53 fixed connection is at the output of Y axle slip table 52, clamping jaw 4 is fixed at the output of Z axle slip table 53, X axle slip table 51 is used for driving the clamping jaw and realizes the removal along the X axle, Y axle slip table 52 is used for driving clamping jaw 4 and realizes the removal along the Y axle, Z axle slip table 53 is used for driving the clamping jaw and realizes the removal along the Z axle.

The clamping jaw 4 comprises a rotator 41, a clamping device 42 and a shifting device 43, the rotator 41 is fixedly connected to the output end of the three-dimensional moving module 5, the clamping device 42 is fixedly connected to the output end of the rotator 41, the rotator 41 drives the clamping device 42 to rotate along a horizontal shaft, and the rotator 41 adopts a servo motor in the embodiment; the pusher 43 is connected to the gripper 42.

The clamping device 42 adopts parallel pneumatic clamping fingers, the clamping device 42 comprises two slide rails and clamping fingers 44 which can be close to or far away from each other along the slide rails, each clamping finger 44 is fixedly connected with a clamping plate 45, the slide rails are fixedly connected with limiting plates 46 between the strokes of the two clamping plates 45, and the limiting plates 46 can limit the minimum distance of the two clamping fingers 44 close to each other. The limiting plate 46 is fixedly connected with a pressing plate 47 through screws, the pressing plate 47 is located between the two clamping fingers 44, the limiting plate 46 comprises an abdomen 46a and two wing portions 46b which are integrally formed, the limiting plate 46 is I-shaped, the two wing portions 46b are located on two sides of the abdomen 46a, the two wing portions 46b are parallel to the sliding rail, a space between the two wing portions 46b is used for allowing the clamping fingers 44 to move, the abdomen 46a is used for limiting the movement of the clamping fingers 44, the end portions of the wing portions 46b are fixedly connected with the sliding rail through screws, and the middle portion of the limiting plate 46 is fixedly connected with the pressing plate 47 through screws.

The bottom of the pressing plate 47 is provided with a soft pressing strip 47a, the pressing strip 47a is in mortise and tenon connection with the pressing plate 47, specifically, a dovetail groove is integrally formed on the pressing plate 47, a protrusion in concave-convex fit with the dovetail groove is integrally formed on the pressing strip 47a, a groove is integrally formed at the bottom of the pressing strip 47a, and the pressing strip 47a is made of rubber.

In the two clamping plates 45, a positioning portion 45a is arranged on the clamping surface of the left clamping plate 45, a clamping portion 45b is arranged on the clamping surface of the right clamping plate 45, the positioning portion 45a is used for positioning the side surface of an article to be boxed, the positioning portion 45a is made of hard plastics, and for some fragile articles, the positioning portion 45a can also be made of elastic materials. The positioning portion 45a may be a plane or may be designed to be an inverted structure facing the inside of the clamping opening, and the inverted structure 45c may be a slope, a boss, a convex strip, etc.

The clamping portion 45b can be elastically fitted to the surface irregularities of the article to be boxed, and generally, the surface irregularities of the article to be boxed include two types: sunken or protruding, be provided with on grip block 45 with the clamping part 45b of unevenness elastic adaptation, clamping part 45b can be according to the surface shape design of the article of waiting to pack into the recess or protruding.

Fig. 1 to 12 show that when the article to be boxed is a vial, since the vial has a concave bottleneck, the clamping portion 25b is a rubber strip with a circular cross section and protrudes from the inner side surface of the right clamping plate 45 into the clamping port, and the inverted structure 45c of the positioning portion 25a is an inclined surface facing the clamping port. The left clamping plate 45 and the positioning portion 45a are fixedly connected through bolts, and the right clamping plate 45 can clamp the rubber strip in a clamping mode. The pressing plate 47, the pressing strip 47a, the left clamping plate 45, the positioning portion 45a, the right clamping plate 45 and the clamping portion 45b jointly form a clamping opening, the depth of the clamping opening is smaller than the bottle height of the penicillin bottle, the clamping plate 45 can only clamp the bottle neck of the penicillin bottle during clamping, and the bottle body of the penicillin bottle extends outwards.

