Box opening manipulator structure

Abstract

The invention belongs to the field of carton production equipment, and provides a carton opening manipulator structure which comprises a moving seat, a side plate, a rotating shaft, a carton opening plate and a suction cup. Wherein the movable seat is used for moving in a space; the side plate is connected to the movable seat; the rotating shaft is rotationally mounted on the moving seat and is parallel to the side plate; the box opening plate is connected to the rotating shaft and is parallel to the rotating shaft; the multiple suction cups are arranged on the adjacent surfaces of the side plates and the carton opening plate and used for sucking target cartons.

Description

Technical Field

[0001] The present application belongs to the field of carton production equipment, and in particular to a carton opening robot structure. Background Art

[0002] In the current packaging industry, cartons are the most common packaging material, and their unpacking process often relies on manual operation. With the development of automatic packing equipment, the traditional manual unpacking method is not only labor-intensive and inefficient, but also cannot give full play to the performance of the automatic packing machine. At the same time, although the existing mechanized unpacking equipment has reduced the manpower burden to a certain extent, most of them have problems such as complex structure, insufficient flexibility, and low unpacking efficiency. Especially when dealing with a large number of cartons of different sizes, the adaptability and unpacking efficiency of the existing equipment are particularly insufficient. Therefore, it is necessary to solve the above technical problems. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a carton opening robot structure to solve the technical problem of low carton opening efficiency in the prior art.

[0004] In order to achieve the above purpose, the technical solution adopted by the present application is: to provide a box opening robot structure, including: A mobile seat, used for moving in space; A side plate connected to the moving seat; A rotating shaft, rotatably mounted on the moving seat and parallel to the side plate; An unpacking plate connected to the rotating shaft and parallel to the rotating shaft, wherein the unpacking plate rotates around the axis of the rotating shaft to be flattened or form a right angle with respect to the side plate; Suction cups are arranged in plurality on adjacent surfaces of the side panels and the box opening panel and are used for adsorbing target cartons.

[0005] Optionally, the box-opening robot structure further includes a box-opening motor connected to the moving seat; The rotating shaft is coaxially connected to the output shaft of the box opening motor and can be driven by the box opening motor.

[0006] Optionally, the box-opening robot structure further includes a suction cup frame connected to the side plate and the box-opening plate; The suction cup is also connected to the suction cup frame and can be supported by the suction cup frame.

[0007] Optionally, the box opening robot structure further includes a driving mechanism which is transmission-connected to the moving seat and is used to drive the moving seat to move in space with a set posture; The driving mechanism includes a base and a main servo motor installed on the base, and also includes an active arm connected to the output shaft of the main servo motor, a first forearm hinged on the end of the active arm away from the main servo motor, a first swing arm movably mounted on the output shaft of the main servo motor, and a first connecting rod hinged on the end of the first swing arm away from the main servo motor, the first connecting rod is also hinged to the first forearm and parallel to the active arm, the rotating axes of the first forearm and the first connecting rod are parallel to the output shaft of the main servo motor, and the moving seat is connected to the end of the first forearm away from the active arm.

[0008] Optionally, the driving mechanism further comprises a sub-servo motor mounted on the base, a second swing arm connected to the output shaft of the sub-servo motor, and a second connecting rod with two ends respectively hinged to the first swing arm and the second swing arm, the sub-servo motor is parallel to the output shaft of the main servo motor, and the rotation center axis of the second connecting rod is parallel to the output shaft of the sub-servo motor; The second connecting rod is arranged at an angle to the second swing arm.

[0009] Optionally, the driving mechanism further comprises a triangular plate and a traction arm and a second forearm hinged to the triangular plate at intervals; The triangular plate is also hinged on the active arm and the rotation center axis of the triangular plate relative to the active arm is coaxial with the rotation center axis of the first forearm relative to the active arm. The end of the traction arm away from the triangular plate is hinged on the base. The first forearm and the second forearm are both hinged to the movable seat and parallel to each other. The rotation center axes of the traction arm and the second forearm are parallel to the rotation center axis of the first forearm relative to the active arm.

