A robot-assisted box preparation machine

Abstract

The present invention provides a robot-assisted box preparation machine, including a bracket, a folding device, a pallet, a conveying device, a clamping device and an opening and closing device. The bracket is a frame structure, and the folding device is installed inside the bracket. The upper end of the bracket is respectively installed with a pallet, a conveying device, a clamping device and an opening and closing device. The opening and closing device is located above the conveying device and the clamping device. The conveying device includes two conveying components that are symmetrically arranged with each other, and a clamping device is installed on one side of each conveying component. The other side of the conveying component is in contact with and connected to the box, and the box is located between the two conveying components. The pallet and the folding device are sequentially arranged below the box. The robot-assisted box preparation machine described in the present invention cooperates with a robot to complete the unpacking action, improves the use efficiency of the robot, reduces the number of equipment, reduces the floor space, and reduces storage and transportation costs.

Description

Technical Field

[0001] The invention belongs to the technical field of automation equipment, and in particular relates to a robot-assisted box preparation machine. Background Art

[0002] At present, in the field of unpacking of packaging boxes, most companies use unpacking machines to unpack, and then complete the opening action or subsequent processes on the roller line after unpacking. There are many devices, high costs, and large space occupation, which cannot meet the needs of increasingly compact and efficient production lines. There is an urgent need for a robot-assisted unpacking machine, which can open the carton with the help of the robot and position and open the carton, reduce the number of equipment, reduce the floor space, and reduce storage and transportation costs, cooperate with the robot to complete the unpacking action, improve the efficiency of the robot, reduce the number of equipment, reduce the floor space, and reduce storage and transportation costs. Summary of the invention

[0003] In view of this, the present invention aims to propose a robot-assisted box preparation machine to solve the problems of the prior art that the equipment is numerous, the cost is high, the space occupied is large, and the demand for increasingly compact and efficient production lines cannot be met.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] A robot-assisted box preparation machine comprises a bracket, a folding device, a pallet, a conveying device, a clamping device and an opening and closing device. The bracket is a frame structure, and the folding device is installed inside the bracket. The pallet, the conveying device, the clamping device and the opening and closing device are respectively installed on the upper end of the bracket, and the opening and closing device is located above the conveying device and the clamping device. The conveying device comprises two symmetrically arranged conveying components, one side of each conveying component is installed with a clamping device, and the other side of the conveying component is contacted and connected to the box, and the box is located between the two conveying components. The pallet and the folding device are sequentially arranged below the box, and the opening and closing device comprises a first support arm, a second support arm and a third support arm, the second support arm and the third support arm are arranged parallel to each other, the lower end of the third support arm is fixedly connected to the upper end of the bracket, and the lower end of the second support arm is fixedly connected to the upper end of the bracket through the first support arm. The folding device, the clamping device, the first support arm, the second support arm and the third support arm are all externally connected to an air pump station, and the external air pump station and the conveying component signals are connected to the controller of the external robotic arm.

[0006] Furthermore, the second support arm and the third support arm have the same structure, the third support arm includes a first support rod, a first central axis, a first folding plate and a first cylinder, the upper end of the first support rod is sleeved with the first central axis, a plurality of first folding plates are sleeved on the outer periphery of the first central axis, one end of the first central axis is fixedly connected to one end of the fourth cylinder, the other end of the fourth cylinder is fixedly connected to the upper end of the bracket, the plurality of first folding plates are located on one side of the first support rod, and the fourth cylinder is located on the other side of the first support rod, the first support arm includes a second cylinder, a bearing and a flange, the bottom end of the first support rod is fixedly connected to the upper end of the bracket through the bearing and the flange in sequence, one end of the second cylinder is fixedly connected to the upper end of the bracket, the other end of the second cylinder is fixedly connected to the outer periphery of the first support rod, and the second cylinder is located below the first central axis, and the first cylinder and the second cylinder are externally connected to an air pump station.

[0007] Furthermore, the folding device includes a first long side folding plate assembly, a short side folding plate assembly and a second long side folding plate assembly installed inside the bracket, the second long side folding plate assembly and the first long side folding plate assembly are symmetrically arranged with each other, the short side folding plate assembly is located between the second long side folding plate assembly and the first long side folding plate assembly, and the short side folding plate assembly is located under the support plate.