One of grip block 45 is served and is connected with fixed block 6, dials ware 43 and includes the driver and dials board 43a, and driver fixed connection is on fixed block 6, dials board 43a fixed connection at the output of driver, and the driver adopts the cylinder in this embodiment, and vertical sliding connection has guide arm 43b on the fixed plate, guide arm 43b with dial board 43a fixed connection.

Taking penicillin bottles into cartons as an example, the boxing method of the first embodiment comprises the following steps:

1. box feeding: a manual or automatic box loading device is adopted to load the three-dimensional paper boxes on the paper box frame 15, a control system of the box packing machine controls a box feeding cylinder 16 to start, and a box feeding lifting platform rises to feed the paper box frame 15 to a station; at the moment, the mechanical arm 3 descends, the poking plate 43a is inserted into the carton to be contacted with the edge of the carton, and the mechanical arm 3 moves to drag the carton to the carton placing plate of the moving table 26 (at the moment, the moving table 26 is positioned at the boxing station 22) to finish the carton feeding action; the paper box jacking cylinder 24 is started to jack the paper box placing plate to a certain angle, so that the paper box is in an inclined placing state;

2. clamping: the manipulator 3 moves to the bottle outlet of the previous process equipment (generally quality detection equipment), the clamping jaw acts to bring a row of penicillin bottles into the clamping opening, the pressing strip is abutted against the head of each penicillin bottle, the clamping part is opposite to the bottle neck of each penicillin bottle in a sunken mode, the positioning part is opposite to the neck of the head of each penicillin bottle, and the inclined plane of the lower end of the positioning part is opposite to the bottle neck of each penicillin bottle in a sunken mode. The left and right clamping plates move relatively under the drive of the parallel pneumatic clamping fingers to clamp a row of penicillin bottles.

3. Boxing: as shown in fig. 11, the manipulator 3 moves to the carton mode, and the angle of the rotator is adjusted, so that the penicillin bottles are put in along the direction perpendicular to the bottom of the carton; as shown in fig. 12, when the last row of penicillin bottles is loaded, the clamping jaws clamp the penicillin bottles, so that the penicillin bottle bodies extend into the carton, then the rotator controls the clamping jaws to swing outwards, so that the penicillin bottle bodies push the side edges of the carton to open outwards to further open the carton, and after the clamping jaws are loosened, the penicillin bottles smoothly fall into the carton in an inclined manner; when the paper box is full, the output shaft of the paper box jacking cylinder 24 retracts, and the paper box is horizontally placed.

4. And (4) discharging: the detector on the box packing machine detects the paper box, if the box packing is qualified, the right baffle 28b ascends first, and the mobile station 26 moves to the right above the qualified plate 23; the right baffle 28b descends again, the mobile station 26 moves leftwards, the paper box filled with the penicillin bottles is blocked by the right baffle 28b and cannot move leftwards, the paper box is remained on the qualified plate 23, the box feeding cylinder 16 is started, and the qualified paper box is fed out by the qualified plate 23 moving downwards;

if the boxing is not qualified, the left baffle plate 27b ascends first, and the mobile platform 26 moves to the waste box station to the left; the left flap 27b is lowered again and the moving table 26 moves rightward, so that the paper cassette is stopped by the left flap 27b and cannot move rightward, and is left at the waste cassette station.

Example two

As shown in fig. 13, the difference from the first embodiment is that the inverted structure 45c at the lower end of the positioning portion 45a is a boss.

EXAMPLE III

As shown in fig. 14, the difference from the first embodiment is that the clamping portion 45b is a groove made of rubber, which can be adapted to the protrusion at the vial mouth, and can realize stable clamping.

Example four

As shown in fig. 15 and 16, the difference from the first embodiment is that the clamping jaws 4 clamp the body of the vial instead of the neck, so that the clamping portion 45b is changed into an arc-shaped groove matched with the curved surface of the body; the difference between the third embodiment and the third embodiment is that the third embodiment adopts a through groove structure, the third embodiment is a non-through groove, and the through groove is an arc-shaped groove arranged for the body of a single vial, and a plurality of arc-shaped grooves are connected to form a shape shown by the clamping portion 45b in fig. 16 (the circle in fig. 16 is the vial body).

