Product box unpacking and stacking equipment

Abstract

The invention relates to product box unpacking and stacking equipment which comprises a pushing device, a box stacking device and a box stacking device. The unboxing device comprises an unboxing mechanism, a supporting mechanism and a clamping mechanism, the clamping mechanism is arranged on the peripheral side of the supporting mechanism in a surrounding mode, the clamping mechanism can clamp or release the product box in the second direction perpendicular to the first direction, and the supporting mechanism can abut against or be separated from the bottom of the product box in the third direction perpendicular to the first direction and the second direction; the unboxing mechanism can cut adhesive tape of the product box, open box leaves of the product box and push the product box to be folded. And the lifting device is arranged in the third direction, and the output end of the lifting device is connected with the clamping mechanism so as to drive the clamping mechanism to drive the product box to move in the third direction. In this way, automatic unpacking and folding of the product box can be achieved, manual operation is not needed in the whole process, the labor intensity is reduced, cyclic utilization of the product box and the partition plates is achieved, and the turnover space is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of product box unpacking and recycling, and in particular to a product box unpacking and stacking device. Background Art

[0002] Product boxes are used to hold products to protect them. For standard product boxes, after a large number of purchases, the boxes need to be unsealed one by one and the goods inside need to be taken out, and then the boxes need to be recycled.

[0003] Usually, the unpacking process of product boxes is usually done manually, and the seals of the product boxes are opened one by one manually, and then the goods inside are taken out manually or with auxiliary equipment, and then the cartons are folded and recycled manually or with auxiliary equipment, which is labor-intensive. In addition, the product boxes need to be turned over in fixed plastic frames, and the unpacking process of the product boxes takes up a lot of warehouse space, and the empty box turnover cost is high. Summary of the invention

[0004] Based on this, it is necessary to provide a product box unpacking and stacking equipment to address the problem that the current product box unpacking requires manual operation, which results in high labor intensity and occupies a large space. The equipment can realize automatic unpacking of product boxes, removal of partitions and automatic folding of product boxes. The entire process does not require manual operation, thereby reducing the labor intensity of operators and reducing turnover space.

[0005] A product box unpacking and stacking device, comprising:

[0006] A pushing device, comprising a pushing mechanism, wherein the pushing mechanism pushes the product box along a first direction;

[0007] An unpacking device, comprising an unpacking mechanism, a supporting mechanism and a clamping mechanism, wherein the clamping mechanism is arranged around the supporting mechanism, the clamping mechanism can clamp or release the product box along a second direction perpendicular to the first direction, the supporting mechanism can abut against or detach from the bottom of the product box along a third direction perpendicular to the first direction and the second direction, the unpacking mechanism can cut the tape of the product box, open the box pages of the product box and push the product box to fold; and

[0008] The lifting device is arranged along the third direction, and the output end of the lifting device is connected to the clamping mechanism to drive the clamping mechanism to drive the product box to move along the third direction.

[0009] In one embodiment of the present application, the clamping mechanism includes a clamping drive, a clamping transmission, a first clamping assembly and a second clamping assembly, the first clamping assembly and the second clamping assembly extend along the first direction and are arranged relative to each other in the second direction, the output end of the clamping drive is connected to the clamping transmission, and the clamping transmission is transmission-connected to the first clamping assembly and the second clamping assembly to drive the first clamping assembly and the second clamping assembly to move closer to or away from each other.

[0010] In one embodiment of the present application, the clamping mechanism includes at least one of the following features:

[0011] In the first item, the first clamping assembly includes a first clamping arm and a plurality of first clamping adsorbents, wherein the plurality of first clamping adsorbents are disposed on the first clamping arm and are used to adsorb a side surface of the product box;

[0012] In the second item, the second clamping assembly includes a second clamping arm and a plurality of second clamping adsorbents, wherein the plurality of second clamping adsorbents are disposed on the second clamping arm and are used to adsorb the other side of the product box;

[0013] In the third aspect, the clamping mechanism further comprises a clamping mounting seat, and the clamping driving member and the clamping transmission member are movably disposed on the clamping mounting seat;

[0014] Fourthly, the clamping transmission member also includes a driving gear, a first rack and a second rack, the driving gear is arranged at the output end of the clamping drive member, the first rack and the second rack are arranged on both sides of the driving gear opposite to each other and mesh with the driving gear, the first rack is connected to the first clamping component, and the second rack is connected to the second clamping component.

[0015] In one embodiment of the present application, the unpacking mechanism includes a robotic arm, a cutting component and a cutting drive. The robotic arm is located on the side of the clamping mechanism and can be extended into or moved out of the clamping mechanism. The cutting drive is arranged at the end of the robotic arm. The cutting component is arranged at the output end of the cutting drive for cutting the tape of the product box.

[0016] In one embodiment of the present application, the unpacking mechanism further includes a page turning suction piece and a page turning driving piece, wherein the page turning driving piece is disposed at the end of the mechanical arm, and the page turning suction piece is disposed at the output end of the page turning driving piece, and the page turning suction piece is used to respectively suction each box page of the product box to open each box page;

[0017] And / or, the unpacking mechanism further comprises a page-turning hook plate, wherein the page-turning hook plate is arranged at the end of the mechanical arm, and the page-turning hook plate is used to open each box page of the product box.

[0018] In one embodiment of the present application, the support mechanism includes a support base, a support component and a support driving component, the support driving component and the support component are arranged on the support base, and the output end of the support driving component is connected to the support component to drive the support component to move along the third direction.

[0019] In one embodiment of the present application, the support mechanism further includes a first support plate and a second support plate, the top of the support component has a support platform, the first support plate and the second support plate are arranged at both ends of the support platform along the first direction, and the first support plate and the second support plate can be unfolded or folded relative to the support component, and when the first support plate and the second support plate are unfolded, the first support plate, the second support plate and the support platform are coplanar;

[0020] And / or, the support mechanism further includes a first sliding portion and a second sliding portion, the first sliding portion extends along the second direction, and the second sliding portion is located on the support component and can be slidably disposed on the first sliding portion.

[0021] In one embodiment of the present application, the unpacking device further includes a limiting member, which is disposed on the clamping mechanism and is arranged opposite to the pushing mechanism, and the limiting member is used to limit the product box pushed by the pushing mechanism in the first direction;

[0022] And / or, the unpacking device further comprises a mounting frame, the supporting mechanism and the lifting device are arranged on the mounting frame, and the unpacking mechanism is located on a side of the mounting frame.

[0023] In one embodiment of the present application, the unpacking device further comprises a plurality of adsorption mechanisms, wherein the plurality of adsorption mechanisms are arranged on the clamping mechanism and are arranged around the periphery of the product box;

[0024] The adsorption mechanism includes an adsorption driving member, a swing arm and an adsorption component, wherein the adsorption driving member is arranged on the clamping mechanism, the swing arm is swingably arranged on the clamping mechanism, and the two ends of the swing arm are respectively connected to the adsorption driving member and the adsorption component, and the adsorption component is used to adsorb the box pages of the product box;

[0025] And / or, the adsorption mechanism includes a mounting arm and an adsorption component, the mounting arm is arranged on the clamping mechanism, and the adsorption component is arranged on the mounting arm for adsorbing box pages of the product box.

[0026] In one embodiment of the present application, the lifting device includes a lifting mechanism and a lifting guide mechanism, the lifting mechanism includes a lifting drive member and a lifting transmission member, the lifting transmission member is arranged at the output end of the lifting drive member and arranged along the third direction, and the lifting transmission member is also connected to the clamping mechanism to drive the clamping mechanism to move along the third direction;

[0027] The lifting guide mechanism includes a first sliding member and a second sliding member, the first sliding member extends along the third direction, and the second sliding member is located in the clamping mechanism and can be slidably disposed on the first sliding member.

[0028] In one embodiment of the present application, the product box unpacking and stacking equipment further includes a stacking device, which is disposed on the clamping mechanism. The unpacking device positions the box pages of the product box and cooperates with the unpacking mechanism to fold the product box.

[0029] In one embodiment of the present application, the box stacking device also includes a page pressing mechanism, which is arranged on the outside of the clamping mechanism and is used to press the box pages of the product box when the box pages are opened; the page pressing mechanism includes a page pressing driving member, a page pressing support member and a page pressing component, the page pressing support member is arranged on the outside of the clamping mechanism, the page pressing component and the page pressing driving member are arranged on the page pressing support member, and the page pressing driving member drives the page pressing component to rotate relative to the page pressing support member so that the page pressing component presses or detaches from the product box.

[0030] In one embodiment of the present application, the box stacking device also includes a lifting mechanism, which is arranged on the outside of the clamping mechanism and can move along the third direction. The lifting mechanism is used to lift the box pages of the product box so that the box pages extend along the third direction. The lifting mechanism includes a lifting drive, a lifting support and a lifting component. The lifting support is arranged on the outside of the clamping mechanism, and the lifting component is arranged at the output end of the lifting drive. The lifting drive is arranged on the lifting support to drive the lifting component to move along the third direction.

[0031] In one embodiment of the present application, the box stacking device further comprises a blocking mechanism, which is rotatably disposed on the clamping mechanism, and is used to block at least one box page of the product box along the first direction;

[0032] The blocking mechanism comprises a blocking arm and an elastic member. The blocking arm can be rotatably arranged on the clamping mechanism, and the elastic member elastically connects the blocking arm and the clamping mechanism.

[0033] In one embodiment of the present application, the pushing mechanism includes a pushing driving member and a carrying plate, wherein the carrying plate is disposed at an output end of the pushing driving member and moves with the pushing driving member, and the carrying plate is used to place the product box;

[0034] And / or, the pushing device also includes a pushing frame and a pushing guide mechanism, the pushing driving member is arranged on the pushing frame, the pushing guide mechanism includes a first guide member and a second guide member, the first guide member is arranged on the pushing frame, the second guide member is located on the supporting plate, and can be slidably arranged on the first guide member.

[0035] After adopting the above technical solution, this application has at least the following technical effects:

[0036] In the product box unpacking and stacking device of the present application, the pushing device pushes the product box into the clamping mechanism along the first direction, the clamping mechanism clamps the product box along the second direction, and then the support mechanism rises along the third direction to abut against the top of the product box, then the unpacking mechanism cuts the tape on the top of the product box, and then opens each box page on the top of the product box in sequence, and then the unpacking mechanism cuts the tape on the bottom of the product box, and then opens each box page on the bottom of the product box in sequence. After the box pages are opened, the support mechanism abuts against the partition of the product box, and the lifting device drives the clamping mechanism and the product box to descend as a whole. At this time, the partition exposes the top of the product box, and the partition in the product box is removed by the collecting fixture. Subsequently, the clamping mechanism releases one surface of the product box, and the unpacking mechanism pushes the product box to fold the product box.

[0037] The product box unpacking and stacking device pushes the product box into the unpacking device through a pushing device, the clamping mechanism and the supporting mechanism realize the clamping and fixing of the product box, the unpacking mechanism realizes the cutting of the tape on the product box, and opens the box pages of the product box, and cooperates with the lifting device to realize the automatic ejection of the partition in the product box, thereby realizing the folding of the product box. The product box unpacking and stacking device can realize the automatic unpacking of the product box, the removal of the partition and the automatic folding of the product box, and the whole process does not require manual operation, reducing the labor intensity of the operator. Moreover, the whole unpacking and stacking process of the product box is carried out in the product box unpacking and stacking device, realizing the recycling and sorting of the product box and the removal of the partition in a small space, realizing the recycling of the product box and the partition, and reducing the turnover space. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a three-dimensional view of a product box unpacking and stacking device according to an embodiment of the present application, viewed from one angle.

[0039] Figure 2 for Figure 1 The product box unpacking and stacking device shown is a perspective view from another angle.