[0010] The beneficial effect of the unpacking manipulator structure provided by the present application is that: compared with the prior art, in the unpacking manipulator structure provided by the present application, the side panels, the rotating shaft and the unpacking plate connected to the moving seat can move flexibly in space with the moving seat. Since a number of suction cups for adsorbing the target carton are respectively arranged on the adjacent surfaces of the side panels and the unpacking plate, when the unpacking plate is driven by the rotating shaft to rotate to be flush with the side panels (i.e., the unpacking plate is flattened relative to the side panels), the target box to be unfolded can be sucked from the silo in cooperation with the side panels, and when the unpacking plate is driven by the rotating shaft and rotated to be perpendicular to the side panels (i.e., the unpacking plate forms a right angle relative to the side panels), the target box can be opened into a preset shape. Therefore, the unpacking manipulator structure provided in the present application can quickly and stably open the target box through the stable adsorption effect of the suction cups and the flexible rotation of the unpacking plate relative to the side panels, which is conducive to significantly improving the efficiency of box unpacking, which is far superior to the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 The working state of the unpacking robot structure in the embodiment of the present application is shown in FIG. Figure 1 ; Figure 2 The working state of the unpacking robot structure in the embodiment of the present application is shown in FIG. Figure 2 ; Figure 3 This is a schematic diagram of the main structure of the unpacking robot structure in the embodiment of the present application; Figure 4 It is a schematic diagram of the top view of the unpacking robot structure in the embodiment of the present application.

[0013] Among them, the reference numerals in the figure are: 100, base; 101, moving base; 102, side plate; 103, rotating shaft; 104, unpacking plate; 105, suction cup; 106, unpacking motor; 107, suction cup frame; 108, main servo motor; 109, active arm; 110, first forearm; 111, first swing arm; 112, first connecting rod; 113, auxiliary servo motor; 114, second swing arm; 115, second connecting rod; 116, triangle plate; 117, traction arm; 118, second forearm; 200, target carton. DETAILED DESCRIPTION

[0014] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0015] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0016] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0017] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0018] Please also read Figures 1 to 4 Now, a box-opening robot structure provided in the embodiment of the present application is described. The box-opening robot structure includes a moving seat 101, a side plate 102, a rotating shaft 103, a box-opening plate 104 and a suction cup 105. Among them: The moving seat 101 is used to move in space; the side panel 102 is connected to the moving seat 101; the rotating shaft 103 is rotatably installed on the moving seat 101 and is parallel to the side panel 102; the unpacking plate 104 is connected to the rotating shaft 103 and is parallel to the rotating shaft 103, and the unpacking plate 104 rotates around the axis of the rotating shaft 103 to flatten or form a right angle relative to the side panel 102; a plurality of suction cups 105 are respectively arranged on adjacent surfaces of the side panel 102 and the unpacking plate 104 and are used to adsorb the target carton 200.

[0019] According to the above structure provided in this embodiment, the unpacking robot structure provided in this embodiment is installed in the unpacking station of the packing machine and connected with the silo outlet of the target carton 200. In the unpacking robot structure provided in this embodiment, the side plate 102, the rotating shaft 103 and the unpacking plate 104 connected to the moving seat 101 can move flexibly in space with the moving seat 101, that is, move between the silo and the unpacking station. Since a number of suction cups 105 for adsorbing the target carton 200 are respectively arranged on the adjacent surfaces of the side plate 102 and the unpacking plate 104, when the rotating shaft 103 drives the unpacking plate 104 to rotate to be flush with the side plate 102, it can cooperate with the side plate 102 to absorb the target box to be unfolded from the silo, and when the unpacking plate 104 is driven by the rotating shaft 103 and rotated to be perpendicular to the side plate 102, the target box can be opened into a preset shape. Therefore, the unpacking robot structure provided in this embodiment can quickly and stably open the target box through the stable adsorption effect of the suction cup 105 and the flexible rotation of the unpacking plate 104 relative to the side plate 102, which is beneficial to significantly improve the box unpacking efficiency and is far superior to the existing technology.

[0020] In another embodiment of the present application, please refer to Figures 1 to 4 The unpacking robot structure also includes an unpacking motor 106 connected to the moving seat 101; the rotating shaft 103 is coaxially connected to the output shaft of the unpacking motor 106 and can be driven by the unpacking motor 106. According to the above structure provided in this embodiment, the unpacking motor 106 coaxially connected to the rotating shaft 103 can drive the unpacking plate 104 connected to the rotating shaft 103 to rotate more quickly and stably, that is, it can quickly drive the unpacking plate 104 to rotate with the rotating shaft 103 to flatten or form a right angle with the side plate 102, complete the suction and opening of the target carton 200, which is conducive to further improving the unpacking efficiency of the unpacking robot structure in this embodiment.

[0021] In another embodiment of the present application, please refer to Figures 1 to 4 The unpacking robot structure further includes a suction cup frame 107 connected to the side plate 102 and the unpacking plate 104; the suction cup 105 is also connected to the suction cup frame 107 and can be supported by the suction cup frame 107. According to the above structure provided in this embodiment, the suction cup 105 connected to the suction cup frame 107 can form a better installation stability, which is conducive to the suction cup 105 to more stably absorb the target carton 200 and is conducive to further improving the unpacking efficiency of the unpacking robot structure in this embodiment.

