Collaborative robotic box folding device

Abstract

The utility model provides a kind of automatic box folding device of collaborative robot arm, and bending suction box jig is fixed in the end of collaborative robot arm;Bending suction box jig includes hinged first suction plate, second suction plate and turnover mechanism, and turnover mechanism is connected first suction plate and second suction plate respectively, and drives second suction plate to overturn relative to first suction plate;First suction plate and second suction plate are all equipped with vacuum suction component that suction paperboard to be folded;Limit jig group includes front limit blocking portion, left jacking mechanism, right jacking mechanism and rear jacking mechanism arranged in front, left and right and rear respectively.Machine full-automatic folding carton, reduce manual operation, maintain the stability of quality, improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of cardboard box processing technology, and in particular to a collaborative robotic arm type automatic box folding device. Background Technology

[0002] In existing packaging processes, the wrapping of general-purpose cardboard boxes is typically done manually. Specifically, workers need to manually fold the boxes. However, the folding process is cumbersome, resulting in low overall efficiency, increased labor costs, and an inability to meet the demands of modern production lines for high-speed, continuous operation. Furthermore, the repetitive bending and pressing actions over extended periods place high demands on the workers' labor. Utility Model Content

[0003] Based on the above, this utility model provides a collaborative robotic arm-type automatic box folding device, which aims to solve the problems of low efficiency and high strength in manual box folding in the prior art.

[0004] A collaborative robotic arm type automatic box folding device includes a collaborative robotic arm, a bending suction box fixture, and a limiting fixture assembly; The bending suction box fixture is fixed to the end of the collaborative robotic arm; The bending suction box fixture includes a first suction plate, a second suction plate, and a flipping mechanism connected by hinges. The flipping mechanism is connected to the first suction plate and the second suction plate respectively, and drives the second suction plate to flip relative to the first suction plate. Both the first and second adsorption plates are equipped with vacuum adsorption components for adsorbing the paperboard to be folded. The limiting fixture assembly includes a front limiting block at the front, a left lifting mechanism on the left, a right lifting mechanism on the right, and a rear lifting mechanism at the rear.

[0005] Furthermore, the device also includes a programmable controller, which is connected to the collaborative robotic arm, the left lifting mechanism, the right lifting mechanism, the rear lifting mechanism, the flipping mechanism, and the vacuum adsorption assembly.

[0006] Furthermore, the first suction plate of the collaborative robotic arm and the bending suction box fixture are connected, and a force sensor is provided at the connection between the bending suction box fixture and the collaborative robotic arm.

[0007] Furthermore, the vacuum adsorption assembly of the first adsorption plate is composed of several vacuum suction cups, and the vacuum adsorption assembly of the second adsorption plate is composed of several vacuum suction cups.

[0008] Furthermore, the left and right lifting mechanisms are tilted upwards, while the rear lifting mechanism is vertically upwards.

[0009] Furthermore, when the cardboard is bent and adsorbed by the bending suction box fixture to form a cardboard box semi-finished product with four sides, the front side of the cardboard box semi-finished product corresponds to the front limit blocking part, the left side of the cardboard box semi-finished product corresponds to the left lifting mechanism, the right side of the cardboard box semi-finished product corresponds to the right lifting mechanism, and the rear side of the cardboard box semi-finished product corresponds to the rear lifting mechanism. The distance between the rear lifting mechanism and the front limit stop is greater than the distance between the front and rear sides of the semi-finished carton.

[0010] Furthermore, the device also includes a cardboard limiting fixture, which is located next to the collaborative robotic arm and has several cardboard pieces stacked from bottom to top.

[0011] Furthermore, the device also includes a base plate and a first guide rail assembly, with the limiting fixture assembly fixed to the base plate; The first guide rail assembly extends in the front-to-back direction, and the base plate is slidably mounted on the first guide rail assembly relative to the first guide rail assembly.

[0012] Furthermore, the collaborative robotic arm is slidably mounted on the first guide rail assembly relative to the first guide rail assembly.

[0013] Furthermore, the device also includes a second guide rail assembly, on which the cardboard limiting fixture is slidably mounted back and forth.