[0008] Furthermore, the second long side folding plate assembly and the first long side folding plate assembly have the same structure, the first long side folding plate assembly includes a third cylinder, a first connecting plate, a second central axis, an axle seat, a second connecting plate and a second folding plate, one end of the third cylinder is hinged to the inside of the bracket, the other end of the third cylinder is hinged to the periphery of the second central axis through the first connecting plate, and the periphery of the second central axis is fixedly connected to the inside of the bracket through a number of axle seats, the two ends of the second central axis are respectively fixedly connected to one side of the second folding plate through a second connecting plate, the other side of the second folding plate is used to touch the long side of the box body, and the third cylinder is externally connected to an air pump station.

[0009] Furthermore, the short side folding plate assembly includes a fourth cylinder and a third folding plate, one end of the fourth cylinder is hinged to the interior of the bracket, the other end of the fourth cylinder is hinged to the third folding plate, one end of the third folding plate is hinged to the interior of the bracket, the other end of the third folding plate is used to touch the short side of the box body, and the fourth cylinder is externally connected to an air pump station.

[0010] Furthermore, the transmission assembly includes a motor, a first wheel axle, a belt, a second wheel axle and a driven wheel. The transmission shaft of the motor is fixedly connected to the first wheel axle. The first wheel axle forms a synchronous structure with the second wheel axle through the belt. A plurality of driven wheels are evenly distributed between the first wheel axle and the second wheel axle. The outer periphery of the driven wheel is sleeved on the inner ring of the belt. The first wheel axle, the fourth wheel axle and the driven wheel are all fixedly connected to the upper end of the bracket through a clamping device. The outer periphery of the motor is fixedly connected to the clamping device. The signal of the motor is connected to the controller of the external robotic arm.

[0011] Furthermore, the clamping device includes a transmission mechanism and a limiting mechanism arranged in parallel with each other, the limiting mechanism includes two limiting shafts arranged in parallel with each other, the outer periphery of each limiting shaft is fixedly connected to the upper end of the bracket through an axis block, the transmission mechanism is the fifth cylinder, the fifth cylinder is located between the two limiting shafts, the outer periphery of the fifth cylinder is fixedly connected to the upper end of the bracket, one end of the fifth cylinder and one end of each limiting shaft are fixedly connected to one side of the transmission component through a third connecting plate, and the fifth cylinder is externally connected to the air pump station.

[0012] Compared with the prior art, the robot-assisted box preparation machine described in the present invention has the following advantages:

[0013] (1) The robot-assisted box preparation machine described in the present invention cooperates with a robot to complete the unpacking action, thereby improving the efficiency of the robot, reducing the number of equipment, reducing the floor space, and reducing storage and transportation costs.

[0014] (2) The robot-assisted box preparation machine described in the present invention is provided with a short side folding plate assembly with short side movable supports to reduce the length of the equipment and remove the exposed movable mechanical structure. The short side folding plate assembly is used to complete the short side folding in the forward direction of the carton, thereby effectively reducing the length of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a structural schematic diagram of a robot-assisted box preparation machine according to an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the structure of the first support arm and the third support arm according to an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of the structure of the bracket and the folding device according to an embodiment of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the first long side folding plate assembly according to an embodiment of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the short side folding plate assembly according to an embodiment of the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the transmission component according to an embodiment of the present invention;

[0022] Figure 7It is a schematic structural diagram of the assembly of the clamping device and the transmission component according to an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1-bracket; 2-folding device; 21-first long side folding plate assembly; 22-short side folding plate assembly; 221-third folding plate; 222-fourth cylinder; 23-second long side folding plate assembly; 211-third cylinder; 212-first connecting plate; 213-second middle axis; 214-axle seat; 215-second connecting plate; 216-second folding plate; 3-support plate; 4-transmission assembly; 41-motor; 42-first wheel axle; 43-belt; 44-second wheel axle; 45-driven wheel; 5-clamping device; 51-fifth cylinder; 52-limiting shaft; 53-axle block; 54-third connecting plate; 6-first support arm; 61-second cylinder; 62-flange; 7-box; 8-second support arm; 9-third support arm; 91-first support rod; 92-first middle axis; 93-first folding plate; 94-first cylinder. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] A robot-assisted box preparation machine mainly optimizes the structure and sequence of the bottom folding mechanism of the box blank, re-optimizes the opening mechanism and avoids the design to achieve robot-assisted unpacking, and effectively reduces the floor space, etc. A robot-assisted box preparation machine includes a bracket 1, a folding device 2, a support plate 3, a conveying device, a clamping device 5 and an opening and closing device. The bracket 1 is a frame structure, and the folding device 2 is installed inside the bracket 1. The upper end of the bracket 1 is respectively installed with a support plate 3, a conveying device, a clamping device 5 and an opening and closing device. The opening and closing device is located above the conveying device and the clamping device 5. The conveying device includes two conveying components 4 arranged symmetrically with each other, and a clamping device is installed on one side of each conveying component 4. 5, the other side of the conveying assembly 4 is in contact with and connected to the box body 7, and the box body 7 is located between the two conveying assemblies 4, and a support plate 3 and a folding device 2 are sequentially arranged below the box body 7, the opening and closing device comprises a first support arm 6, a second support arm 8 and a third support arm 9, the second support arm 8 and the third support arm 9 are arranged parallel to each other, the lower end of the third support arm 9 is fixedly connected to the upper end of the bracket 1, and the lower end of the second support arm 8 is fixedly connected to the upper end of the bracket 1 through the first support arm 6, the folding device 2, the pressing device 5, the first support arm 6, the second support arm 8 and the third support arm 9 are all externally connected to the air pump station, and the external air pump station and the conveying assembly 4 signals are connected to the controller of the external robot arm, and the controller is a PLC, and the controller model is Siemens S7-200 smart, after the box blank is formed into a barrel shape on the robot fixture, the folding support of the bottom edge is completed on the robot-assisted box preparation machine, and then the lateral leather line clamps the carton to complete the positioning of the box 7. The box support mechanism opens the box 7 and waits for packing. After the packing is completed, the lateral belt line transports the carton to the next process for sealing. The preparation machine cooperates with the robot to complete the box preparation action, improves the use efficiency of the robot, reduces the number of equipment, reduces the floor space, and reduces storage and transportation costs.