EXAMPLE five

As shown in fig. 17, the difference from the first embodiment is that the clamping jaws 4 clamp the bottom of the vial instead of the neck of the vial (vial mouth facing downward), so that the clamping portion 45b is changed into a groove shaped like a Chinese character 'ji' which is suitable for the radian of the bottom of the vial; can with xiLin bottle bottom edge radian looks adaptation, can realize stable centre gripping.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a cartoning machine, includes frame, workstation and manipulator, be provided with the clamping jaw on the manipulator, its characterized in that: the clamping jaw comprises two opposite clamping plates, one clamping plate is provided with a clamping part which can be elastically matched with the uneven part of the surface of the article to be boxed, and the other clamping plate is provided with a positioning part; a pressing plate is arranged between the two clamping plates, and a clamping opening is formed between the pressing plate and the two clamping plates.

2. A cartoning machine according to claim 1, wherein: the cartoning machine omits a feeding mechanism for transporting articles to be cartoned.

3. A cartoning machine according to claim 1 or 2, wherein: the clamping jaws comprise rotators which can control the clamping jaws to do box supporting action when the boxes are loaded.

4. A cartoning machine according to claim 3, wherein: the depth of the clamping opening is smaller than the length of the article to be boxed.

5. A cartoning machine according to claim 4, wherein: and the free end of the at least one clamping plate or the free end of the positioning part is provided with an inverted buckle structure facing the clamping opening side.

6. A cartoning machine according to claim 5, wherein: the back-off structure is an inclined plane, a boss or a convex strip.

7. A cartoning machine according to claim 1 or 6, wherein: the clamping part is a convex rubber strip or a concave rubber groove; the positioning part is a flat plate made of hard materials; the clamping part is detachably connected with the clamping plate.

8. A cartoning machine according to claim 7, wherein: the rubber strip is a cylindrical rubber strip; the rubber groove is an arc groove or a L-shaped groove.

9. A cartoning machine according to claim 1 or 8, wherein: the manipulator further comprises a three-dimensional moving module connected with the clamping jaw, and the clamping jaw comprises a clamping device capable of controlling the clamping plate to open and close.

10. A cartoning machine according to claim 9, wherein: the clamping device comprises a slide rail and two clamping fingers which can be close to or far away from each other along the slide rail, a limiting plate is arranged in the middle of the stroke of the two clamping fingers, and the clamping fingers are respectively connected with the clamping plates on the same side.

11. A cartoning machine according to claim 10, wherein: the table top of the workbench is sequentially divided into a waste box station, a box loading station and a finished product station along the longitudinal direction of the workbench, and the workbench is provided with a mobile table capable of moving along the longitudinal direction of the table top; a box placing plate is hinged on the mobile platform; and a jacking mechanism is arranged below the box placing plate of the mobile platform.

12. A cartoning machine according to claim 11, wherein: baffle plates capable of moving up and down are arranged between the waste box station and the box packing station and between the box packing station and the finished product station.

13. A boxing method using the boxing machine as claimed in any one of claims 1, 2, 4, 5, 6, 8, 10, 11 and 12, wherein: the clamping device comprises the steps of conveying a box, clamping, boxing, discharging the box and the like, wherein in the clamping step, when a clamping jaw clamps an article to be boxed, a clamping part of a clamping plate is elastically matched with the uneven part of the surface of the article to be boxed, and a positioning part is clung to the surface of the article to be boxed.

14. The boxing method in accordance with claim 13, wherein: in the clamping step, the clamping jaws directly clamp the articles to be boxed from the discharging end of the former process equipment and put the articles into the packing box.

15. A boxing method in accordance with claim 13 or 14, wherein: in the boxing step, the clamping jaws clamp objects to be boxed, the rotator controls the clamping jaws to swing outwards, so that the clamping jaws or the objects to be boxed push the side edges of the packing boxes to open outwards, the packing boxes are further opened, and when the clamping jaws are loosened, the objects to be boxed fall into the packing boxes.