[0040] Figure 3 for Figure 1 A perspective view of a product box being processed by a product box unpacking and stacking device is shown.

[0041] Figure 4 for Figure 3 The product box shown is unpacked.

[0042] Figure 5 for Figure 4 A schematic diagram of the product box shown after folding.

[0043] Figure 6 for Figure 1 The schematic diagram of the pushing device in the product box unpacking and stacking equipment is shown.

[0044] Figure 7 for Figure 6 The push device shown is a partial enlarged view at A.

[0045] Figure 8 for Figure 1 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position B.

[0046] Fig. 9 for Figure 1 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position C.

[0047] Fig.10 for Figure 1 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position D.

[0048] Fig.11 for Figure 1 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position E.

[0049] Fig.12 for Figure 2 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position F.

[0050] Fig.13 for Figure 2 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position G.

[0051] Fig.14 for Figure 2 The shown diagram is a partial enlarged view of the product box unpacking and stacking equipment at position H.

[0052] Fig.15 for Figure 1 The schematic diagram shown is of the positioning of product boxes by the product box unpacking and stacking equipment.

[0053] Fig.16 for Fig.15The schematic diagram shown is of the top of the product box being unpacked by the product box unpacking and stacking equipment.

[0054] Fig.17 for Fig.16 The schematic diagram shown is of the bottom of the product box being unpacked by the product box unpacking and stacking equipment.

[0055] Fig.18 for Fig.17 The schematic diagram shown is of the product box unpacking and stacking equipment before folding the product box.

[0056] Among them: 10, product box unpacking and stacking equipment; 100, pushing device; 110, pushing mechanism; 111, pushing drive; 112, carrying plate; 1121, avoidance gap; 1122, retaining edge; 120, pushing rack; 130, pushing guide mechanism; 131, first guide; 132, second guide; 200, unpacking device; 210, unpacking mechanism; 211, mechanical arm; 212, cutting component; 213, cutting drive; 214, page turning adsorption component; 215, page turning drive; 216, page turning hook plate; 217, mounting base; 220, supporting mechanism; 221, supporting Driving member; 222, supporting member; 223, supporting base; 2231, second sliding part; 224, first sliding part; 225, driving member; 226, first supporting plate; 227, second supporting plate; 228, first driving member; 229, second driving member; 230, clamping mechanism; 231, clamping driving member; 232, clamping transmission member; 2321, driving gear; 2322, first rack; 2323, second rack; 233, first clamping assembly; 2331, first clamping arm; 2332, first clamping adsorption member; 2333, first clamping seat; 2334, first guide part; 2335, second guide portion; 234, second clamping assembly; 2341, second clamping arm; 2342, second clamping adsorption member; 2343, second clamping seat; 235, clamping mounting seat; 240, stop member; 250, mounting frame; 260, adsorption mechanism; 261, adsorption drive member; 262, adsorption member; 2621, first adsorption member; 2622, third adsorption member; 2623, fourth adsorption member; 2624, fifth adsorption member; 2625, sixth adsorption member; 2626, seventh adsorption member; 263, swing arm; 264, mounting arm; 300, lifting device; 310, lifting device Lowering mechanism; 311, lifting drive member; 312, lifting transmission member; 3121, lifting gear; 3122, lifting rack; 320, lifting guide mechanism; 321, first sliding member; 322, second sliding member; 330, lifting support; 400, box stacking device; 410, page pressing mechanism; 411, page pressing drive member; 412, page pressing support member; 413, page pressing member; 420, lifting mechanism; 421, lifting drive member; 422, lifting support member; 423, lifting member; 430, blocking mechanism; 431, blocking arm; 432, elastic member; 440, blocking bracket; 50, product box. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0058] Understandably, the unpacking process of product boxes is usually a manual operation, which involves manually unsealing the product boxes one by one, then manually or using auxiliary equipment to take out the goods inside, and then manually or using auxiliary equipment to fold the cartons and recycle them, which is labor-intensive. In addition, the product boxes need to be circulated using fixed plastic frames, which occupies a large warehouse space during the unpacking process and has high empty box turnover costs.

[0059] For this reason, Figure 1 and Figure 2 As shown, the present application provides a product box unpacking and stacking device 10. Figure 1 This is a three-dimensional view of a product box unpacking and stacking device 10 according to an embodiment of the present application, viewed from one angle. Figure 2 for Figure 1 The product box unpacking and stacking device 10 is a three-dimensional view from another angle. The product box unpacking and stacking device 10 is used to realize unpacking and folding of product boxes 50. The product box 50 here generally refers to a hexahedral packaging box.

[0060] The product box unpacking and stacking device 10 can realize automatic unpacking of the product box 50, removal of the partitions, and automatic folding of the product box 50. The entire process does not require manual operation, thereby reducing the labor intensity of the operator. Moreover, the entire unpacking and stacking process of the product box 50 is carried out in the product box unpacking and stacking device 10, so that the product box 50 can be circulated and sorted and the partitions therein can be removed in a small space, so that the product box 50 and the partitions can be recycled and reused, and the turnover space can be reduced.

[0061] In order to better explain the structure of the product box unpacking and stacking device 10, the structure of the product box 50 is briefly described here. Figure 3 and Figure 4 As shown, Figure 3 for Figure 1 The product box unpacking and stacking device 10 is a three-dimensional view of a product box 50 processed by the product box unpacking and stacking device 10. Figure 4 for Figure 3The schematic diagram of the product box 50 after unpacking is shown. The product box 50 is a hexahedral structure, which has six surfaces, namely four side surfaces, a top surface and a bottom surface. The product box 50 is provided with a large box page and a small box page at the top and bottom of the side surface, respectively. The two small box pages are arranged opposite to each other, and the two large box pages are arranged opposite to each other. The large box pages and the small box pages are folded and bonded by tape to form the top surface (top) and the bottom surface (bottom) of the product box 50.

[0062] It is worth noting that the top and bottom of the product box 50 are Figure 3 The direction shown indicates that the arrow on the side of the product box 50 points to the top of the product box 50, and the bottom of the arrow points to the bottom of the product box 50. When the product box 50 is sealed, the two small box pages are folded first, and then the two large box pages are folded, and the two large box pages are covered on the two small box pages, and then the two large box pages are bonded and connected by tape.

[0063] Usually, the product box 50 is equipped with a partition and a product placed in the partition, and the partition protects the product. It can be understood that the type of the partition depends on the product placed therein, and the type of the partition and the product are not limited. The structure of the partition in the product box 50 in this embodiment is not described in detail, and the drawings of the partition are not shown. Moreover, the partition is taken out by a collecting fixture such as a grabbing robot, which is not limited here.

[0064] When unpacking the product box 50, the tape on the top of the product box 50 is cut, and the two large box pages on the top of the product box 50 are opened first, and then the two small box pages on the top of the product box 50 are opened; then, the tape on the bottom of the product box 50 is cut, and the two large box pages on the bottom of the product box 50 are opened first, and then the two small box pages on the bottom of the product box 50 are opened. After the product box 50 is unpacked, the partition can be removed by the collecting fixture, and then the product box 50 can be folded into a sheet, such as Figure 5 As shown, to facilitate the recycling of the product box 50, Figure 5 for Figure 4 The product box 50 is shown in a folded state.

[0065] The specific structure of the product box unpacking and stacking device 10 according to one embodiment is introduced below.

[0066] See also Figures 1 to 5In one embodiment, the product box unpacking and stacking device 10 includes a pushing device 100, an unpacking device 200, and a lifting device 300. The pushing device 100 includes a pushing mechanism 110, and the pushing mechanism 110 pushes the product box 50 along a first direction. The unpacking device 200 includes an unpacking mechanism 210, a supporting mechanism 220, and a clamping mechanism 230. The clamping mechanism 230 is arranged around the supporting mechanism 220. The clamping mechanism 230 can clamp or release the product box 50 along a second direction perpendicular to the first direction. The supporting mechanism 220 can abut against or detach from the bottom of the product box 50 along a third direction perpendicular to the first direction and the second direction. The unpacking mechanism 210 can cut the tape of the product box 50, open the box pages of the product box 50, and push the product box 50 to fold. The lifting device 300 is arranged along the third direction, and the output end of the lifting device 300 is connected to the clamping mechanism 230 to drive the clamping mechanism 230 to drive the product box 50 to move along the third direction.

[0067] The first direction, the second direction and the third direction are as follows: Figure 1 As shown, the first direction is the front-to-back direction of the product box unpacking and stacking device 10, the second direction is the left-right direction of the product box unpacking and stacking device 10, and the third direction is the up-down direction (height direction, vertical direction, top and bottom direction) of the product box unpacking and stacking device 10. The first direction, the second direction and the third direction are perpendicular to each other. All components in the product box unpacking and stacking device 10 are described based on the first direction, the second direction and the third direction.

[0068] The pushing device 100 and the unpacking device 200 are arranged along a first direction, the pushing device 100 is located in front of the unpacking device 200, the pushing device 100 is used to push the product box 50, and the unpacking device 200 is used to unpack and stack the product box 50. The pushing device 100 can push the product box 50 along the first direction to push the product box 50 into the unpacking device 200. Usually, the unpacking robot is located on the side of the pushing device 100, and the unpacking robot transfers the product box 50 to the pushing device 100.

[0069] After the product box 50 is pushed to the unpacking device 200, the unpacking device 200 can clamp and fix the product box 50. Then, the unpacking device 200 can unpack the product box 50 and open the box pages of the product box 50. The lifting device 300 can drive the product box 50 to descend, so that the partition in the product box 50 rises relative to the product box 50, so that the collecting clamp can move the partition away. Then, the lifting device 300 drives the product box 50 to return to its original position, and the unpacking device 200 can push the product box 50 so that the product box 50 can rotate around one side to achieve the folding of the product box 50.

[0070] See also Figures 1 to 5Specifically, the pushing device 100 includes a pushing mechanism 110, which can reciprocate along a first direction, and the unpacking device 200 includes an unpacking mechanism 210, a supporting mechanism 220, and a clamping mechanism 230. The clamping mechanism 230 is located behind the pushing mechanism 110 along the first direction, and the supporting mechanism 220 is located inside the clamping mechanism 230 and below the clamping mechanism 230. The pushing mechanism 110 can push the product box 50 into the clamping mechanism 230, and then the pushing mechanism 110 is reset along the first direction to facilitate the next pushing of the product box 50.

[0071] The clamping mechanisms 230 can move closer to or farther from each other along the second direction to clamp or release the product box 50. After the product box 50 is pushed to the clamping mechanisms 230, the clamping mechanisms 230 move closer to each other along the second direction, and the clamping mechanisms 230 can contact the two side surfaces of the product box 50 in the second direction, so that the clamping mechanisms 230 can clamp the product box 50 to fix the product box 50. Moreover, when the product box 50 is folded, the clamping mechanisms 230 can release one side surface of the product box 50 to facilitate the folding of the product box 50. When the product box 50 is folded, the clamping mechanisms 230 can release the other side surface of the product box 50 to facilitate the special clamp to transfer the folded product box 50.

[0072] The support mechanism 220 is arranged along the third direction and can reciprocate along the third direction. Before the product box 50 is pushed to the clamping mechanism 230, the support mechanism 220 descends along the third direction to avoid the product box 50, so that the product box 50 is pushed into the clamping mechanism 230 and the interference between the product box 50 and the support mechanism 220 is avoided. After the product box 50 is pushed to the clamping mechanism 230, the support mechanism 220 rises and abuts against the bottom of the product box 50. At this time, the positioning of the product box 50 can be achieved through the joint action of the clamping mechanism 230 and the support mechanism 220, so that the product box 50 can be unpacked later.