[0030] The second support arm 8 and the third support arm 9 have the same structure. The third support arm 9 includes a first support rod 91, a first central axis 92, a first folding plate 93 and a first cylinder 94. The upper end of the first support rod 91 is sleeved with the first central axis 92, and the outer periphery of the first central axis 92 is sleeved with a plurality of first folding plates 93. One end of the first central axis 92 is fixedly connected to one end of the fourth cylinder 222, and the other end of the fourth cylinder 222 is fixedly connected to the upper end of the bracket 1. The plurality of first folding plates 93 are located on one side of the first support rod 91, and the fourth cylinder 222 is located on the other side of the first support rod 91. The first support arm 6 includes a second cylinder 61, a bearing and a flange 62. The bottom end of the first support rod 91 passes through the shaft in sequence. The bearing and flange 62 are fixedly connected to the upper end of the bracket 1, one end of the second cylinder 61 is fixedly connected to the upper end of the bracket 1, the other end of the second cylinder 61 is fixedly connected to the periphery of the first support rod 91, and the second cylinder 61 is located below the first central axis 92. The first cylinder 94 and the second cylinder 61 are externally connected to the air pump station, and the box-supporting function is integrated into the upper part of the equipment. The box-supporting function is divided into two parts: a fixed second support arm 8 and a rotating third support arm 9. When the robot assists in the preparation of the box body 7, the rotating third support arm 9 avoids so that the robot has enough space to complete the preparation of the box body 7. After the box body 7 is positioned and clamped, the rotating third support arm 9 rotates back to its original position to perform the box-supporting action.

[0031] The folding device 2 includes a first long side folding plate assembly 21, a short side folding plate assembly 22 and a second long side folding plate assembly 23 installed inside the bracket 1. The second long side folding plate assembly 23 and the first long side folding plate assembly 21 are symmetrically arranged. The short side folding plate assembly 22 is located between the second long side folding plate assembly 23 and the first long side folding plate assembly 21. The short side folding plate assembly 22 is located below the pallet 3. In order to shorten the length of the equipment and remove the exposed movable mechanical structure, a short side folding plate assembly 22 with short side movable support is provided. The short side folding in the forward direction of the carton is completed by the short side folding plate assembly 22, which effectively reduces the length of the equipment.

[0032] The second long side folding plate assembly 23 has the same structure as the first long side folding plate assembly 21. The first long side folding plate assembly 21 comprises a third cylinder 211, a first connecting plate 212, a second central axis 213, an axle seat 214, a second connecting plate 215 and a second folding plate 216. One end of the third cylinder 211 is hinged to the inside of the bracket 1, and the other end of the third cylinder 211 is hinged to the periphery of the second central axis 213 through the first connecting plate 212, and the periphery of the second central axis 213 is fixedly connected to the inside of the bracket 1 through a number of axle seats 214. Both ends of the second central axis 213 are respectively fixedly connected to one side of the second folding plate 216 through a second connecting plate 215, and the other side of the second folding plate 216 is used to touch the long side of the box body 7. The third cylinder 211 is externally connected to an air pump station.