[0022] In another embodiment of the present application, please refer to Figures 1 to 4The unpacking robot structure also includes a driving mechanism that is transmission-connected to the moving seat 101 and is used to drive the moving seat 101 to move in space with a set posture; the driving mechanism includes a base 100 and a main servo motor 108 installed on the base 100, and also includes an active arm 109 connected to the output shaft of the main servo motor 108, a first forearm 110 hinged at the end of the active arm 109 away from the main servo motor 108, a first swing arm 111 movably mounted on the output shaft of the main servo motor 108, and a first connecting rod 112 hinged at the end of the first swing arm 111 away from the main servo motor 108, the first connecting rod 112 is also hinged to the first forearm 110 and is parallel to the active arm 109, the rotation axis of the first forearm 110 and the first connecting rod 112 are parallel to the output shaft of the main servo motor 108, and the moving seat 101 is connected to the end of the first forearm 110 away from the active arm 109.

[0023] According to the above structure provided in this embodiment, the main servo motor 108 can drive the moving seat 101 connected to the first forearm 110 to move in space around the main servo motor 108 through the active arm 109 connected to the output shaft of the main servo motor 108 and the first forearm 110 hinged on the active arm 109. Since the first swing arm 111 is movably mounted on the output shaft of the main servo motor 108 and a first connecting rod 112 parallel to the active arm 109 is hinged between the first swing arm 111 and the first forearm 110, when the first swing arm 111 rotates relative to the output shaft of the main servo motor 108, the first forearm 110 can be driven to rotate relative to the active arm 109 through the first connecting rod 112, so that the moving seat 101 connected to the first forearm 110 can also rotate around the rotation center axis of the first forearm 110 relative to the active arm 109. Therefore, the unpacking robot structure provided in this embodiment The above-mentioned driving mechanism can enable the movable seat 101 to move more flexibly in space, and through the coordinated action of the auxiliary servo motor 113 (described later), the stroke and posture of the movable seat 101 can be flexibly controllable to adapt to target cartons 200 of different specifications. That is, when opening target cartons 200 of different specifications, it is only necessary to input the specifications of the target carton 200 into the control system of the carton packing machine, and the main servo motor 108 and the auxiliary servo motor 113 can automatically and cooperatively control the stroke and posture of the movable seat 101 according to the set program, which is conducive to further improving the unpacking efficiency of the unpacking robot structure in this embodiment.

[0024] In another embodiment of the present application, please refer to Figures 1 to 4The driving mechanism also includes a sub-servo motor 113 installed on the base 100, a second swing arm 114 connected to the output shaft of the sub-servo motor 113, and a second connecting rod 115 whose two ends are respectively hinged to the first swing arm 111 and the second swing arm 114. The sub-servo motor 113 is parallel to the output shaft of the main servo motor 108, and the rotation center axis of the second connecting rod 115 is parallel to the output shaft of the sub-servo motor 113; the second connecting rod 115 is set at an angle to the second swing arm 114.

[0025] According to the above structure provided in the present embodiment, since the second connecting rod 115 and the second swing arm 114 are arranged at an angle, the second swing arm 114 connected to the output shaft of the auxiliary servo motor 113 can be driven by the auxiliary servo motor 113 to swing around the output shaft of the auxiliary servo motor 113 and can drive the first swing arm 111 to swing stably through the second connecting rod 115 and control the angle between the first forearm 110 and the active arm 109 through the first connecting rod 112. In this way, the stroke, position and posture of the moving seat 101 are controlled in coordination with the main servo motor 108, that is, the side panel 102 is controlled to stably face the surface of the target carton 200 in a folded state in the silo and the suction cup 105 on the side panel 102 is located at a suitable position of the target carton 200, which is conducive to further improving the unpacking efficiency of the unpacking robot structure in the present embodiment.

[0026] In another embodiment of the present application, please refer to Figures 1 to 4 The driving mechanism also includes a triangular plate 116 and a traction arm 117 and a second forearm 118 hinged on the triangular plate 116 at intervals; the triangular plate 116 is also hinged on the active arm 109 and the rotation center axis of the triangular plate 116 relative to the active arm 109 is coaxial with the rotation center axis of the first forearm 110 relative to the active arm 109, the end of the traction arm 117 away from the triangular plate 116 is hinged on the base 100, the first forearm 110 and the second forearm 118 are both hinged to the moving base 101 and parallel to each other, and the rotation center axes of the traction arm 117 and the second forearm 118 are both parallel to the rotation center axis of the first forearm 110 relative to the active arm 109.