[0073] The unpacking mechanism 210 is located outside the clamping mechanism 230, and the end of the unpacking mechanism 210 can extend into the clamping mechanism 230. The unpacking mechanism 210 can cut the adhesive tape on the top of the product box 50 and turn over the top box pages of the product box 50 in sequence. Then, the unpacking mechanism 210 cuts the adhesive tape on the bottom of the product box 50 and turns over the bottom box pages of the product box 50 in sequence. When the partition in the product box 50 is removed, the unpacking mechanism 210 can also push the side of the product box 50 to rotate the product box 50 around its vertical edge, thereby realizing the folding of the product box 50.

[0074] The lifting device 300 is disposed on the outer side of the clamping mechanism 230, and the lifting mechanism 310 can be connected to the clamping mechanism 230. After the product box 50 is unpacked, since the supporting mechanism 220 supports the partition in the product box 50 and keeps its position unchanged, the lifting device 300 can drive the clamping mechanism 230 to descend along the third direction, so that the partition is gradually exposed from the top of the product box 50. At this time, the partition can be transferred away by the collecting fixture.

[0075] When the product box unpacking and stacking equipment 10 is working, the pushing mechanism 110 can push the product box 50 into the clamping mechanism 230 along the first direction, and the clamping mechanism 230 can move toward each other along the second direction to clamp the two opposite sides of the product box 50 to achieve clamping and fixing of the product box 50, and then the support mechanism 220 can rise along the first direction to the top of the product box 50. In this way, the product box 50 can be fixed in the spatial dimension. Subsequently, the unpacking mechanism 210 cuts the tape on the top of the product box 50 and opens the box pages at the top of the product box 50 in sequence, and then the unpacking mechanism 210 cuts the tape on the bottom of the product box 50 and opens the box pages at the bottom of the product box 50 in sequence. After the product box 50 is unpacked, the lifting device 300 drives the clamping mechanism 230 to descend relative to the support mechanism 220 along the third direction, so that the support mechanism 220 pushes the partition out of the product box 50 and transfers the partition away through the collecting fixture. At this time, the interior of the product box 50 is empty (such as Figure 4 As shown in FIG. 2 , the product box 50 can be folded, the clamping mechanism 230 releases one side of the product box 50, and the unpacking mechanism 210 pushes the product box 50 so that the product box 50 is folded into a sheet (as shown in FIG. 2 ). Figure 5 As shown), the folded product box 50 is transferred away by a special clamp, and then the next product box 50 can be unpacked and stacked.

[0076] The product box unpacking and stacking device 10 of the above embodiment pushes the product box 50 into the unpacking device 200 through the pushing device 100, the clamping mechanism 230 and the supporting mechanism 220 clamp and fix the product box 50, the unpacking mechanism 210 cuts the adhesive tape on the product box 50, opens the box pages of the product box 50, and cooperates with the lifting device 300 to automatically eject the partition in the product box 50, thereby realizing the folding of the product box 50. The product box unpacking and stacking device 10 can realize the automatic unpacking of the product box 50, the removal of the partition, and the automatic folding of the product box 50, and the whole process does not require manual operation, thereby reducing the labor intensity of the operator. Moreover, the whole unpacking and stacking process of the product box 50 is carried out in the product box unpacking and stacking device 10, so as to realize the recycling and sorting of the product box 50 and the removal of the partition therein in a small space, realize the recycling of the product box 50 and the partition, and reduce the turnover space.

[0077] See also Figure 1In one embodiment, the support mechanism 220 has a first position and a second position along the third direction, and the first position is higher than the second position, and the support mechanism 220 can switch between the first position and the second position. When the support mechanism 220 is in the first position, the support mechanism 220 abuts against the bottom of the product box 50, and when the support mechanism 220 is in the second position, the support mechanism 220 is separated from the bottom of the product box 50.

[0078] Moreover, before the product box 50 is pushed to the clamping mechanism 230, the support mechanism 220 descends from the first position to the second position along the third direction to avoid the product box 50; after the clamping mechanism 230 clamps the product box 50, the support mechanism 220 rises from the second position to the first position along the third direction to abut against the bottom of the product box 50 to support the product box 50; when the product box 50 is folded, the support mechanism 220 descends from the first position to the second position along the third direction to be removed from the unpacked product box 50 to facilitate the folding of the product box 50.

[0079] See also Figure 1 In one embodiment, the support mechanism 220 also has a third position, a fourth position and a fifth position along the second direction, and the third position is located between the fourth position and the fifth position. The support mechanism 220 abuts against or disengages from the bottom of the product box 50 at the third position, and the support mechanism 220 can switch between the third position, the fourth position and the fifth position to facilitate the opening of the box pages.

[0080] The fourth position is located on the right side of the unpacking device 200, the fifth position is located on the left side of the unpacking device 200, and the third position is located between the fourth position and the fifth position, and is in the middle position. In the process of the clamping mechanism 230 clamping the product box 50, the support mechanism 220 is always in the third position, and is adjusted between the first position and the second position based on the third position. When the unpacking mechanism 210 cuts the tape at the bottom of the product box 50, the support mechanism 220 moves from the third position to the fourth position, the unpacking mechanism 210 cuts the tape at the bottom, and opens the large box page on the left side of the bottom, and then, the support mechanism 220 moves from the fourth position to the fifth position, and the unpacking mechanism 210 opens the large box page on the right side of the bottom. After the large box pages on both sides are opened, the support mechanism 220 moves from the fifth position to the third position to support the partition so that the unpacking mechanism 210 can feedback the small box pages on the front and back sides of the bottom.

[0081] See also Figure 1 , Figure 2 and Figure 6 In one embodiment, the pushing device 100 further includes a pushing frame 120 , and the pushing mechanism 110 is disposed on the pushing frame 120 along the first direction. Figure 6 for Figure 1The schematic diagram of the pushing device 100 in the product box unpacking and stacking device 10 is shown. It is set on a reference surface such as the ground. The pushing rack 120 plays a supporting role. The pushing rack 120 can support the pushing mechanism 110. Moreover, the pushing rack 120 can also make the pushing mechanism 110 at a certain height from the reference surface, so that after the pushing mechanism 110 pushes the product box 50, the product box 50 can be located above the supporting mechanism 220. Optionally, the pushing rack 120 is a frame structure or a supporting platform.

[0082] See also Figure 1 and Figure 6 In one embodiment, the push mechanism 110 includes a push drive 111 and a carrier plate 112. The carrier plate 112 is disposed at the output end of the push drive 111 and moves with the push drive 111. The carrier plate 112 is used to place the product box 50. The push drive 111 is a power source of the push mechanism 110. The push drive 111 is disposed on the push frame 120. The push drive 111 can output a reciprocating motion along a first direction. The output end of the push drive 111 is connected to the carrier plate 112, and the product box 50 is carried by the carrier plate 112.

[0083] After the depalletizing robot places the product box 50 on the carrying plate 112, the push-driving member 111 drives the carrying plate 112 to extend in the first direction to push the product box 50 into the clamping mechanism 230. After the clamping mechanism 230 clamps the product box 50, the push-driving member 111 drives the carrying plate 112 to retract in the first direction to return the carrying plate 112 to the initial position, so that the depalletizing robot can place the next product box 50 on the carrying plate 112. After the depalletizing device 200 depalletizes and folds the product box 50 therein, the push-driving member 111 drives the carrying plate 112 to push the next product box 50 into the depalletizing device 200.

[0084] Optionally, the push driving member 111 is a cylinder. Of course, in other embodiments of the present application, the push driving member 111 can also be a linear motor or other components capable of outputting linear motion. Figure 6 and Figure 7 Optionally, a side of the carrying plate 112 facing the unpacking device 200 has an avoidance gap 1121 , and the avoidance gap 1121 is used to avoid the supporting mechanism 220 . Figure 7 for Figure 6The push device 100 is shown as a partial enlarged view at A. The avoidance gap 1121 can accommodate the support mechanism 220 when pushing the product box 50, avoiding interference between the support mechanism 220 and the carrier plate 112. Optionally, the three side edges of the carrier plate 112 facing away from the unpacking device 200 have retaining edges 1122, and the retaining edges 1122 protrude from the surface of the carrier plate 112. The retaining edges can stop the position of the product box 50 and prevent the product box 50 from detaching from the three side edges of the carrier plate 112.

[0085] See also Figure 1 , Figure 6 and Figure 7 In one embodiment, the pushing device 100 also includes a pushing guide mechanism 130, which is separately arranged on the pushing frame 120 and the carrying plate 112. The pushing guide mechanism 130 guides the movement of the carrying plate 112 along the third direction to ensure that the carrying plate 112 accurately pushes the product box 50 into the clamping mechanism 230, so that the clamping mechanism 230 and the supporting mechanism 220 can accurately fix the product box 50, which is convenient for the subsequent unpacking mechanism 210 to perform unpacking and stacking operations.

[0086] See also Figure 1 , Figure 6 and Figure 7 In one embodiment, the push guide mechanism 130 includes a first guide member 131 and a second guide member 132. The first guide member 131 is disposed on the push frame 120, and the second guide member 132 is located on the carrier plate 112 and is slidably disposed on the first guide member 131. The first guide member 131 extends along the first direction. When the push driving member 111 drives the carrier plate 112 to move along the third direction, the carrier plate 112 can drive the second guide member 132 to slide along the first guide member 131 to guide the movement of the carrier plate 112 and ensure that the movement trajectory of the carrier plate 112 is accurate.

[0087] like Figure 6 and Figure 7 As shown, illustratively, the first guide member 131 is a guide slider, the second guide member 132 is a guide rail, and the guide rail can be slidably arranged on the guide slider. Of course, in other embodiments of the present application, the first guide member 131 can also be a guide rail, the second guide member 132 can be a guide slider, or the first guide member 131 and the second guide member 132 can be a structure such as a slide rail and a slide groove that can achieve sliding cooperation.

[0088] See also Figure 1 , Figure 2 and Figure 8In one embodiment, the clamping mechanism 230 includes a clamping driving member 231, a clamping transmission member 232, a first clamping component 233 and a second clamping component 234. The first clamping component 233 and the second clamping component 234 extend along the first direction and are arranged relatively to each other in the second direction. The output end of the clamping driving member 231 is connected to the clamping transmission member 232, and the clamping transmission member 232 is transmission-connected to the first clamping component 233 and the second clamping component 234 to drive the first clamping component 233 and the second clamping component 234 to move closer to or away from each other. Figure 8 for Figure 1 The product box unpacking and stacking device 10 is shown in a partially enlarged view at B.

[0089] The clamping transmission member 232 is arranged opposite to the supporting plate 112 in the first direction, the first clamping component 233 and the second clamping component 234 both extend along the first direction, the first clamping component 233 and the second clamping component 234 are arranged at intervals along the second direction and are located on both sides of the clamping transmission member 232, and the clamping transmission member 232, the first clamping component 233 and the second clamping component 234 are arranged in a concave-shaped structure, which forms a conveying opening on one side, and the conveying opening corresponds to the supporting plate 112, and the supporting plate 112 conveys the product box 50 to the clamping mechanism 230 through the conveying opening.

[0090] The clamping drive 231 is a power source of the clamping mechanism 230. Optionally, the clamping drive 231 is a motor or the like. The clamping transmission 232 is disposed at the output end of the clamping drive 231. The clamping drive 231 can drive the clamping transmission 232 to move, and then the clamping transmission 232 can simultaneously drive the first clamping assembly 233 and the second clamping assembly 234 to move, and the first clamping assembly 233 and the second clamping assembly 234 can move closer to or farther from each other in the second direction to achieve an opening and closing operation to clamp or release the product box 50.

