Full-automatic paper packaging box opening and taking system

Abstract

The invention relates to a full-automatic paper packaging box opening and taking system which comprises a box opening mechanism, a mechanical gripper and an auxiliary mechanism, the box opening mechanism comprises a cutter, a positioning assembly, a cover lifting assembly and a pressing assembly, and the auxiliary mechanism comprises a conveying assembly and a limiting assembly. The cutter and the mechanical gripper are driven by robots arranged on the two sides of the conveying assembly, the limiting assembly is installed below the conveying assembly, the positioning assembly and the cover lifting assembly are arranged on the conveying assembly, and the mechanical gripper, the cutter and the cover lifting assembly are each provided with an identification camera. According to the packing box opening and taking system, the mechanical arm is used for controlling the mechanical gripper and the cutter and is matched with the auxiliary mechanism to conduct auxiliary positioning on the packing box, packing box opening and taking can be automatically completed, the automation degree is high, the working efficiency of enterprises can be effectively improved, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic unpacking of packaging boxes, in particular to a full-automatic paper packaging box unpacking and part taking system. BACKGROUND

[0002] In recent years, with the rapid development of manufacturing industry, the application specifications and types of packaging boxes have gradually increased, and some packaging boxes package small and heavy parts, resulting in relatively heavy weight of the box. In view of the problems in the unpacking process of the packaging box of the parts in the production process, such as complicated unpacking process, large labor intensity of unpacking workers, complicated material distribution process, and the risk of scratching the unpacking mechanism in the unpacking process.

[0003] With the development of intelligent manufacturing, which has gradually become the mainstream trend of modern society, the increasing development of science and technology and the gradual intensification of market competition, customers have higher and higher performance requirements for the unpacking mechanism of the packaging box. At present, the research on the unpacking mechanism still has great development space and potential.

[0004] At present, the unpacking and taking of parts are mainly divided into two categories: one is to send the parts to the production line after the unpacking and taking of the workers; the other is to directly send the parts in the whole box to the production line, and the workers on the production line perform the unpacking and taking work. The taking mode is mainly divided into two categories: the first category is manual carrying, unpacking and taking; the second category is the combination of KIVA robot and manual unpacking and taking. Manual unpacking and taking not only makes the workers more tired, but also seriously reduces the work efficiency of unpacking and taking, and makes the logistics link discontinuous or makes the subsequent production line stagnant, which will affect the work of the factory. With the rise of intelligent factory, it is very meaningful to design an automatic and intelligent unpacking and taking work. SUMMARY

[0005] The present application aims to overcome the defects described in the background art, and to realize a full-automatic paper packaging box unpacking and part taking system. The packaging box unpacking and part taking system utilizes a mechanical arm to control a mechanical gripper and a cutter, cooperates with an auxiliary mechanism to assist in positioning the packaging box, and can autonomously complete the unpacking and taking of the packaging box, has high automation, and can effectively improve the work efficiency of the enterprise and save labor cost.

[0006] To achieve the above-mentioned application purposes, the technical solution of the present application is as follows: a full-automatic paper packaging box unpacking and part taking system, comprising an unpacking mechanism, a mechanical gripper and an auxiliary mechanism, the unpacking mechanism comprising a cutter, a positioning assembly, a cover lifting assembly and a pressing assembly, the auxiliary mechanism comprising a conveying assembly and a limiting assembly, the cutter and the mechanical gripper being driven by robots arranged on both sides of the conveying assembly, the limiting assembly being installed below the conveying assembly, the positioning assembly and the cover lifting assembly being arranged on the conveying assembly, and the mechanical gripper, the cutter and the cover lifting assembly each being provided with an identification camera.

[0007] Further, the conveying assembly comprises conveying beams, rollers and a support frame, the two conveying beams are installed on the support frame in parallel, and the rollers are uniformly installed between the two conveying beams and are driven to rotate by a driving motor and a belt pulley arranged in the conveying beams.

[0008] Further, the mechanical gripper comprises a skeleton, gripper cylinders, connecting rods and mechanical fingers, the upper end of the skeleton is connected with the end of the mechanical arm of the robot, the gripper cylinders are installed in the skeleton, the free ends of the cylinders are hinged with two groups of connecting rods through sliding blocks, and the two groups of mechanical fingers are installed at the lower ends of the two groups of connecting rods.

[0009] Further, the cutter comprises a cutter holder, cutter cylinders, a clamp and a cutter blade, the upper end of the cutter holder is connected with the end of the mechanical arm of the robot, the clamp is hinged with the cutter holder at the middle part, and the cutter cylinders provide driving force for the cutter blade installed at the lower part of the clamp.