[0027] According to the above structure provided in this embodiment, since the two ends of the traction arm 117 are respectively hinged on the triangular plate 116 and the base 100 and the length of the traction arm 117 is constant, and since the first forearm 110 and the second forearm 118 are both hinged on the moving seat 101 and are parallel to each other, when the main servo motor 108 drives the moving seat 101 to rotate around its own output shaft and the auxiliary servo motor 113 drives the moving seat 101 to rotate around the first swing arm 111, the second swing arm 114, the first link 112, the second link 115 and the first forearm 110, When the first forearm 110 rotates relative to the rotation center axis of the active arm 109, the traction arm 117 with a constant length can drive the moving seat 101 to rotate around the rotation center axis of the first forearm 110 relative to the moving seat 101 through the triangular plate 116 and the second forearm 118. In this way, the posture of the moving seat 101 can be flexibly adjusted and the positions of the side panel 102, the unpacking plate 104 and the suction cup 105 connected to the moving seat 101 can be more adapted to the target carton 200, which is conducive to further improving the unpacking efficiency of the unpacking robot structure in this embodiment.

[0028] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A box opening robot structure, characterized in that: include: A moving seat (101) for moving in space; A side plate (102) connected to the movable seat (101); A rotating shaft (103) rotatably mounted on the movable seat (101) and parallel to the side plate (102); An unpacking plate (104) connected to the rotating shaft (103) and parallel to the rotating shaft (103), wherein the unpacking plate (104) rotates around the axis of the rotating shaft (103) to be flattened or form a right angle with respect to the side plate (102); A plurality of suction cups (105) are respectively arranged on adjacent surfaces of the side plate (102) and the box opening plate (104) and are used to absorb the target carton (200).

2. The box opening robot structure according to claim 1, characterized in that: The box opening robot structure further comprises a box opening motor (106) connected to the moving base (101); The rotating shaft (103) is coaxially connected to the output shaft of the box opening motor (106) and can be driven by the box opening motor (106).

3. The box opening robot structure according to claim 1, characterized in that: The box opening robot structure further comprises a suction cup frame (107) connected to the side plate (102) and the box opening plate (104); The suction cup (105) is also connected to the suction cup frame (107) and can be supported by the suction cup frame (107).

4. The box opening robot structure according to claim 1, characterized in that: The box opening robot structure further comprises a driving mechanism which is transmission-connected to the moving seat (101) and is used to drive the moving seat (101) to move in space in a set posture; The driving mechanism comprises a base (100) and a main servo motor (108) mounted on the base (100), and also comprises an active arm (109) connected to the output shaft of the main servo motor (108), a first forearm (110) hinged to the end of the active arm (109) away from the main servo motor (108), a first swing arm (111) movably mounted on the output shaft of the main servo motor (108), and a first connecting rod (112) hinged to the end of the first swing arm (111) away from the main servo motor (108), the first connecting rod (112) is also hinged to the first forearm (110) and parallel to the active arm (109), the rotation axes of the first forearm (110) and the first connecting rod (112) are both parallel to the output shaft of the main servo motor (108), and the movable seat (101) is connected to the end of the first forearm (110) away from the active arm (109).

5. The box opening robot structure according to claim 4, characterized in that: The driving mechanism further comprises an auxiliary servo motor (113) mounted on the base (100), a second swing arm (114) connected to an output shaft of the auxiliary servo motor (113), and a second connecting rod (115) having two ends respectively hinged to the first swing arm (111) and the second swing arm (114), the auxiliary servo motor (113) being parallel to an output shaft of the main servo motor (108), and a rotation center axis of the second connecting rod (115) being parallel to the output shaft of the auxiliary servo motor (113); The second connecting rod (115) and the second swing arm (114) are arranged at an angle.

6. The box opening robot structure according to claim 5, characterized in that: The driving mechanism further comprises a triangular plate (116) and a traction arm (117) and a second forearm (118) hingedly connected to the triangular plate (116) at intervals; The triangular plate (116) is also hinged on the active arm (109), and the rotation center axis of the triangular plate (116) relative to the active arm (109) is coaxial with the rotation center axis of the first forearm (110) relative to the active arm (109); one end of the traction arm (117) away from the triangular plate (116) is hinged on the base (100); the first forearm (110) and the second forearm (118) are both hinged to the movable seat (101) and parallel to each other; the rotation center axes of the traction arm (117) and the second forearm (118) are both parallel to the rotation center axis of the first forearm (110) relative to the active arm (109).

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