[0091] When the product box 50 is pushed to the clamping mechanism 230, the clamping drive 231 drives the clamping transmission 232 to drive the first clamping assembly 233 and the second clamping assembly 234 to clamp and fix the product box 50. When the product box 50 is unpacked, the clamping drive 231 drives the clamping transmission 232 to drive the first clamping assembly 233 and the second clamping assembly 234 to move away from each other and to separate the first clamping assembly 233 from one side of the product box 50. When the product box 50 is folded, the second clamping assembly 234 separates from the other surface of the product box 50.

[0092] See also Figure 1 and Figure 8In one embodiment, the clamping transmission member 232 also includes a driving gear 2321, a first rack 2322 and a second rack 2323. The driving gear 2321 is arranged at the output end of the clamping driving member 231. The first rack 2322 and the second rack 2323 are arranged on both sides of the driving gear 2321 opposite to each other and mesh with the driving gear 2321. The first rack 2322 is connected to the first clamping component 233, and the second rack 2323 is connected to the second clamping component 234.

[0093] The first rack 2322 and the second rack 2323 are arranged along the second direction, and the first rack 2322 is located above the driving gear 2321, and the second rack 2323 is located below the driving gear 2321. The first rack 2322 is connected to the first clamping assembly 233, and the two are vertically arranged, and the second rack 2323 is connected to the second clamping assembly 234, and the two are vertically arranged. When the driving gear 2321 rotates, it can drive the first rack 2322 and the second rack 2323 to move in opposite directions along the second direction, thereby causing the first rack 2322 and the second rack 2323 to drive the first clamping assembly 233 and the second clamping assembly 234 to move closer to or away from each other in the second direction.

[0094] Of course, in other embodiments of the present application, the clamping transmission member 232 can also be other structures that can synchronously drive the first clamping component 233 and the second clamping component 234, such as a ball screw structure, and the screw shaft is provided with two sets of threads in opposite directions to output opposite linear motions, which will not be repeated here.

[0095] See also Figure 1 and Figure 8 In one embodiment, the clamping mechanism 230 further includes a clamping mounting seat 235, and the clamping drive member 231 and the clamping transmission member 232 are movably arranged on the clamping mounting seat 235. The clamping mounting seat 235 is used to support the clamping drive member 231 and the clamping transmission member 232. The clamping mounting seat 235 is arranged on the lifting device 300. When the lifting device 300 drives the clamping mounting seat 235 to move along the third direction, the entire clamping mechanism 230 can be driven to move along the third direction. The clamping drive member 231 is arranged on the clamping mounting seat 235, and the clamping transmission member 232 is movably arranged on the clamping mounting seat 235. Optionally, the clamping mounting seat 235 is arranged in a plate shape. Of course, in other embodiments of the present application, the clamping mounting seat 235 can also be a frame structure or other structures that can play a supporting role.

[0096] See also Figure 1 and Figure 8In one embodiment, the first clamping assembly 233 includes a first clamping arm 2331 and a plurality of first clamping adsorbents 2332, and the plurality of first clamping adsorbents 2332 are disposed on the first clamping arm 2331 for adsorbing one side of the product box 50; the second clamping assembly 234 includes a second clamping arm 2341 and a plurality of second clamping adsorbents 2342, and the plurality of second clamping adsorbents 2342 are disposed on the second clamping arm 2341 for adsorbing the other side of the product box 50.

[0097] The first clamping arm 2331 is connected to the first rack 2322, and the second clamping arm 2341 is connected to the second rack 2323. The first clamping arm 2331 and the second clamping arm 2341 extend along the first direction. When the product box 50 is pushed to the clamping mechanism 230, the clamping driving member 231 drives the first rack 2322 and the second rack 2323 to drive the first clamping arm 2331 and the second clamping arm 2341 to approach each other, so that the first clamping arm 2331 and the second clamping arm 2341 clamp the product box 50. At this time, the first clamping arm 2331 contacts one side of the product box 50, and the second clamping arm 2341 contacts the other side of the product box 50, so as to achieve the clamping of the product box 50.

[0098] A plurality of first clamping adsorbents 2332 are provided on the first clamping arm 2331, and a plurality of second clamping adsorbents 2342 are provided on the second clamping arm 2341. While the first clamping arm 2331 and the second clamping arm 2341 clamp the product box 50, the first clamping adsorbent 2332 and the second clamping adsorbent 2342 can be adsorbed on the side of the product box 50 to fix the product box 50, so that the product box 50 can be ensured not to move during the unpacking process of the product box 50. Moreover, the plurality of first clamping adsorbents 2332 and the plurality of second clamping adsorbents 2342 can realize reliable clamping and fixing of the product line. It is worth noting that the plurality in the present application means at least two, that is, two or more than two, which will not be repeated in the following text.

[0099] When the product box 50 is unpacked, the first clamping adsorption member 2332 releases one side of the product box 50, and the clamping drive member 231 drives the first rack 2322 and the second rack 2323 to drive the first clamping arm 2331 and the second clamping arm 2341 to move away from each other. At this time, the product box 50 can move with the right side of the second clamping adsorption member 2342. Then, the unpacking mechanism 210 can extend into the clamping mechanism 230 and push the product box 50 to fold the product box 50. After the product box 50 is folded, the special clamp grabs the folded product box 50, and at the same time, the second clamping adsorption member 2342 releases the other side of the product box 50.

[0100] Optionally, the first clamping adsorbent 2332 and the second clamping adsorbent 2342 are both vacuum suction cups. The first clamping adsorbent 2332 and the second clamping adsorbent 2342 are connected to the controller of the product box unpacking and stacking device 10, and the controller controls the first clamping adsorbent 2332 and the second clamping adsorbent 2342 to perform adsorption or release actions. Optionally, the vacuum suction cup is fixed to the first clamping arm 2331 and the second clamping arm 2341 through a support. Of course, in other embodiments of the present application, the first clamping adsorbent 2332 and the second clamping adsorbent 2342 can also be pneumatic adsorbents or electric adsorbents, etc., which will not be repeated here.

[0101] See also Figure 1 , Figure 8 and Fig. 9 In one embodiment, the first clamping assembly 233 further includes a first clamping seat 2333, which is movably disposed on the clamping mounting seat 235, the first rack 2322 is disposed on the first clamping seat 2333, and the first clamping seat 2333 is fixedly connected to the first clamping arm 2331. The second clamping assembly 234 further includes a second clamping seat 2343, which is movably disposed on the clamping mounting seat 235, the second rack 2323 is disposed on the second clamping seat 2343, and the second clamping seat 2343 is fixedly connected to the second clamping arm 2341. Fig. 9 for Figure 1 The product box unpacking and stacking device 10 is shown in a partially enlarged view at C.

[0102] The first clamping seat 2333 serves as a transfer support, and the first rack 2322 and the first clamping arm 2331 are connected through the first clamping seat 2333, so that the first rack 2322 drives the first clamping arm 2331 to move. Similarly, the second clamping seat 2343 serves as a transfer support, and the second rack 2323 and the second clamping arm 2341 are connected through the second clamping seat 2343, so that the second rack 2323 drives the second clamping arm 2341 to move. Optionally, the first clamping arm 2331 and the first clamping seat 2333 are fixedly connected by a screw, and of course, the first clamping arm 2331 and the first clamping seat 2333 can also be connected by clamping or other methods; the second clamping arm 2341 and the second clamping seat 2343 are fixedly connected by a screw, and of course, the second clamping arm 2341 and the second clamping seat 2343 can also be connected by clamping.

[0103] See also Figure 8 and Fig. 9In one embodiment, the first clamping assembly 233 further includes a first guide portion 2334 and a second guide portion 2335, wherein the first guide portion 2334 is disposed on the clamping mounting seat 235 along the second direction, and the second guide portion 2335 is disposed on the first clamping seat 2333 and is slidably disposed on the second guide portion 2335. Thus, when the driving gear 2321 drives the first rack 2322 to drive the first clamping seat 2333 to move along the second direction, the first clamping seat 2333 can move along the first guide portion 2334 through the second guide portion 2335, so as to ensure that the first clamping seat 2333 can drive the first clamping arm 2331 to accurately move along the second direction.

[0104] See also Figure 8 and Fig. 9 For example, the first guide portion 2334 is a guide rail, and the second guide portion 2335 is a guide slider, and the guide slider can be slidably disposed on the guide rail. Of course, in other embodiments of the present application, the first guide portion 2334 can also be a guide slider, and the second guide portion 2335 can be a guide rail, or the first guide portion 2334 and the second guide portion 2335 can be structures such as a slide rail and a slide groove that can achieve sliding cooperation. Of course, the second clamping assembly 234 also includes the first guide portion 2334 and the second guide portion 2335, which will not be repeated here.

[0105] See also Figure 1 and Figure 8 In one embodiment, the unpacking device 200 further includes a limiter 240, which is disposed on the clamping mechanism 230 and is disposed opposite to the pushing mechanism 110. The limiter 240 is used to limit the position of the product box 50 pushed by the pushing mechanism 110 in the first direction. The limiter 240 is disposed on the clamping mounting seat 235 and extends into the inner side of the clamping mechanism 230; the position of the product box 50 in the clamping mechanism 230 is limited by the limiter 240 to ensure that the product box 50 is pushed into place.

[0106] The pushing mechanism 110 pushes the product box 50 into the clamping mechanism 230 along the first direction. When the product box 50 contacts the limiting member 240, it indicates that the product box 50 is pushed into place. The pushing mechanism 110 stops pushing the product box 50, and the product box 50 is clamped and fixed by the cooperation of the supporting mechanism 220 and the clamping mechanism 230, so as to complete the positioning of the product box 50 in three dimensions of space. Optionally, the limiting member 240 is a limiting baffle, which is arranged on the clamping mounting seat 235. Of course, in other embodiments of the present application, the limiting member 240 can also be a limiting bracket, a limiting rod, etc.

[0107] See also Figure 1 and Fig.10In one embodiment, the unpacking mechanism 210 includes a robotic arm 211, a cutting component 212 and a cutting drive 213. The robotic arm 211 is located on the side of the clamping mechanism 230 and can be extended into or moved out of the clamping mechanism 230. The cutting drive 213 is arranged at the end of the robotic arm 211, and the cutting component 212 is arranged at the output end of the cutting drive 213 for cutting the tape of the product box 50. Fig.10 for Figure 1 The product box unpacking and stacking device 10 is shown in a partially enlarged view at D.

[0108] The mechanical arm 211 is located outside the first clamping assembly 233, and the cutting drive 213 and the cutting component 212 are installed at the end of the mechanical arm 211. When the pushing mechanism 110 pushes the product box 50, the mechanical arm 211 is located outside the clamping mechanism 230, and the mechanical arm 211 will not block the product box 50. After the clamping mechanism 230 clamps the product box 50, the end of the mechanical arm 211 moves to the top of the product box 50, and the cutting component 212 is aligned with the tape at the top of the product box 50. The mechanical arm 211 drives the cutting component 212 to move along the extension direction of the tape. At the same time, the cutting drive 213 drives the cutting component 212 to perform a cutting action, so that the cutting component 212 cuts the tape. Subsequently, the mechanical arm 211 moves to the bottom of the product box 50, and similarly cuts the tape at the bottom of the product box 50.

[0109] When cutting the tape on the top of the product box 50, the robot arm 211 drives the cutting member 212 to move along the second direction to cut the tape on the front side of the product box 50, then drives the cutting member 212 to move along the first direction to cut the tape on the top of the product box 50, and finally drives the cutting member 212 to move along the second direction to cut the tape on the back side of the product box 50. That is, under normal circumstances, the cutting member 212 needs to cut three times on the top to complete the cutting of the tape on the top of the product box 50.