[0010] Further, the positioning assembly comprises a top rod and a cylinder body, and the cylinder body is fixed on the conveying beam through a cylindrical pin.

[0011] Further, the cover lifting assembly comprises a suction disc, a turning rod and a rotating motor, the suction disc is connected with the turning rod through a connecting rod, and the rotating motor provides power for the turning rotation.

[0012] Further, the pressing assembly comprises a pressing plate, a pressing rod cylinder and a circular table, the pressing plate is installed at the end of the pressing rod cylinder, the pressing rod cylinder is fixed on the circular table, and positioning cylinders are arranged at the two sides of the circular table.

[0013] Further, the limiting assembly comprises a cam baffle and a lifting baffle, the lower end of the cam baffle is in contact with a cam, the cam is driven by a servo motor, and the lifting baffle is connected with the free end of a lifting cylinder through a connecting rod.

[0014] Further, photoelectric sensors are installed on the conveying beams.

[0015] The full-automatic paper packaging box opening and taking system has the following beneficial effects:

[0016] When the packaging box is opened and the articles are taken, the full-automatic paper packaging box opening and taking system cooperates the conveying assembly and the positioning assembly to convey the packaging box to a specified position, the camera assists the cutter to accurately position and open the packaging box, the cover lifting assembly and the pressing assembly assist the cutter to complete the cover lifting operation of the box page, and finally the mechanical gripper automatically completes the taking of the articles, the whole process is free of manual intervention, the degree of automation is high, the labor cost can be effectively reduced, the production efficiency can be improved, and the discontinuity of the logistics link or the stagnation of the subsequent production line caused by the low opening and taking efficiency can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the structural diagram of the full-automatic paper packaging box opening and taking system of the present application;

[0018] Figure 2 shown in Figure 1 is the schematic diagram of the mechanical gripper installed at the end of the mechanical arm;

[0019] Figure 3 shown in Figure 1 is the schematic diagram of the cutter installed at the end of the mechanical arm;

[0020] Figure 4 shown in Figure 1 is the schematic diagram of the pressing assembly;

[0021] Figure 5 shown in Figure 1 is the schematic diagram of the cover lifting assembly;

[0022] Figure 6 shown in Figure 1 is the schematic diagram of the positioning assembly;

[0023] Figure 7 shown in Figure 1 is the schematic diagram of the cam baffle;

[0024] Figure 8 shown in Figure 1 is the schematic diagram of the lifting baffle;

[0025] Figure 9 shown in Figure 1 is the schematic diagram of the conveying assembly;

[0026] in the figure:

[0027] 1-mechanical gripper, 101-skeleton, 103-flange, 104-gripper cylinder, 105-cylinder connecting disc, 106-gripper camera, 108-sliding block, 111-connecting rod, 112-mechanical finger;

[0028] 2-cutter, 201-cutter holder, 202-blade cylinder, 203-cylinder connecting pin, 204-clamp, 205-blade camera, 208-blade;

[0029] 3-pressing assembly, 301-pressing plate, 302-cylinder support, 303-pressing rod cylinder, 305-circular table, 306-positioning cylinder, 308-pressing plate base;

[0030] 4-cover lifting assembly, 401-cover lifting camera, 402-suction cup, 403-air pipe, 404-rotary motor, 405-flipping rod, 406-pin, 407-cover lifting base;

[0031] 5-positioning assembly, 501-top rod, 502-cylinder, 503-positioning hole;

[0032] 6-cam structure, 601-cam baffle, 602-slideway, 603-pin, 604-cam, 605-cam base;

[0033] 7-photoelectric sensor;

[0034] 8-lifting structure, 801-lifting baffle, 802-lifting cylinder, 803-baffle base cylindrical pin, 804-lifting base;

[0035] 9-conveying assembly, 901-conveying beam, 902-roller, 903-support frame. DETAILED DESCRIPTION

[0036] The full-automatic paper packaging box opening and taking system will be described in more details below in combination with the drawings and specific embodiments.

[0037] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0038] EMBODIMENT

[0039] Referring to Figure 1 The full-automatic paper packaging box opening and taking system of the present embodiment utilizes a mechanical arm to control a mechanical gripper and a cutter, cooperates with an auxiliary mechanism to assist in positioning the packaging box, and can autonomously complete the opening of the packaging box and the taking of the articles, has a high degree of automation, can effectively improve the work efficiency of enterprises, and saves labor costs. The full-automatic paper packaging box opening and taking system mainly comprises two box bodies, two six-degree-of-freedom industrial robots with a model of IRB6660, a pneumatic mechanical gripper 1, a cutter 2, a pressing assembly 3, a cover lifting assembly 4, two box body positioning assemblies 5, a cam structure 6, two photoelectric sensors 7, a lifting structure 8, and a conveying assembly 9.