[0033] The short side folding plate assembly 22 includes a fourth cylinder 222 and a third folding plate 221. One end of the fourth cylinder 222 is hinged to the interior of the bracket 1, and the other end of the fourth cylinder 222 is hinged to the third folding plate 221. One end of the third folding plate 221 is hinged to the interior of the bracket 1, and the other end of the third folding plate 221 is used to touch the short side of the box body 7. The fourth cylinder 222 is externally connected to an air pump station.

[0034] The transmission assembly 4 includes a motor 41, a first wheel shaft 42, a belt 43, a second wheel shaft 44 and a driven wheel 45. The transmission shaft of the motor 41 is fixedly connected to the first wheel shaft 42. The first wheel shaft 42 forms a synchronous structure with the second wheel shaft 44 through the belt 43. A plurality of driven wheels 45 are evenly distributed between the first wheel shaft 42 and the second wheel shaft 44. The outer periphery of the driven wheel 45 is sleeved on the inner ring of the belt 43. The first wheel shaft 42, the fourth wheel shaft and the driven wheel 45 are all fixedly connected to the upper end of the bracket 1 through the clamping device 5. The outer periphery of the motor 41 is fixedly connected to the clamping device 5. The signal of the motor 41 is connected to the controller of the external robotic arm.

[0035] The clamping device 5 includes a transmission mechanism and a limiting mechanism arranged in parallel with each other, the limiting mechanism includes two limiting shafts 52 arranged in parallel with each other, the outer periphery of each limiting shaft 52 is fixedly connected to the upper end of the bracket 1 through an axis block 53, the transmission mechanism is the fifth cylinder 51, the fifth cylinder 51 is located between the two limiting shafts 52, the outer periphery of the fifth cylinder 51 is fixedly connected to the upper end of the bracket 1, one end of the fifth cylinder 51 and one end of each limiting shaft 52 are fixedly connected to one side of the conveying component 4 through a third connecting plate 54, and the fifth cylinder 51 is externally connected to the air pump station.

[0036] Working process of a robot-assisted box preparation machine:

[0037] The robot arm's movement route and the timing of the air pump station's inflation action are all preset by the staff in the controller.

[0038] Box preparation: The robot fixture drives the box blank to the top of a robot-assisted box preparation machine, and the box blank descends to the pallet 3 at 45-50 degrees to complete a short side folding at the lower end of the box 7. The controller controls the air pump station to inject air into the fourth cylinder 222, and the third folding plate 221 is propped up. The robot fixture drives the box 7 forward to complete another short side folding at the lower end of the box 7, and then the robot fixture drives the box to move horizontally, and the robot fixture positions the box 7. Finally, the second paper support arm 8 is propped up to complete the long side folding of the box 7.

[0039] Positioning: After the above box preparation action is completed, the controller of the robot arm controls the air pump station to inject air into the fifth cylinder 51, and the telescopic shaft of the fifth cylinder 51 touches the transmission component 4 to clamp the carton, thereby completing the positioning of the box 7.

[0040] Box supporting: After the above positioning action is completed, the controller of the robotic arm controls the air pump station to inject air into the second cylinder 61, the third support arm 9 rotates the swing arm back to the upper end of the box body 7, the air pump station injects air into the first cylinder 94, and the first folding plate 93 rotates along the first central axis 92 to complete the box supporting.