[0110] See also Figure 1 and Fig.10 Optionally, the cutting member 212 is a cutting knife with a pressure wheel, and the box pages of the product box 50 are pressed by the pressure wheel to facilitate the cutting of the cutting knife. Optionally, the cutting drive member 213 is a cylinder, and the cylinder provides the cutting force of the cutting member 212. Optionally, the cutting drive member 213 is a cylinder with adjustable downward pressure, which can set the downward pressure of the cutting member 212 so that the cutting member 212 can adapt to the uneven product box 50. Optionally, the unpacking mechanism 210 also includes a mounting base 217, which is located outside the first clamping assembly 233, and the mechanical arm 211 is arranged on the mounting base 217.

[0111] See also Figure 1 and Fig.10In one embodiment, the unpacking mechanism 210 further includes a page turning suction member 214 and a page turning driving member 215. The page turning driving member 215 is disposed at the end of the mechanical arm 211. The page turning suction member 214 is disposed at the output end of the page turning driving member 215. The page turning suction member 214 is used to respectively suction each box page of the product box 50 to open each box page. The page turning driving member 215 is disposed at the end of the mechanical arm 211 and is located on the side of the cutting driving member 213. The page turning suction member 214 is disposed at the output end of the page turning driving member 215. The page turning driving member 215 can drive the page turning suction member 214 to suction or release the box pages.

[0112] When the mechanical arm 211 drives the cutting component 212 to cut the adhesive tape at the top of the product box 50, the page turning driving component 215 can drive the page turning suction component 214 to sequentially suction each box page at the top of the product box 50, so that the box page is turned over and opened. When the mechanical arm 211 drives the cutting component 212 to cut the adhesive tape at the bottom of the product box 50, the page turning driving component 215 can drive the page turning suction component 214 to sequentially suction each box page at the bottom of the product box 50, so that the box page is turned over and opened.

[0113] Normally, the two large box pages are located outside the two small box pages. After the tape is cut, the page turning driving member 215 first drives the page turning adsorbing member 214 to sequentially adsorb the two large box pages. After the two large box pages are flipped open, the page turning driving member 215 then drives the page turning adsorbing member 214 to sequentially adsorb the two small box pages, so that the two large box pages and the two small box pages are flipped open. Optionally, the page turning driving member 215 is an adjustable cylinder, and the page turning adsorbing member 214 is a suction cup. The adsorption force of the page turning adsorbing member 214 is adjusted by the page turning driving member 215, so that the page turning adsorbing member 214 can accurately adsorb the box pages.

[0114] See also Figure 1 and Fig.10 In one embodiment, the unpacking mechanism 210 further includes a page-turning hook plate 216, which is disposed at the end of the mechanical arm 211 and is used to open each page of the product box 50. The page-turning hook plate 216 is disposed at the end of the mechanical arm 211 and is located on the side of the cutting drive member 213, and the page-turning hook plate 216 extends out of the mechanical arm 211. After the cutting component 212 cuts the tape, the page-turning hook plate 216 can extend into the gap between the box pages, and the box pages are turned over and opened through the box page hook plate.

[0115] In this embodiment, the page turning suction piece 214 and the page turning hook plate 216 are used to realize the turning and opening of the box pages, and the page turning suction piece 214 is arranged on the page turning hook plate 216. If there is no gap between the box pages, the box page hook plate cannot be inserted into the box pages. At this time, the box pages are first sucked by the box page suction piece to turn the box pages to a certain angle, and then the page turning hook plate 216 is inserted into the gap between the box pages to facilitate the turning and opening of the box pages.

[0116] The present application can realize the sequential flipping and opening of each box page through the cooperation of the page turning adsorbent 214 and the page turning hook plate 216, and the process of flipping and opening the box page is convenient and fast. Of course, in other embodiments of the present application, the page turning adsorbent 214 or the page turning hook plate 216 can also be used alone to realize the flipping and opening of the box page, which will not be repeated here.

[0117] See also Figure 1 and Figure 2 In one embodiment, the unpacking device 200 further includes a mounting frame 250, a supporting mechanism 220 and a lifting device 300 are disposed on the mounting frame 250, and the unpacking mechanism 210 is located on the side of the mounting frame 250. The mounting frame 250 plays a supporting role, the supporting mechanism 220 is disposed on the mounting frame 250, and the clamping mechanism 230 is disposed on the mounting frame 250 through the lifting device 300. The mounting frame 250 and the pushing frame 120 have substantially the same height, so that the product box 50 is pushed at the same height, avoiding interference during the pushing process of the product box 50 due to height differences.

[0118] See also Figure 1 , Figure 2 and Fig.11 In one embodiment, the support mechanism 220 includes a support base 223, a support component 222 and a support driver 221. The support driver 221 and the support component 222 are arranged on the support base 223. The output end of the support driver 221 is connected to the support component 222 to drive the support component 222 to move along the third direction. Fig.11 for Figure 1 The product box unpacking and stacking device 10 is shown in a partially enlarged view at position E.

[0119] The support base 223 is disposed on the mounting frame 250, the support driving member 221 is disposed on the support base 223 along the third direction, and the support component 222 is disposed at the output end of the support driving member 221, and the support component 222 is a component supporting the bottom of the product box 50. The support driving member 221 can output a lifting motion along the third direction, thereby driving the support component 222 to move relative to the support base 223 along the third direction.

[0120] Before the pushing mechanism 110 pushes the product box 50, the support driving member 221 drives the support component 222 to descend from the first position to the second position along the third direction. After the pushing mechanism 110 pushes the product box 50 to the clamping mechanism 230, the clamping mechanism 230 drives the first clamping assembly 233 and the second clamping assembly 234 to clamp the product box 50. At the same time, the support driving member 221 drives the support component 222 to rise from the second position to the first position along the third direction to abut against the bottom of the product box 50. Optionally, the support driving member 221 is a lifting cylinder.

[0121] See also Figure 1 , Figure 2 and Fig.11 In one embodiment, the support mechanism 220 further includes a first sliding portion 224 and a second sliding portion 2231, wherein the first sliding portion 224 extends along the second direction, and the second sliding portion 2231 is located on the support component 222 and is slidably disposed on the first sliding portion 224. It can be understood that after the support mechanism 220 is supported on the bottom of the product box 50, the support mechanism 220 will be blocked between the two large box pages at the bottom, affecting the cutting of the tape and the turning of the large box pages.

[0122] To this end, the support mechanism 220 of the present application is further provided with a first sliding portion 224 and a second sliding portion 2231, wherein the first sliding portion 224 is provided on the mounting frame 250 along the second direction, and the second sliding portion 2231 is located at the bottom of the support base 223. The support base 223 moves along the first sliding portion 224 through the second sliding portion 2231, so that the support mechanism 220 can switch between the third position, the fourth position and the fifth position. Optionally, the support mechanism 220 further includes a driving component 225, which is provided on the mounting frame 250 and connected to the mounting frame 250, and the driving component 225 can drive the support base 223 to slide along the first sliding portion 224 through the second sliding portion 2231. Optionally, the driving component 225 is a cylinder.

[0123] When the adhesive tape at the bottom of the product box 50 is cut, the driving component 225 drives the supporting base 223 to move rightward from the third position to the fourth position along the first sliding portion 224, and the top of the supporting component 222 can contact the large box page on the right side of the bottom of the product box 50 to avoid the adhesive tape at the bottom of the product box 50 and the large box page on the left. At this time, the unpacking mechanism 210 cuts the adhesive tape at the bottom of the product box 50 through the cutting component 212, and then, through the cooperation of the page turning adsorbent 214 and the page turning hook plate 216, the large box page on the left is turned over and opened.

[0124] Subsequently, the driving component 225 drives the support base 223 to move leftward from the fourth position to the fifth position along the first sliding portion 224, and the top of the support component 222 can contact the partition in the product box 50 to avoid the large box page on the right side of the bottom of the product box 50. At this time, the unpacking mechanism 210 turns over and opens the large box page on the right side through the cooperation of the page turning adsorbent 214 and the page turning hook plate 216. After the large box page is opened, the driving component 225 drives the support base 223 to move rightward from the fifth position to the third position along the first sliding portion 224. At this time, the support component 222 is supported in the middle area of ​​the partition to ensure the stability of the partition support.

[0125] See also Fig.11For example, the first sliding part 224 is a guide rail, and the second sliding part 2231 is a guide slider, and the guide slider can be slidably arranged on the guide rail. Of course, in other embodiments of the present application, the first sliding part 224 can also be a guide slider, and the second sliding part 2231 can be a guide rail, or the first sliding part 224 and the second sliding part 2231 can be a structure that can achieve sliding cooperation, such as a slide rail and a slide groove. Of course, the second clamping assembly 234 also includes the first sliding part 224 and the second sliding part 2231, which will not be repeated here.

[0126] See also Figure 1 , Figure 2 and Fig.11 In one embodiment, the support mechanism 220 further includes a first support plate 226 and a second support plate 227. The top of the support component 222 has a support platform. The first support plate 226 and the second support plate 227 are arranged at both ends of the support platform along the first direction, and the first support plate 226 and the second support plate 227 can be unfolded or folded relative to the support component 222. When the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226, the second support plate 227 and the support platform are coplanar.

[0127] The top of the support member 222 is a support platform, which can be aligned with the bottom of the product box 50 to ensure the stability of the support. It can be understood that when the product box 50 is not unpacked or not completely unpacked, the clamping of the clamping mechanism 230, combined with the support of the support member 222, can ensure that the product box 50 is reliably fixed. When the product box 50 is unpacked, the product box 50 is clamped by the clamping mechanism 230, and the support member 222 only supports the partition in the product box 50. At this time, the partition will be unstable.

[0128] In order to further improve the stability of the support mechanism 220 for the partition and prevent the partition from shaking, the present application rotatably sets the first support plate 226 and the second support plate 227 on the front and rear sides of the support platform. The first support plate 226 and the second support plate 227 can be unfolded or folded relative to the support platform. When the first support plate 226 and the second support plate 227 are folded, the support mechanism 220 only supports the bottom of the partition through the support platform. After the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226 and the second support plate 227 are extension plates of the support platform, which can increase the contact area between the support mechanism 220 and the bottom of the partition and improve the reliability of the support.

[0129] After the unpacking mechanism 210 turns over and opens the large box page at the bottom of the product box 50, the support base 223 returns to the third position to support the partition in the product box 50. Then, the unpacking mechanism 210 turns over and opens the small box page at the front side through the cooperation of the page turning adsorbent 214 and the page turning hook plate 216, and the first support plate 226 is unfolded to support the partition; then, the unpacking mechanism 210 turns over and opens the small box page at the rear side through the cooperation of the page turning adsorbent 214 and the page turning hook plate 216, and the second support plate 227 is unfolded to support the partition.

[0130] At the same time, after the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226 and the second support plate 227 can also limit the large box pages and the small box pages to prevent the large box pages and the small box pages from rebounding to a folded state under the action of inertia force, so that the large box pages and the small box pages at the bottom of the product box 50 remain in a flipped open state, which is convenient for the later folding of the product box 50.

[0131] See also Fig.11 In one embodiment, the support mechanism 220 further includes a first driving member 228 and a second driving member 229, wherein the first driving member 228 connects the support base 223 and the first support plate 226, and the second driving member 229 connects the support base 223 and the second support plate 227, and the first driving member 228 drives the first support plate 226 to be unfolded or folded, and the second driving member 229 drives the second support plate 227 to be unfolded or folded. Optionally, the first driving member 228 and the second driving member 229 are cylinders.

[0132] See also Figure 1 , Figure 2 , Fig.12 and Fig.13 In one embodiment, the unpacking device 200 further includes a plurality of adsorption mechanisms 260 , which are disposed on the clamping mechanism 230 and surround the product box 50 . Fig.12 for Figure 2 The product box unpacking and stacking device 10 is a partial enlarged view at F, Fig.13 for Figure 2 The product box unpacking and stacking device 10 is shown in a partially enlarged view at G.