[0040] The connection mode and use method of each component in the present application will be described in details below in combination with Figures 2-9

[0041] Figure 2 ​Figure 1 is a schematic diagram of the pneumatic mechanical gripper 1, which is connected to the robot arm through the pneumatic end gripping mechanism. The cylinder 104 is a thin type SDA32x30 cylinder, which is fixed through the framework 101, flange 103 and cylinder connecting disc 105. The gripper camera 106 is fixed on the framework 101 through the hexagonal flat round head screw. The slider 108 controls the opening and closing of the mechanical fingers 112 through two groups of connecting rods 111. The two groups of connecting rods 111 are connected through four short pins. The two groups of connecting rods 111 and the framework 101 are connected through four long pins. The connecting rods 111 and the mechanical fingers 112 are connected through four long pins. The up and down stroke of the slider 101 is 30mm, and the maximum stroke of the gripper 112 is 94mm.

[0042] Figure 3 Figure 2 is a schematic diagram of the tool 2, which is connected to the robot arm through the pneumatic end gripping mechanism. The blade cylinder 202 is a standard cylinder of SC-40x50-20-CA type. The single working stroke of the cylinder is 50mm. The blade camera 205 is fixed on the tool holder 201 through bolts. The cylinder connecting pin 203 is used to connect the blade cylinder 202 and the clamp 204. The clamp 204 is fixed through two short threaded pins and two long threaded pins. The blade 208 is made of alloy steel, which has high strength and high abrasiveness. The length of the blade is 80mm, the width is 9mm, and the thickness is 0.5mm. The tool inclination angle is 60°.

[0043] Figure 4 Figure 3 is a schematic diagram of the down-pressing assembly 3. Two pressing plates 301 are connected to the cylinder bracket 302. The pressing rod cylinder 303 is a standard cylinder of SC-40x50-20-CA type, which is fixed on the circular table 305 through eight cross slot countersunk screws. Two positioning cylinders 306 are fixed on the circular table 305 through four full-thread hexagonal head bolts.

[0044] Figure 5 Figure 4 is a schematic diagram of the cover lifting assembly 4. The cover lifting camera 401 is installed on the connecting rod. Six suction cups 402 with a diameter of 30mm, a suction area of 7.065cm2, a vacuum pressure of 38.86kpa and a safety factor f of 5 are connected to the turning rod 405 through connecting rods. Each suction cup 402 is connected to a gas pipe 403. Adjacent turning rods 405 are provided with rotating motors 404. The pin 406 fixes the cover lifting base 407 on the conveying beam 901.

[0045] Figure 6 Figure 5 is a schematic diagram of the box positioning assembly 5. The single working stroke of the cylinder of the positioning assembly is 50mm. Two cylindrical pins are used to fix the cylinder cover and the cylinder body 502. The box positioning assembly 5 is fixed on the conveying beam 901 through four cylindrical pins.

[0046] Figure 7As a schematic diagram of the cam structure 6, the cam baffle 601 is connected with the cam 604 through the slider track 602, and the cam 604 is connected with the base through the pin 603. The driving motor of the cam is selected from the A5 series servo motor.

[0047] Figure 8 As a schematic diagram of the lifting assembly 8, the baffle 801 is connected with the base 804 through the connecting pin, and the four cylindrical pins are used to fix the cylinder 802.

[0048] Figure 9 As a schematic diagram of the conveying assembly 9, the roller 902 has a length of 400 mm and a diameter of 50 mm. The motor of the conveying assembly is selected from the Y80M1-4 AC motor. The conveying beam 901 and the support frame 903 form the overall frame of the conveying assembly.

[0049] In the implementation process, the conveying assembly 9 starts to move under the driving of the motor. When the box equipped with the device is placed on the conveying belt, the box moves forward with the roller 902. When passing through the first photoelectric sensor 7, the photoelectric switch acts because the box blocks the light emitted by the photoelectric sensor 1. At this time, the automatic lifting baffle 801 starts to slowly move upward to the specified position. When the box moves to the automatic lifting baffle 801, the box is intercepted by the automatic lifting baffle 801, and the box can no longer move forward. Then the top rod 501 of the box positioning assembly 5 starts to extend to fix the box and prevent the box from moving left and right. At this time, the robot carrying the cutter 2 starts to start. The blade camera 205 in the cutter 2 takes a photo at a certain position above the box. The robot vertically cuts the sealing tape, returns to the initial shooting position, takes a photo again, then cuts the far-end horizontal sealing tape, returns to the initial shooting position again, takes a photo, then cuts the near-end horizontal sealing tape, and finally the robot returns to the origin. At this time, the box positioning assembly 5 top rod 501 resets, the automatic lifting baffle 801 resets, and the box continues to run forward.