[0041] Transport: When the box supporting action is completed as above, the controller of the robot arm controls the motor 41 to start, and the box body 7 is transported forward to the next process through the belt.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot-assisted box preparation machine, characterized in that: The invention comprises a support (1), a folding device (2), a support plate (3), a conveying device, a pressing device (5) and an opening and closing device. The support (1) is a frame structure. The folding device (2) is installed inside the support (1). The support plate (3), the conveying device, the pressing device (5) and the opening and closing device are installed on the upper end of the support (1). The opening and closing device is located above the conveying device and the pressing device (5). The conveying device comprises two conveying components (4) arranged symmetrically to each other. A pressing device (5) is installed on one side of each conveying component (4). The other side of the conveying component (4) is in contact with and connected to a box body (7). The box body (7) is located between the two conveying components (4). A support plate (3) and a folding device (2) are sequentially arranged below the box body (7); the opening and closing device comprises a first support arm (6), a second support arm (8) and a third support arm (9); the second support arm (8) and the third support arm (9) are arranged parallel to each other; the lower end of the third support arm (9) is fixedly connected to the upper end of the bracket (1); the lower end of the second support arm (8) is fixedly connected to the upper end of the bracket (1) through the first support arm (6); the folding device (2), the pressing device (5), the first support arm (6), the second support arm (8) and the third support arm (9) are all externally connected to an air pump station; the external air pump station and the transmission component (4) are connected to the controller of the external mechanical arm by signal; The second support arm (8) and the third support arm (9) have the same structure. The third support arm (9) comprises a first support rod (91), a first central axis (92), a first folding plate (93) and a first cylinder (94). The upper end of the first support rod (91) is sleeved with the first central axis (92). The outer periphery of the first central axis (92) is sleeved with a plurality of first folding plates (93). One end of the first central axis (92) is fixedly connected to one end of the fourth cylinder (222). The other end of the fourth cylinder (222) is fixedly connected to the upper end of the bracket (1). The plurality of first folding plates (93) are located on one side of the first support rod (91). The fourth cylinder (222) is located on the other side of the first support rod (91), the first support arm (6) comprises a second cylinder (61), a bearing and a flange (62), the bottom end of the first support rod (91) is fixedly connected to the upper end of the bracket (1) through the bearing and the flange (62) in sequence, one end of the second cylinder (61) is fixedly connected to the upper end of the bracket (1), the other end of the second cylinder (61) is fixedly connected to the periphery of the first support rod (91), and the second cylinder (61) is located below the first central axis (92), and the first cylinder (94) and the second cylinder (61) are externally connected to an air pump station; The folding device (2) comprises a first long side folding plate assembly (21), a short side folding plate assembly (22) and a second long side folding plate assembly (23) which are installed inside the bracket (1); the second long side folding plate assembly (23) and the first long side folding plate assembly (21) are symmetrically arranged with each other; the short side folding plate assembly (22) is located between the second long side folding plate assembly (23) and the first long side folding plate assembly (21); and the short side folding plate assembly (22) is located below the support plate (3); The second long side folding plate assembly (23) and the first long side folding plate assembly (21) have the same structure. The first long side folding plate assembly (21) comprises a third cylinder (211), a first connecting plate (212), a second central axis (213), an axle seat (214), a second connecting plate (215) and a second folding plate (216). One end of the third cylinder (211) is hinged to the inside of the bracket (1). The other end of the third cylinder (211) is hinged to the periphery of the second central axis (213) through the first connecting plate (212). The periphery of the second central axis (213) is fixedly connected to the inside of the bracket (1) through a plurality of axle seats (214). Both ends of the second central axis (213) are fixedly connected to one side of the second folding plate (216) through a second connecting plate (215). The other side of the second folding plate (216) is used to contact the long side of the box body (7). The third cylinder (211) is externally connected to an air pump station. The short side folding plate assembly (22) comprises a fourth air cylinder (222) and a third folding plate (221), one end of the fourth air cylinder (222) is hinged to the inside of the bracket (1), the other end of the fourth air cylinder (222) is hinged to the third folding plate (221), one end of the third folding plate (221) is hinged to the inside of the bracket (1), the other end of the third folding plate (221) is used to touch the short side of the box body (7), and the fourth air cylinder (222) is externally connected to an air pump station; The clamping device (5) comprises a transmission mechanism and a limiting mechanism which are arranged in parallel with each other, the limiting mechanism comprising two limiting shafts (52) which are arranged in parallel with each other, the periphery of each limiting shaft (52) being fixedly connected to the upper end of the bracket (1) via an axle block (53), the transmission mechanism being a fifth cylinder (51), the fifth cylinder (51) being located between the two limiting shafts (52), the periphery of the fifth cylinder (51) being fixedly connected to the upper end of the bracket (1), one end of the fifth cylinder (51) and one end of each limiting shaft (52) being fixedly connected to one side of the transmission component (4) via a third connecting plate (54), and the fifth cylinder (51) being externally connected to an air pump station.

2. A robot-assisted box preparation machine according to claim 1, characterized in that: The transmission assembly (4) comprises a motor (41), a first wheel shaft (42), a belt (43), a second wheel shaft (44) and a driven wheel (45); the transmission shaft of the motor (41) is fixedly connected to the first wheel shaft (42); the first wheel shaft (42) and the second wheel shaft (44) form a synchronous structure through the belt (43); a plurality of driven wheels (45) are evenly distributed between the first wheel shaft (42) and the second wheel shaft (44); the outer periphery of the driven wheel (45) is sleeved on the inner ring of the belt (43); the first wheel shaft (42), the fourth wheel shaft and the driven wheel (45) are all fixedly connected to the upper end of the bracket (1) through a clamping device (5); the outer periphery of the motor (41) is fixedly connected to the clamping device (5); and the signal of the motor (41) is connected to the controller of the external mechanical arm.

Images