[0014] The beneficial technical effects of this utility model are: changing the original manual folding to fully automatic machine folding of cartons, reducing manual labor, maintaining stable quality, and improving production efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a collaborative robotic arm type automatic box folding device according to the present invention; Figure 2 This is a schematic diagram of the front side structure of a bending suction box fixture for a collaborative robotic arm type automatic box folding device according to this utility model; Figure 3 This is a schematic diagram of the back and side structure of a bending suction box fixture for a collaborative robotic arm type automatic box folding device according to the present invention. Figure 4 This is a schematic diagram of the limiting fixture assembly of a collaborative robotic arm-type automatic box folding device according to the present invention; Figure 5 This is a structural schematic diagram of the electrical cabinet and the start / stop control button box on the electrical cabinet of the collaborative robotic arm automatic box folding device of this utility model. in, 1- Collaborative robotic arm; 2-Force sensor; 3-Limit fixture assembly; 31-Front limit blocking part; 32-Left lifting mechanism; 33-Right lifting mechanism; 34-Rear lifting mechanism; 4-Bending suction box fixture; 41-First suction plate; 42-Second suction plate; 43-Vacuum suction assembly; 44-Tilting mechanism; 5-Cardboard to be folded; 6-Cardboard limiting fixture; 7-First guide rail assembly; 8-Base plate; 9-Second guide rail assembly; 10-Electrical cabinet; 11-Start / Stop Control Button Box. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments of the present invention can be combined with each other.

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0019] See Figure 1 and Figure 4 This utility model provides a collaborative robotic arm type automatic box folding device, including a collaborative robotic arm 1, a bending and suction box fixture 4, and a limiting fixture group 3; The bending suction box fixture 4 is fixed to the end of the collaborative robotic arm 1; The bending suction box fixture 4 includes a first suction plate 41, a second suction plate 42 and a flipping mechanism 44 connected by hinges. The flipping mechanism 44 is connected to the first suction plate 41 and the second suction plate 42 respectively, and drives the second suction plate 42 to flip relative to the first suction plate 41. Both the first adsorption plate 41 and the second adsorption plate 42 are equipped with a vacuum adsorption component 43 for adsorbing the paperboard 5 to be folded. The limiting fixture assembly 3 includes a front limiting blocking part 31 located at the front, a left lifting mechanism 32 located on the left, a right lifting mechanism 33 located on the right, and a rear lifting mechanism 34 located at the rear.

[0020] The original manual folding method was replaced with a fully automated machine for folding cartons, reducing manual labor, maintaining consistent quality, and improving production efficiency.

[0021] Specifically, the left lifting mechanism, right lifting mechanism, rear lifting mechanism, and tilting mechanism are all pneumatic cylinders, preferably linear cylinders.

[0022] See Figure 2 and Figure 3 Furthermore, the device also includes a programmable controller, which is connected to the collaborative robotic arm 1, the left lifting mechanism 32, the right lifting mechanism 33, the rear lifting mechanism 34, the flipping mechanism 44, and the vacuum adsorption assembly 43.

[0023] The programmable logic controller (PLC) communicates with the collaborative robotic arm via Ethernet. The PLC controls the movement of the robotic arm and controls the first suction plate 41 and the second suction plate 42 to vacuum-adsorb the flat incoming packaging box. It also controls the limit fixture group 3 to flexibly fold the box, automatically realizing the entire process of rapid folding of the product's outer packaging box. Finally, it manufactures a three-dimensional square cardboard box that meets the requirements, replacing manual labor.

[0024] Furthermore, the first adsorption plate 41 of the collaborative robotic arm 1 and the bending suction box fixture 4 are connected, and a force sensor 2 is provided at the connection between the bending suction box fixture 4 and the collaborative robotic arm 1.

[0025] Force sensor 2 acquires force feedback signals from the bending suction box fixture 4 contacting the cardboard 5 to be folded, which helps the robotic arm determine whether it has contacted the cardboard 5 to be folded, so as to carry out the next step of vacuum adsorption of the cardboard 5 to be folded.

[0026] Furthermore, the vacuum adsorption component 43 of the first adsorption plate 41 is composed of several vacuum suction cups, and the vacuum adsorption component 43 of the second adsorption plate 42 is composed of several vacuum suction cups.

[0027] Vacuum adsorption is performed on the cardboard 5 to be folded using suction cups. After vacuum adsorption, the collaborative robotic arm rises to a certain horizontal height, and the flipping mechanism 44 drives the second adsorption plate 42 to flip relative to the first adsorption plate 41 around the hinge connection, so that the second adsorption plate 42 forms an angle of less than 180 degrees with the first adsorption plate 41, such as an angle of 90 degrees, unfolding the four sides of the flat cardboard to be folded, forming a three-dimensional structure of a cardboard box semi-finished product with four sides.

[0028] Furthermore, the vacuum adsorption component 43 of the first adsorption plate 41 is composed of several uniformly distributed vacuum suction cups, and the vacuum adsorption component 43 of the second adsorption plate 42 is composed of several uniformly distributed vacuum suction cups.