[0133] Part of the adsorption mechanism 260 is arranged around the periphery of the product box 50 at the top of the product box 50, and part of the adsorption mechanism 260 is arranged around the periphery of the product box 50 at the bottom of the product box 50. When the unpacking mechanism 210 turns over and opens the box pages through the page-turning adsorption member 214 and the page-turning hook plate 216, the page-turning adsorption member 214 and the page-turning hook plate 216 can push the box pages to the corresponding adsorption mechanism 260, and the adsorption mechanism 260 can adsorb the box pages to limit the position of the box pages, so as to prevent the box pages from rebounding to a folded state under the action of inertia force, so as to facilitate the removal of the partition and the folding of the product box 50 at a later stage.

[0134] Optionally, four adsorption mechanisms 260 are provided around the top of the product box 50, and the four adsorption mechanisms 260 correspond to the front, back, left, and right sides of the top of the product box 50, respectively, and each adsorption mechanism 260 adsorbs one box page at the top of the product box 50. Four adsorption mechanisms 260 are provided around the bottom of the product box 50, and the four adsorption mechanisms 260 correspond to the front, back, left, and right sides of the bottom of the product box 50, respectively, and each adsorption mechanism 260 adsorbs one box page at the bottom of the product box 50. Of course, each box page can also be adsorbed by at least two adsorption mechanisms 260.

[0135] Optionally, three adsorption mechanisms 260 may be provided at the bottom of the product box 50, the three adsorption mechanisms 260 correspond to the rear side, the left side and the right side of the product box 50 respectively, and adsorb the large box pages on the left and right sides of the bottom of the product box 50 and the small box pages on the rear side respectively, and the small box pages on the front side of the product box 50 may be adsorbed and fixed by the page turning adsorption member 214 of the unpacking mechanism 210. Optionally, two adsorption mechanisms 260 may be provided at the bottom of the product box 50, the two adsorption mechanisms 260 correspond to the left and right sides of the product box 50 respectively, and adsorb the large box pages at the bottom of the product box 50 respectively, and the small box pages at the bottom of the product box 50 may be prevented from rebounding by the stoppers of the first support plate 226 and the second support plate 227.

[0136] See also Figure 1 , Figure 2 and Fig.12 In the first embodiment of the present application, the adsorption mechanism 260 includes an adsorption driver 261, a swing arm 263 and an adsorption component 262. The adsorption driver 261 is disposed on the clamping mechanism 230. The swing arm 263 is swingably disposed on the clamping mechanism 230. Both ends of the swing arm 263 are respectively connected to the adsorption driver 261 and the adsorption component 262. The adsorption component 262 is used to adsorb the box pages of the product box 50. In this embodiment, the adsorption component 262 is movably disposed.

[0137] When the product box 50 is not unpacked, the suction mechanism 260 is located outside the clamping mechanism 230, so as to avoid interference between the suction mechanism 260 and the product box 50. After the unpacking mechanism 210 flips over and opens the box pages, the suction mechanism 260 moves into the clamping mechanism 230 to suction and fix the box pages.

[0138] The swing arm 263 can be rotatably mounted on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235 to adsorb and fix the box pages at the corresponding positions. When the unpacking mechanism 210 flips and opens the box pages through the page-turning adsorption member 214 and the page-turning hook plate 216, the adsorption driving member 261 drives the swing arm 263 to move relative to the clamping mechanism 230, so that the swing arm 263 drives the adsorption component 262 to rotate, so that the adsorption component 262 moves into the clamping mechanism 230, and then adsorbs and fixes the box pages.

[0139] Optionally, the adsorption driving member 261 is a cylinder. Optionally, the swing arm 263 is in the form of a lever structure and is bent, and the bend of the swing arm 263 can be rotatably disposed on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235. In this way, when the adsorption driving member 261 drives the swing arm 263 to rotate, the swing arm 263 can deliver the adsorption component 262 into the clamping mechanism 230.

[0140] See also Figure 1 , Figure 2 , Fig. 9 and Fig.11 In the second embodiment of the present application, the adsorption mechanism 260 includes a mounting arm 264 and an adsorption component 262, the mounting arm 264 is disposed on the clamping mechanism 230, and the adsorption component 262 is disposed on the mounting arm 264, for adsorbing the box pages of the product box 50. In this embodiment, the adsorption component 262 is fixedly disposed to adsorb the fixed box pages at a fixed position.

[0141] The mounting arm 264 is disposed on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235. The mounting arm 264 can support and install the adsorption component 262 so that the adsorption component 262 is arranged corresponding to the box page, so that the adsorption component 262 can accurately adsorb the box page. It is worth noting that the structural form of the mounting arm 264 is not limited in principle. The mounting arm 264 can be a rod-shaped structure, can be vertical, and can have at least one bend, as long as the adsorption component 262 can be arranged at a specified position; of course, the mounting arm 264 can also be a bracket structure.

[0142] The adsorption mechanisms 260 of the above two embodiments can be used in combination, that is, the adsorption component 262 moved by the swing arm 263 can be combined with the adsorption component 262 fixed by the mounting arm 264 to achieve adsorption and fixation of box pages at different positions, which can simplify the complexity of the structure and reduce costs. Of course, each box page can also be adsorbed and fixed only by the adsorption component 262 moved by the swing arm 263, or each box page can be adsorbed only by the adsorption component 262 fixed by the mounting arm 264.

[0143] The present application sets four adsorption components 262 fixed by mounting arms 264 on the top of the product box 50, and sets three adsorption components 262 swinging by swing arms 263 on the bottom of the product box 50. Of course, in other embodiments of the present application, other numbers or positions of adsorption components 262 may also be set, which is not limited here. Optionally, the adsorption component 262 is a vacuum suction cup. See Figure 1 and Figure 2In order to describe the unpacking process of the product box 50, only the adsorption component 262 is explained here. The adsorption component 262 includes a first adsorption component 2621, a second adsorption component (not shown), a third adsorption component 2622, a fourth adsorption component 2623, a fifth adsorption component 2624, a sixth adsorption component 2625 and a seventh adsorption component 2626.

[0144] The first adsorbent 2621, the second adsorbent, the third adsorbent 2622 and the fourth adsorbent 2623 are located around the top of the product box 50, and the first adsorbent 2621 is located on the right side, the second adsorbent is located on the left side, the third adsorbent 2622 is located on the front side, and the fourth adsorbent 2623 is located on the back side. After the unpacking mechanism 210 cuts the tape on the top of the product box 50 by the cutting component 212, the large box pages and small box pages on the top of the product box 50 are turned over and opened in sequence by the page-turning adsorbent 214 cooperating with the page-turning partition, and the large box pages on the right side are fixed by adsorption by the first adsorbent 2621, the large box pages on the left side are fixed by adsorption by the second adsorbent, the small box pages on the front side are fixed by adsorption by the third adsorbent 2622, and the small box pages on the back side are fixed by adsorption by the fourth adsorbent 2623.

[0145] The fifth suction piece 2624, the sixth suction piece 2625 and the seventh suction piece 2626 are arranged on the circumference of the bottom of the product box 50, and the fifth suction piece 2624 is located on the right side, the sixth suction piece 2625 is located on the left side, and the seventh suction piece 2626 is located on the back side. After the unpacking mechanism 210 cuts the tape at the bottom of the product box 50 by the cutting component 212, the large box pages and small box pages at the bottom of the product box 50 are turned over and opened in sequence by the cooperation of the page turning suction piece 214 and the page turning hook plate 216. The large box pages on the right side are fixed by suction through the fifth suction piece 2624, the large box pages on the left side are fixed by suction through the sixth suction piece 2625, the small box pages at the back side are fixed by suction through the seventh suction piece 2626, and the small box pages at the front side are fixed by suction through the page turning suction piece 214.

[0146] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the lifting device 300 includes a lifting mechanism 310 and a lifting guide mechanism 320. The lifting mechanism 310 includes a lifting drive member 311 and a lifting transmission member 312. The lifting transmission member 312 is arranged at the output end of the lifting drive member 311 and arranged along the third direction. The lifting transmission member 312 is also connected to the clamping mechanism 230 to drive the clamping mechanism 230 to move along the third direction. Fig.14 for Figure 2 The product box unpacking and stacking device 10 is a partially enlarged view at H.

[0147] The lifting mechanism 310 is disposed on the mounting frame 250, and the output end of the lifting mechanism 310 is connected to the clamping mounting seat 235 of the clamping mechanism 230. The lifting mechanism 310 can output a lifting motion to drive the clamping mounting seat 235 to lift and lower along the third direction. After the product box 50 is unpacked, the lifting mechanism 310 drives the clamping mounting seat 235 to descend along the third direction, and the clamping mounting seat 235 can drive the first clamping arm 2331, the second clamping arm 2341 and the product box 50 therein to descend along the third direction, so that the partition in the product box 50 is pushed out of the product box 50 by the supporting mechanism 220. After the partition is transferred away by the collecting fixture, the lifting mechanism 310 drives the clamping mounting seat 235 to rise along the third direction, so that the first clamping arm 2331 and the second clamping arm 2341 drive the product box 50 to rise.

[0148] The lifting drive member 311 is the power source of the lifting mechanism 310, and the lifting transmission member 312 is used to realize the output of the movement of the lifting drive member 311. The lifting transmission member 312 is arranged in the vertical direction and transmits and connects the lifting drive member 311 and the clamping mounting seat 235. The lifting drive member 311 drives the lifting transmission member 312 to drive the clamping seat to lift along the third direction. Optionally, the lifting drive member 311 is a lifting motor.

[0149] Optionally, the lifting transmission member 312 includes a lifting gear 3121 and a lifting rack 3122, the lifting gear 3121 is arranged at the output end of the lifting driving member 311, the lifting rack 3122 is arranged on the mounting frame 250 along the third direction, the lifting gear 3121 is meshed and connected with the lifting rack 3122, and the lifting driving member 311 is arranged on the clamping mounting seat 235. After the lifting driving member 311 outputs the driving force, since the lifting rack 3122 is fixedly arranged, the lifting gear 3121 can move along the lifting rack 3122 through the reaction force, so that the lifting gear 3121 drives the lifting driving member 311 and the clamping mechanism 230 to move along the third direction.

[0150] Of course, in other embodiments of the present application, the lifting transmission member 312 can also be a ball screw structure or a belt transmission structure, etc. The lifting drive member 311 is arranged on the mounting frame 250, and the output end of the lifting transmission member 312 is connected to the clamping mechanism 230, which will not be repeated here.

[0151] See also Figure 1 , Figure 2 and Fig.13 In one embodiment, the lifting device 300 further includes a lifting support 330, which is disposed on the mounting frame 250, and the lifting support 330 is arranged along the third direction to support and connect the lifting mechanism 310. Figure 1 , Figure 2 and Fig.13In one embodiment, the guide mechanism 320 is separately provided on the lifting support 330 and the clamping mounting seat 235. The guide mechanism 320 can guide the movement of the clamping mounting seat 235 along the third direction to ensure the accuracy of the lifting movement of the clamping mechanism 230 along the third direction.

[0152] See also Figure 1 , Figure 2 and Fig.13 In one embodiment, the lifting guide mechanism 320 includes a first sliding member 321 and a second sliding member 322. The first sliding member 321 extends along the third direction, and the second sliding member 322 is located in the clamping mechanism 230 and can be slidably disposed on the first sliding member 321. The second sliding member 322 is disposed on the clamping mounting seat 235. When the lifting mechanism 310 drives the clamping mounting seat 235 to lift and lower along the third direction, the clamping mounting seat 235 moves along the third direction through the second sliding member 322 to ensure the accuracy of the movement of the clamping mounting seat 235 along the third direction.