[0050] When the box blocks the second photoelectric sensor 7, the photoelectric switch acts. At this time, the box reaches the circular table 305 of the pressing assembly 3, the cam baffle 601 is lifted to prevent the box from continuing to move. At this time, the cover lifting assembly 4 starts to execute. The cover lifting assembly 4 first tightly abuts against the two long box pages of the box. The air pipe 403 generates negative pressure through the air pump and acts on the suction cup 402. The suction cup 402 tightly sucks the two long box pages of the box through the negative pressure. Then the rotating motor 404 drives the turning rod 405 to rotate, opens the two long box pages of the box, and then the pressing assembly 3 presses the two long box pages to a certain angle. Then the circular table 305 is rotated by 90 degrees under the driving of the motor. At this time, the cover lifting assembly 4 performs the same operation on the two short cover pages of the box, and the pressing assembly 3 presses the two short cover pages downward. The cam structure 6 and the box positioning assembly 5 act on the box at the same time to ensure that the box does not move relatively during the picking process.

[0051] Then the robot carrying the pneumatic mechanical gripper 1 starts to pick up the equipment in the box, first the gripper camera 106 takes a photo of the equipment in the box, then takes a photo of the platform where the equipment is to be placed, then the robot starts to pick up the equipment from the round table 305 and place it on the designated platform, completing the automatic unpacking and picking of the packaging box.

[0052] Unless otherwise defined, technical terms or scientific terms used herein shall have the same meaning as is commonly understood by one of ordinary skill in the art to which this application belongs. "Including" or "comprising" and similar words or phrases of like meaning are intended to mean a non-exclusive inclusion, such that items listed after these words or phrases are not an exhaustive list of items that can be included. "Connected" or "coupled" and similar words or phrases of like meaning are not intended to mean that an inanimate connection or link is required, whether direct or indirect.

[0053] The exemplary embodiments of the present application are described in detail above with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications can be made to the above-described specific embodiments without departing from the spirit and scope of the present application, and various combinations of the technical features and structures proposed in the present application can be made without departing from the scope of the present application.

Claims

1. A fully automatic paper packaging box opening and unloading system, comprising an opening mechanism, a mechanical gripper, and an auxiliary mechanism, characterized in that: The unpacking mechanism includes a cutting tool, a positioning component, a lid-lifting component, and a pressing component. The auxiliary mechanism includes a conveying component and a limiting component. The cutting tool and the mechanical gripper are driven by robots located on both sides of the conveying component. The limiting component is installed below the conveying component. The positioning component and the lid-lifting component are located on the conveying component. Recognition cameras are installed on the mechanical gripper, the cutting tool, and the lid-lifting component.

2. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The conveying assembly includes conveying beams, rollers, and a support frame. Two conveying beams are installed parallel to each other on the support frame, and rollers are evenly installed between the two conveying beams. The rollers are driven to rotate by a drive motor and a pulley installed inside the conveying beams.

3. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The mechanical gripper includes a frame, a gripper cylinder, connecting rods, and mechanical fingers. The upper end of the frame is connected to the end of the robot's mechanical arm. The gripper cylinder is installed inside the frame. The free end of the cylinder is hinged to two sets of connecting rods via a slider. The two sets of mechanical fingers are respectively installed at the lower ends of the two sets of connecting rods.

4. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The cutting tool includes a tool holder, a blade cylinder, a clamp, and a blade. The upper end of the tool holder is connected to the end of the robot's robotic arm, the middle part of the clamp is hinged to the tool holder, and the blade cylinder provides driving force for the blade installed at the lower part of the clamp.

5. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The positioning assembly includes a push rod and a cylinder, the cylinder being fixed to the conveyor beam by a cylindrical pin.

6. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The lifting assembly includes a suction cup, a flip rod, and a rotating motor. The suction cup is connected to the flip rod via a connecting rod, and the rotating motor provides power for the flipping and rotating.

7. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The pressing assembly includes a pressure plate, a pressure rod cylinder, and a truncated cone. The pressure plate is installed at the end of the pressure rod cylinder, the pressure rod cylinder is fixed on the truncated cone, and positioning cylinders are provided on both sides of the truncated cone.

8. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: The limiting component includes a cam baffle and a lifting baffle. The lower end of the cam baffle contacts a cam, which is driven by a servo motor. The lifting baffle is connected to the free end of the lifting cylinder via a connecting rod.

9. The fully automatic paper packaging box opening and unloading system according to claim 1, characterized in that: A photoelectric sensor is installed on the conveyor beam.

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