[0029] Furthermore, the left lifting mechanism 32 and the right lifting mechanism 33 are inclined upwards, while the rear lifting mechanism 34 is vertically upwards.

[0030] The collaborative robotic arm places the semi-finished cardboard box with its bottom facing down. At this point, the bottom four sides of the semi-finished cardboard box have four wing surfaces: front, back, left, and right, which are used to fold the bottom of the cardboard box.

[0031] The collaborative robotic arm pushes the semi-finished cardboard box to the limiting stop 31, where the limiting stop 31 folds the front wing of the lower end of the semi-finished cardboard box inward. The left lifting mechanism 32 lifts the left wing of the lower end of the semi-finished cardboard box diagonally upward, folding the left wing inward. The right lifting mechanism 33 lifts the right wing of the lower end of the semi-finished cardboard box diagonally upward, folding the right wing inward. Finally, the collaborative robotic arm pushes the semi-finished cardboard box backward to the rear lifting mechanism 34, which folds the rear wing of the lower end of the semi-finished cardboard box inward, thus forming the bottom of the semi-finished cardboard box, thereby forming the finished cardboard box.

[0032] Furthermore, when the cardboard 5 is bent and adsorbed by the bending suction box fixture 4 to form a cardboard box semi-finished product with four sides, the front side of the cardboard box semi-finished product corresponds to the front limit blocking part 31, the left side of the cardboard box semi-finished product corresponds to the left lifting mechanism 32, the right side of the cardboard box semi-finished product corresponds to the right lifting mechanism 33, and the rear side of the cardboard box semi-finished product corresponds to the rear lifting mechanism 34. The distance between the rear lifting mechanism 34 and the front limiting stop 31 is greater than the distance between the front and rear sides of the semi-finished cardboard box. Furthermore, the device also includes a cardboard limiting fixture 6, which is disposed beside the collaborative robotic arm 1, and several cardboard pieces 5 to be folded are stacked from bottom to top in the cardboard limiting fixture 6.

[0033] The cardboard limiting fixture 6 stacks several cardboard pieces 5 to be folded from bottom to top. After one cardboard piece is folded into a carton, the robotic arm can immediately pick up the next cardboard piece 5 to be folded, thus improving work efficiency.

[0034] Furthermore, the device also includes a base plate 8 and a first guide rail assembly 7, with the limiting fixture assembly 34 fixed to the base plate 8; The first guide rail assembly 7 extends in the front-to-back direction, and the base plate 8 is slidably mounted on the first guide rail assembly 7 relative to the first guide rail assembly 7.

[0035] The base plate 8 is slidably mounted on the first guide rail assembly 7, which facilitates the adjustment of the distance between the limit fixture assembly 3 and the collaborative robotic arm 1.

[0036] Furthermore, the collaborative robotic arm 1 is slidably mounted on the first guide rail assembly 7 relative to the first guide rail assembly 7.

[0037] The collaborative robotic arm 1 is mounted on the first guide rail assembly 7. The collaborative robotic arm 1 moves back and forth to push the semi-finished carton back and forth to fold the front and rear wings inward.

[0038] Furthermore, the collaborative robotic arm 1 is located behind the rear lifting mechanism 34.

[0039] Furthermore, the first guide rail assembly 7 includes three parallel guide rails: left, middle, and right, with the collaborative robotic arm 1 mounted on the middle guide rail of the first guide rail assembly 7.

[0040] Furthermore, the device also includes a second guide rail assembly 9, on which the cardboard limiting fixture 6 is slidably mounted back and forth relative to the second guide rail assembly 9.

[0041] Specifically, the second guide rail assembly 9 and the first guide rail assembly 7 are arranged in parallel. The cardboard limiting fixture 6 is slidable on the second guide rail assembly 9. In this way, when the cardboard to be folded 5 in the cardboard limiting fixture 6 is used up, it can slide to the position where the cardboard to be folded 5 is loaded, and then return to the cooperative robotic arm, improving the orderly progress of the box folding operation.

[0042] See Figure 5 Furthermore, the device also includes an electrical cabinet 10, in which a programmable controller is housed, and a start / stop control button box 11 is installed. The electrical cabinet 10 also provides power to the device, and the start / stop control button box 11 controls the start and stop of the device.

[0043] As a specific application scenario, the working principle of this utility model is as follows: The first step is to place the cardboard to be folded on the receiving platform of the cardboard limiting fixture and limit and fix the cardboard around its four sides.