[0153] See also Fig.13 , illustratively, the first sliding member 321 is a guide rail, the second sliding member 322 is a guide slider, and the guide slider can be slidably disposed on the guide rail. Of course, in other embodiments of the present application, the first sliding member 321 can also be a guide slider, and the second sliding member 322 can be a guide rail, or the first sliding member 321 and the second sliding member 322 can be structures such as a slide rail and a slide groove that can achieve sliding cooperation. Of course, the second clamping assembly 234 also includes the first sliding member 321 and the second sliding member 322, which will not be repeated here.

[0154] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the product box unpacking and stacking equipment 10 further includes a stacking device 400, which is disposed on the clamping mechanism 230. The unpacking device 200 positions the box pages of the product box 50 and cooperates with the unpacking mechanism 210 to fold the product box 50. Fig.14 for Figure 2 The product box unpacking and stacking device 10 is shown as a partial enlarged view at H. The stacking device 400 is arranged on the mounting frame 250 and is located outside the second clamping assembly 234. After the partition in the product box 50 is taken out, the unpacking device 200 can stop and limit the box leaf at the top of the product box 50 to prevent the box leaf at the top of the product box 50 from rebounding, which is convenient for the subsequent folding operation of the product box 50.

[0155] When the product box 50 is folded, the support driving member 221 drives the support member to drop from the first position to the second position, and then the first clamping assembly 233 releases one side of the product box 50, and the clamping driving member 231 drives the first clamping assembly 233 and the second clamping assembly 234 to move away from each other, and at this time, the product box 50 moves following the second clamping assembly 234. Then, the unpacking device 200 stops and limits each component on the top of the product box 50, and the unpacking mechanism 210 pushes the product box 50 to fold the product box 50.

[0156] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the box stacking device 400 further includes a page pressing mechanism 410, which is disposed outside the clamping mechanism 230 and is used to press the box pages of the product box 50 when the box pages are opened. The page pressing mechanism 410 is used to press the top box pages of the product box 50 to limit the rebound of the top box pages of the product box 50. After the second clamping assembly 234 drives the product box 50 to move to the right, the page pressing mechanism 410 rotates and presses the top of the product box 50 (such as Fig.18 as shown) to prevent the box page from rebounding.

[0157] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the page pressing mechanism 410 includes a page pressing driving member 411, a page pressing support member 412 and a page pressing component 413. The page pressing support member 412 is arranged on the outer side of the clamping mechanism 230. The page pressing component 413 and the page pressing driving member 411 are arranged on the page pressing support member 412. The page pressing driving member 411 drives the page pressing component 413 to rotate relative to the page pressing support member 412 so that the page pressing component 413 is pressed on or detached from the product box 50.

[0158] The sheet pressing support 412 is disposed on the mounting frame 250 and extends along the third direction. The sheet pressing support 412 is located outside the second clamping assembly 234. The sheet pressing component 413 is rotatably disposed on the top of the sheet pressing support 412. The sheet pressing driving component 411 is disposed on the sheet pressing support 412, and the sheet pressing driving component 411 is connected to the sheet pressing component 413. The sheet pressing driving component 411 can drive the sheet pressing component 413 to rotate around the sheet pressing support 412 so that the sheet pressing component 413 is pressed on the top of the product box 50.

[0159] Optionally, the page pressing driving member 411 is a motor or a cylinder. Optionally, the page pressing support member 412 is a support column. Optionally, the page pressing component 413 is a page pressing grid, so that the page pressing component 413 can have enough area to cover each box page on the top of the product box 50 to achieve the box page pressing. Of course, in other embodiments of the present application, the page pressing component 413 can also be in the form of a plate or a frame structure, etc.

[0160] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the box stacking device 400 further includes a lifting mechanism 420, which is disposed outside the clamping mechanism 230 and can move along the third direction. The lifting mechanism 420 is used to lift the box pages of the product box 50 so that the box pages extend along the third direction. The lifting mechanism 420 is disposed outside the second clamping assembly 234 to lift the box pages so that the box pages can stand up.

[0161] It can be understood that after the product box 50 is folded, the box pages are kept in a horizontal state due to the action of the page pressing mechanism 410, and the lifting mechanism 420 can lift the box pages of the product box 50 close to the lifting mechanism 420 upward, and the box pages on the remaining side are lifted by the unpacking mechanism 210, so that the product box 50 is folded to form Figure 5 The state shown is convenient for storing the product box 50 after being folded.

[0162] See also Figure 1 , Figure 2 and Fig.14 In one embodiment, the lifting mechanism 420 includes a lifting drive 421, a lifting support 422 and a lifting component 423. The lifting support 422 is arranged on the outside of the clamping mechanism 230, and the lifting component 423 is arranged at the output end of the lifting drive 421. The lifting drive 421 is arranged on the lifting support 422 to drive the lifting component 423 to move along the third direction.

[0163] The lifting support member 422 is disposed on the mounting frame 250 and is located on the side of the second clamping assembly 234. The lifting drive member 421 can drive the lifting component 423 to rise and fall along the third direction. After the product box 50 is folded, the page pressing mechanism 410 rotates to separate from the top of the product box 50. Subsequently, the lifting drive member 421 can drive the lifting component 423 to rise along the third direction relative to the lifting support member 422. Then, the lifting component 423 can abut against the box pages on the right side and the front side of the top of the product box 50 to realize the erection of the box pages. The box pages on the left side and the rear side of the top of the product box 50 are erected by the unpacking mechanism 210.

[0164] Optionally, the lifting drive member 421 is a cylinder. Optionally, the lifting component 423 includes a lifting plate and a plurality of lifting rods disposed on the lifting plate, wherein the lifting rods are disposed on the lifting plate along the second direction and protrude from the lifting plate toward the product box 50. In this way, the cooperation between the lifting plate and the lifting rods can increase the contact area with the box leaf, making it easier to stand up the box leaf.

[0165] See also Figure 1 and Fig.14In one embodiment, the unpacking device 200 further includes a blocking mechanism 430, which is rotatably disposed on the clamping mechanism 230, and is used to block at least one box page of the product box 50 along the first direction. The blocking mechanism 430 extends along the second direction and is rotatably disposed on the second clamping assembly 234. The blocking mechanism 430 can block the box pages on the front and / or rear sides of the product box 50 to prevent the box pages from sagging. After the front or rear box pages are flipped open, the box pages can be placed on the blocking mechanism 430, and the displacement of the box pages is limited by the blocking mechanism 430 to prevent the box pages from sagging, thereby preventing the folding of the product box 50 from being affected later.

[0166] Optionally, there are two blocking mechanisms 430, which are spaced apart from the clamping mechanism 230 along the first direction. The front blocking mechanism 430 is used to block the box leaf at the front of the top of the product box 50, and the rear blocking mechanism 430 is used to block the box leaf at the rear of the top of the product box 50. It is worth noting that the structures and principles of the two blocking mechanisms 430 are substantially the same, and will not be described in detail here.

[0167] See also Figure 1 and Fig.14 In one embodiment, the box stacking device 400 further includes a blocking bracket 440, which is disposed on the second clamping arm 2341, the first adsorbing member 2621 is disposed on the blocking bracket 440, and the blocking mechanism 430 is disposed on the blocking bracket 440. The blocking bracket 440 enables the first adsorbing member 2621 and the blocking mechanism 430 to be at a certain height, so that the first adsorbing member 2621 can adsorb the box page on the right side of the top of the product box 50, and the blocking mechanism 430 can block the box page of the product box 50.

[0168] See also Figure 1 and Fig.14 In one embodiment, the blocking mechanism 430 includes a blocking arm 431 and an elastic member 432. The blocking arm 431 is rotatably disposed on the clamping mechanism 230, and the elastic member 432 elastically connects the blocking arm 431 and the clamping mechanism 230. The blocking arm 431 is a main component for blocking the box pages. When the box pages are flipped open, the box pages can be placed on the blocking arm 431. When the product box 50 is folded, the unpacking mechanism 210 pushes the product box 50 to overcome the elastic force of the elastic member 432 to push the blocking arm 431 to rotate relative to the first clamping arm 2331, so as to facilitate the folding of the product box 50. After the product box 50 is transferred away, the elastic member 432 can also reset the product box 50. Optionally, the elastic member 432 is a torsion spring or the like.

[0169] See also Figure 1When the product box unpacking and stacking device 10 of the present application is working, the unpacking robot places the product box 50 on the carrying plate 112 of the pushing mechanism 110. In the initial state of the unpacking device 200, the support mechanism 220 is in the second position (low position), the first clamping assembly 233 and the second clamping assembly 234 of the clamping mechanism 230 are separated from each other to be in an open state, and the unpacking mechanism 210 and the stacking device 400 are both in a non-working state to wait for the product box 50 to be pushed into the clamping mechanism 230. Then, the pushing drive member 111 drives the carrying plate 112 to extend along the first direction to push the product box 50 into the clamping mechanism 230.

[0170] When the product box 50 abuts against the limit member 240 in the clamping mechanism 230, it indicates that the product box 50 has been pushed into place. At this time, the pushing drive member 111 stops pushing. In addition, the support drive member 221 drives the support member 222 to rise from the second position to the first position (high position) along the third direction to lift the product box 50. At the same time, the clamping drive member 231 drives the first clamping arm 2331 and the second clamping arm 2341 to approach each other through the clamping transmission member 232 to clamp the product box 50 and complete the relevant positioning. Each first clamping adsorption member 2332 on the first clamping arm 2331 and each second clamping adsorption member 2342 on the second clamping arm 2341 simultaneously adsorbs the two opposite sides of the product box 50 to ensure that the product box 50 does not move during the operation. In this way, the product box 50 completes the positioning in three dimensions of space, such as Fig.15 As shown, Fig.15 for Figure 1 The product box unpacking and stacking device 10 is a schematic diagram showing the positioning of a product box 50 .

[0171] After the positioning of the product box 50 is completed, the mechanical arm 211 in the unpacking mechanism 210 drives the cutting component 212, the page-turning suction component 214, and the page-turning hook plate 216 to complete the cutting of the top tape and the flipping and opening of the top box page. During cutting, the cutting component 212 uses a cutting knife with a pressure wheel to cut the top tape to avoid collision caused by the box page bouncing up after the bottom tape is cut, and adjusts the downward pressure of the cutting component 212 through the cutting drive component 213 to adapt to the uneven product box 50. After the cutting is completed, the unpacking mechanism 210 flips and opens the large box page and the small box page on the top of the product box 50 in turn through the cooperation of the page-turning suction component 214 and the page-turning hook plate 216, and absorbs the large box page on the right side through the first suction component 2621, absorbs and fixes the large box page on the left side through the second suction component, absorbs the small box page on the front side through the third suction component 2622, and absorbs the small box page on the back side through the fourth suction component 2623, so as to avoid the box page rebounding and closing in the following operation. Fig.16 As shown, Fig.16 for Fig.15 The diagram shown is a schematic diagram of unpacking and folding the top of a product box 50 by a box unpacking and folding device.

[0172] After the top of the product box 50 is unpacked, the bottom of the product box 50 is unpacked. The mechanical arm 211 in the unpacking mechanism 210 drives the cutting component 212, the page turning adsorbent 214, and the page turning hook plate 216 to complete the cutting of the top tape and the flipping and opening of the top box page. The driving component 225 drives the support base 223 to move from the third position to the fourth position on the right along the first sliding portion 224. The cutting component 212 uses a cutting knife with a pressure wheel to cut the bottom tape, and then the page turning adsorbent 214 and the page turning hook plate 216 cooperate to flip open the large box page on the left, and fix it by the sixth adsorbent 2625. Subsequently, the driving component 225 drives the support base 223 to move from the fourth position to the fifth position on the left along the first sliding portion 224. The page turning adsorbent 214 flips open the large box page on the right through the cooperation of the page turning hook plate 216, and fixes it by the fifth adsorbent 2624.

[0173] After the two large box pages at the bottom are opened, the driving component 225 drives the support base 223 to move along the first sliding part 224 from the fifth position on the left to the third position in the middle. At this time, the support component 222 supports the partition through the support platform. Then, the unpacking mechanism 210 opens the small box pages on the rear side through the cooperation of the page-turning adsorbent 214 and the page-turning hook plate 216, and adsorbs the small box pages on the rear side through the seventh adsorbent 2626. Subsequently, the second driving component 229 drives the second support plate 227 to expand to support the bottom of the partition. Then, the unpacking mechanism 210 opens the small box pages on the front side through the cooperation of the page-turning adsorbent 214 and the page-turning hook plate 216, and adsorbs and fixes them through the page-turning adsorbent 214. Then, the first driving component 228 drives the first support plate 226 to expand to support the partition. In this way, the unpacking of the product box 50 is completed. Fig.17 As shown, Fig.17 for Fig.16 The product box unpacking and stacking device 10 is a schematic diagram of unpacking the bottom of a product box 50.

[0174] Since the product box 50 has been unpacked, the first clamping assembly 233 and the second clamping assembly 234 adsorb and fix the product box 50, and the partition in the product box 50 is supported by the supporting mechanism 220. The partition and the product box 50 are independent components, and the relative movement of the two will not interfere. Subsequently, the lifting drive 311 drives the clamping mechanism 230 to descend as a whole along the third direction, and the clamping mechanism 230 can drive the product box 50 to descend relative to the partition therein, so that the lifting mechanism 420 can push the partition out of the product box 50, and cooperate with the collecting fixture to take out the partition.

[0175] After the partition is taken out, the product box 50 can be folded. The lifting mechanism 310 drives the product box 50 to rise and reset along the third direction, and the support mechanism 220 moves from the first position to the second position along the third direction. At the same time, the clamping drive 231 drives the first clamping component 233 and the second clamping component 234 to move away from each other and causes the first clamping adsorption component 2332 to release one side of the product box 50. At this time, the product box 50 can follow the second clamping component 234 to move to the right. At the same time, the page pressing drive 411 drives the page pressing component 413 to rotate so that the page pressing component 413 is pressed against the top of the product box 50, and cooperates with the blocking arm 431 of the blocking mechanism 430 to limit the box pages on the top of the product box 50 to prevent the box pages from bouncing up or folding down. Fig.18 As shown, Fig.18 for Fig.17 The product box unpacking and stacking device 10 is a schematic diagram before folding the product box 50.

[0176] Subsequently, the unpacking mechanism 210 pushes the product box 50 to fold, and sequentially stands up the box leaf on the left side of the top of the product box 50, and the box leaf on the right side of the top of the product box 50 is stood up by the lifting mechanism 420, and the box leaf at the bottom of the product box 50 can automatically droop under the action of gravity. At this point, the folding of the product box 50 is completed, and the product box 50 is folded as shown in FIG. Figure 5 As shown, the folded product box 50 is transferred away by a special clamp.

[0177] The product box unpacking and stacking device 10 of the present application can realize the automatic unpacking of the product box 50, the removal of the partition and the folding of the product box 50. The product box 50 is fixed by the clamping mechanism 230 in cooperation with the support mechanism 220, the tape is cut by the unpacking mechanism 210, and the flipping and opening of each box page is realized. The adsorption and fixation of the box page are realized by cooperating with each adsorption component 262 of the adsorption mechanism 260, and the automatic unpacking of the product box 50 is realized. The automatic ejection of the partition is realized by the cooperation of the lifting device 300, the clamping mechanism 230 and the support mechanism 220, which is convenient for the collection fixture to transfer the partition, and the automatic folding of the product box 50 is realized by cooperating with the stacking device 400. The whole process does not require manual operation, which reduces the labor intensity of the operator. Moreover, the unpacking, folding and removal of the partition of the product box 50 are all carried out in the unpacking device 200, which greatly reduces the occupied space and reduces the unpacking cost, and can also realize the recycling of cartons.

[0178] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0179] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A product box unpacking and stacking device, characterized in that: include: A pushing device, comprising a pushing mechanism, wherein the pushing mechanism pushes the product box along a first direction; An unpacking device, comprising an unpacking mechanism, a supporting mechanism and a clamping mechanism, wherein the clamping mechanism is arranged around the supporting mechanism, the clamping mechanism can clamp or release the product box along a second direction perpendicular to the first direction, the supporting mechanism can abut against or detach from the bottom of the product box along a third direction perpendicular to the first direction and the second direction, the unpacking mechanism can cut the tape of the product box, open the box pages of the product box and push the product box to fold; and The lifting device is arranged along the third direction, and the output end of the lifting device is connected to the clamping mechanism to drive the clamping mechanism to drive the product box to move along the third direction.

2. The product box unpacking and stacking equipment according to claim 1, characterized in that: The clamping mechanism includes a clamping drive, a clamping transmission, a first clamping assembly and a second clamping assembly. The first clamping assembly and the second clamping assembly extend along the first direction and are arranged opposite to each other in the second direction. The output end of the clamping drive is connected to the clamping transmission, and the clamping transmission is connected to the first clamping assembly and the second clamping assembly to drive the first clamping assembly and the second clamping assembly to move closer to or away from each other.

3. The product box unpacking and stacking equipment according to claim 2, characterized in that: The clamping mechanism includes at least one of the following features: In the first item, the first clamping assembly includes a first clamping arm and a plurality of first clamping adsorbents, wherein the plurality of first clamping adsorbents are disposed on the first clamping arm and are used to adsorb a side surface of the product box; In the second item, the second clamping assembly includes a second clamping arm and a plurality of second clamping adsorbents, wherein the plurality of second clamping adsorbents are disposed on the second clamping arm and are used to adsorb the other side of the product box; Thirdly, the clamping mechanism further comprises a clamping mounting seat, and the clamping driving member and the clamping transmission member are movably disposed on the clamping mounting seat.

4. The product box unpacking and stacking equipment according to claim 1, characterized in that: The unpacking mechanism includes a mechanical arm, a cutting component and a cutting drive. The mechanical arm is located on the side of the clamping mechanism and can be extended into or moved out of the clamping mechanism. The cutting drive is arranged at the end of the mechanical arm. The cutting component is arranged at the output end of the cutting drive and is used to cut the tape of the product box.

5. The product box unpacking and stacking equipment according to claim 4, characterized in that: The unpacking mechanism further comprises a page-turning suction piece and a page-turning driving piece, wherein the page-turning driving piece is arranged at the end of the mechanical arm, and the page-turning suction piece is arranged at the output end of the page-turning driving piece, and the page-turning suction piece is used to respectively suck each box page of the product box to open each box page; And / or, the unpacking mechanism further comprises a page-turning hook plate, wherein the page-turning hook plate is arranged at the end of the mechanical arm, and the page-turning hook plate is used to open each box page of the product box.

6. The product box unpacking and stacking equipment according to claim 1, characterized in that: The support mechanism includes a support base, a support component and a support driving component. The support driving component and the support component are arranged on the support base. The output end of the support driving component is connected to the support component to drive the support component to move along the third direction.

7. The product box unpacking and stacking equipment according to claim 6, characterized in that: The support mechanism further includes a first support plate and a second support plate, the top of the support component has a support platform, the first support plate and the second support plate are arranged at two ends of the support platform along the first direction, and the first support plate and the second support plate can be unfolded or folded relative to the support component, and when the first support plate and the second support plate are unfolded, the first support plate, the second support plate and the support platform are coplanar; And / or, the support mechanism further includes a first sliding portion and a second sliding portion, the first sliding portion extends along the second direction, and the second sliding portion is located on the support component and can be slidably disposed on the first sliding portion.

8. The product box unpacking and stacking equipment according to claim 1, characterized in that: The unpacking device further includes a limiting member, which is disposed on the clamping mechanism and is arranged opposite to the pushing mechanism, and is used to limit the position of the product box pushed by the pushing mechanism in the first direction; And / or, the unpacking device further comprises a mounting frame, the supporting mechanism and the lifting device are arranged on the mounting frame, and the unpacking mechanism is located on a side of the mounting frame.

9. The product box unpacking and stacking device according to any one of claims 1 to 8, characterized in that: The unpacking device further comprises a plurality of adsorption mechanisms, which are arranged on the clamping mechanism and surround the periphery of the product box; The adsorption mechanism includes an adsorption driving member, a swing arm and an adsorption component, wherein the adsorption driving member is arranged on the clamping mechanism, the swing arm is swingably arranged on the clamping mechanism, and the two ends of the swing arm are respectively connected to the adsorption driving member and the adsorption component, and the adsorption component is used to adsorb the box pages of the product box; And / or, the adsorption mechanism includes a mounting arm and an adsorption component, the mounting arm is arranged on the clamping mechanism, and the adsorption component is arranged on the mounting arm for adsorbing box pages of the product box.

10. The product box unpacking and stacking device according to any one of claims 1 to 7, characterized in that: The lifting device includes a lifting mechanism and a lifting guide mechanism, the lifting mechanism includes a lifting drive member and a lifting transmission member, the lifting transmission member is arranged at the output end of the lifting drive member and arranged along the third direction, and the lifting transmission member is also connected to the clamping mechanism to drive the clamping mechanism to move along the third direction; The lifting guide mechanism includes a first sliding member and a second sliding member, the first sliding member extends along the third direction, and the second sliding member is located in the clamping mechanism and can be slidably disposed on the first sliding member.

11. The product box unpacking and stacking device according to any one of claims 1 to 7, characterized in that: The product box unpacking and stacking equipment also includes a stacking device, which is arranged on the clamping mechanism. The unpacking device positions the box pages of the product box and cooperates with the unpacking mechanism to fold the product box.

12. The product box unpacking and stacking device according to claim 11, characterized in that: The box stacking device further comprises a page pressing mechanism, which is arranged on the outside of the clamping mechanism and is used to press the box pages of the product box when the box pages are opened; The page pressing mechanism includes a page pressing driving member, a page pressing support member and a page pressing component. The page pressing support member is arranged on the outside of the clamping mechanism, and the page pressing component and the page pressing driving member are arranged on the page pressing support member. The page pressing driving member drives the page pressing component to rotate relative to the page pressing support member so that the page pressing component is pressed onto or detached from the product box.

13. The product box unpacking and stacking device according to claim 11, characterized in that: The box stacking device further comprises a lifting mechanism, which is arranged outside the clamping mechanism and can move along the third direction, and is used to lift the box pages of the product box so that the box pages extend along the third direction; The lifting mechanism includes a lifting drive, a lifting support and a lifting component. The lifting support is arranged on the outside of the clamping mechanism, the lifting component is arranged at the output end of the lifting drive, and the lifting drive is arranged on the lifting support to drive the lifting component to move along the third direction.

14. The product box unpacking and stacking device according to claim 11, characterized in that: The box stacking device further comprises a blocking mechanism, which is rotatably disposed on the clamping mechanism and is used to block at least one box page of the product box along the first direction; The blocking mechanism comprises a blocking arm and an elastic member. The blocking arm can be rotatably arranged on the clamping mechanism, and the elastic member elastically connects the blocking arm and the clamping mechanism.

15. The product box unpacking and stacking device according to any one of claims 1 to 7, characterized in that: The pushing mechanism includes a pushing driving member and a carrying plate, wherein the carrying plate is arranged at the output end of the pushing driving member and moves with the pushing driving member, and the carrying plate is used to place the product box; And / or, the pushing device also includes a pushing frame and a pushing guide mechanism, the pushing driving member is arranged on the pushing frame, the pushing guide mechanism includes a first guide member and a second guide member, the first guide member is arranged on the pushing frame, the second guide member is located on the supporting plate, and can be slidably arranged on the first guide member.

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