[0044] The second step involves the collaborative robotic arm controlling the bending suction box fixture to move directly above the cardboard to be folded, and then lowering it. The force sensor begins to detect the force feedback signal in real time. When the bending suction box fixture group comes into contact with the cardboard to be folded, the force sensor detects that the force in the Z direction (vertical direction) exceeds the set range, and the vacuum adsorption component on the bending suction box fixture group starts to work. When the vacuum adsorption component returns negative pressure, it completes the adsorption of the cardboard to be folded.

[0045] The third step involves the robotic arm moving the bending suction box fixture upwards to a certain horizontal height. The flipping mechanism in the bending suction box fixture then starts to rotate, causing the second suction plate to be flipped, so that the cardboard to be folded is folded into a cubic cardboard box semi-finished product.

[0046] The fourth step involves the robotic arm moving the semi-finished cardboard box onto the limiting fixture assembly. The entire box is first moved downwards and then forwards. The front limiting stop in the bending fixture assembly bends the bottom front wing of the semi-finished cardboard box inwards.

[0047] The fifth step involves raising the left and right lifting mechanisms in the limiting fixture assembly, which fold the bottom left and right wings of the semi-finished cardboard box inwards.

[0048] The sixth step involves the robotic arm moving the semi-finished carton horizontally backward to a certain position. The rear lifting mechanism in the bending fixture group then rises, lifting the last rear wing of the bottom of the semi-finished carton inward to ensure that the four wing surfaces at the bottom of the carton are completely intersected and self-locked to form the finished carton. The folded carton is then placed in the finished product position, and finally, all the moving mechanisms of the entire equipment are reset.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A collaborative robotic arm-type automatic box-folding device, characterized in that, Includes collaborative robotic arms, bending suction box fixtures, and limit fixture assemblies; The bending suction box fixture is fixed to the end of the collaborative robotic arm; The bending suction box fixture includes a first suction plate, a second suction plate, and a flipping mechanism connected by hinges. The flipping mechanism is connected to the first suction plate and the second suction plate respectively, and drives the second suction plate to flip relative to the first suction plate. Both the first adsorption plate and the second adsorption plate are equipped with vacuum adsorption components for adsorbing the paperboard to be folded; The limiting fixture assembly includes a front limiting blocking part at the front, a left lifting mechanism at the left, a right lifting mechanism at the right, and a rear lifting mechanism at the rear.

2. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The device also includes a programmable controller, which is connected to the cooperative robotic arm, the left lifting mechanism, the right lifting mechanism, the rear lifting mechanism, the flipping mechanism, and the vacuum adsorption assembly.

3. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The collaborative robotic arm is connected to the first adsorption plate of the bending suction box fixture, and a force sensor is provided at the connection between the bending suction box fixture and the collaborative robotic arm.

4. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The vacuum adsorption assembly of the first adsorption plate is composed of a plurality of vacuum suction cups, and the vacuum adsorption assembly of the second adsorption plate is composed of a plurality of vacuum suction cups.

5. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The left and right lifting mechanisms are inclined upwards, while the rear lifting mechanism is vertically upwards.

6. The collaborative robotic arm type automatic box folding device as described in claim 5, characterized in that, When the cardboard to be folded is bent and adsorbed by the bending suction box fixture to form a semi-finished carton with four sides, the front side of the semi-finished carton corresponds to the front limiting block, the left side of the semi-finished carton corresponds to the left lifting mechanism, the right side of the semi-finished carton corresponds to the right lifting mechanism, and the rear side of the semi-finished carton corresponds to the rear lifting mechanism. The distance between the rear lifting mechanism and the front limiting stop is greater than the distance between the front and rear sides of the semi-finished carton.

7. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The device also includes a cardboard limiting fixture, which is disposed on the side of the collaborative robotic arm, and several cardboard pieces to be folded are stacked from bottom to top in the cardboard limiting fixture.

8. The collaborative robotic arm type automatic box folding device as described in claim 1, characterized in that, The device also includes a base plate and a first guide rail assembly, and the limiting fixture assembly is fixed to the base plate; The first guide rail assembly extends in the front-to-back direction, and the base plate is slidably disposed on the first guide rail assembly relative to the first guide rail assembly.

9. The collaborative robotic arm type automatic box folding device as described in claim 8, characterized in that, The collaborative robotic arm is slidably mounted on the first guide rail assembly relative to the first guide rail assembly.

10. The collaborative robotic arm type automatic box folding device as described in claim 7, characterized in that, The device further includes a second guide rail assembly, on which the cardboard limiting fixture is slidably mounted relative to the second guide rail assembly.

Images