A carton opening mechanism

Abstract

The present invention is a carton opening mechanism, which is applicable to the field of carton unpacking. In order to solve the problem in the prior art that the large swing cover is easy to fall back after being flipped up during the carton unpacking process, thereby affecting production efficiency, the present invention provides a carton opening mechanism, including a frame and an upper pressure plate, a tray platform is provided on the frame, and the lower surface of the upper pressure plate has an upper surface suction cup for adsorbing the large swing cover on the upper surface of the carton; there is a first driving mechanism to drive the upper pressure plate to move up and down; the carton opening mechanism also includes a large swing cover flipping mechanism, the large swing cover flipping mechanism includes a displacement mechanism and a protrusion, the protrusion is on the surface of the displacement mechanism facing the carton, the displacement mechanism drives the protrusion to move, the displacement trajectory of the protrusion includes a sub-displacement in the vertical direction, and the front end of the protrusion exceeds the edge of the large swing cover of the carton. The present invention greatly reduces the probability of the large swing cover falling back, and greatly improves production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of carton unpacking, in particular to a carton opening mechanism. Background Art

[0002] Textile mills require large quantities of yarn as raw material, and yarn is often shipped to the factory in the form of whole boxes of spindles. Existing technologies mostly rely on manual unpacking, taking out the spindles, and then folding the cartons into flat shapes for recycling. In this case, a large number of cartons are likely to be damaged due to manual operation, making them unrecyclable and having to be treated as waste. If you choose to use partial industrial robots for automation and then manually unpack and retrieve materials, there are only two options: one is mixed construction by humans and machines, and the other is separate construction by humans and machines. If humans and machines are mixed working at the same time, it is absolutely unsafe and not allowed, which is prohibited in the industry; if humans and machines are separated, the efficiency is low, and there are still certain safety hazards during the handling and cutting process; therefore, there must be a kind of automated equipment that can cooperate with industrial robots.

[0003] In the invention patent application titled "An Industrial Robot Using Spindle Automatic Box Opening and Folding Mechanism", the inventor disclosed an initial carton opening mechanism, which simply relies on the upper surface suction cup on the lower surface of the upper pressing plate to adsorb the two large swing covers on the upper surface of the carton, and then the upper pressing plate rotates toward the direction of the large swing cover on one side under the action of a driving mechanism, and always maintains adsorption on the two large swing covers during the process, and opens the two large swing covers by the adsorption force. This scheme can achieve the invention purpose of adsorbing and opening the two large swing covers on the upper surface of the carton, but there are still some shortcomings, such as relying solely on the adsorption force of the suction cup, the large swing covers are likely to detach from the suction cup midway, especially because the rotation axis of the upper pressing plate is on one side of the carton, so the upper pressing plate can only rotate around the axis toward the direction of the large swing cover on one side under the action of the driving mechanism. Accordingly, the large swing cover away from the rotation axis of the upper pressing plate will fall off from the suction cup earlier in the process of being sucked up by the suction cup because its direction of flipping around its own rotation axis is opposite to the rotation direction of the upper pressing plate, and at this time it may not have flipped to an angle that can prevent it from falling back. Summary of the Invention

[0004] The purpose of the invention is to reduce the probability of the large swing cover falling back after being turned up during the process of unpacking the carton, so as to improve the production efficiency.

[0005] The specific technical solutions of the present invention are as follows:

[0006] A carton opening mechanism includes a frame and an upper pressure plate, wherein the frame is provided with a tray platform, and the lower surface of the upper pressure plate is provided with an upper surface suction cup for adsorbing a large swing cover on the upper surface of the carton; there is a first driving mechanism to drive the upper pressure plate to move up and down; the carton opening mechanism also includes a large swing cover flipping mechanism, and the large swing cover flipping mechanism includes a displacement mechanism and a protrusion, the protrusion is on the surface of the displacement mechanism facing the carton, and the displacement mechanism drives the protrusion to displace, and the displacement trajectory of the protrusion includes a sub-displacement in the vertical direction, and the front end of the protrusion exceeds the edge of the large swing cover of the carton.

[0007] Note: The pallet platform is a horizontal structure used to support cartons. It can be a part of the rack or a part of the rack. The upper platen can move up and down vertically or in other ways. The movement includes a vertical component. The protrusion is initially above the large swing cover, and the upper surface suction cup absorbs the two The large swing cover is lifted up by the swing cover until the upper surface of the large swing cover touches the protrusion, because the front end of the protrusion exceeds the The edge of the large flap of the carton, at this time the large flap will be subject to a certain resistance of the convex, and those skilled in the art will think that the large flap However, the inventor noticed that since the material of the large swing cover is paper, which has flexibility, the large swing cover can not pass through. Under the adsorption force of the upper surface suction cup, it can still pass over the bulge. At this time, the bulge moves from the upper surface of the large swing cover to the lower surface. The surface suction cup has completed its mission, and because the front end of the protrusion exceeds the edge of the large swing cover of the carton, the rear The large swing cover can be turned upside down by the displacement of the large swing cover turning mechanism, and the turning angle depends on the large swing cover. The displacement scale of the displacement mechanism in the swing cover flipping mechanism is no longer restricted by the upper surface suction cup, effectively reducing the risk of the swing cover being flipped up. The function of the protrusion is to contact with the large swing cover and flip it up further, and the function of the displacement mechanism is to connect it. The driving mechanism at one end and the protrusion at the other end transmit the force of the driving mechanism to the protrusion through the lever action, so that the protrusion moves forward. The displacement drives the large swing cover to move.

[0008] Furthermore, the upper pressing plate is connected to the pallet platform via a connecting member, the upper pressing plate and the connecting member are rotatably connected around an axis, and the first driving mechanism drives the upper pressing plate to rotate around the axis relative to the connecting member.

[0009] Note: This solution clarifies how the upper pressure plate moves relative to the carton, that is, the upper pressure plate moves by rotation, and the rotation axis is on one side of the carton. In this solution, when the upper surface suction cup absorbs and lifts the two large flaps on the upper surface of the carton, the force conditions of the two large flaps are different.

[0010] Furthermore, the upper pressing plate is directly above the tray platform, and the first driving mechanism drives the upper pressing plate to move vertically up and down.

[0011] Note: This solution specifies how the upper platen moves relative to the carton. Specifically, the upper platen moves vertically up and down. Specifically, it descends vertically until the suction cups on its lower surface engage the two large flaps on the carton's upper surface. The upper platen then ascends, driving the flaps open. In this solution, the forces and motion paths of the flaps during opening are completely symmetrical. In this solution, the upper platen is moved up and down by a pneumatic cylinder.

[0012] Furthermore, the displacement trajectory of the protrusion driven by the displacement mechanism is an arc or a straight line.

[0013] Note: Regardless of whether it is an arc, a straight line or even other trajectories, as long as there is a component of motion in the vertical direction, the two large swing covers can continue to open to a sufficiently large angle.

[0014] Furthermore, the displacement mechanism is driven by a second driving mechanism, which is a DC motor or a rotary cylinder.

[0015] Note: This solution further specifies that the displacement path of the protrusion driven by the displacement mechanism is a circular arc. Specifically, one end of the displacement mechanism is connected to a power source capable of generating circular motion, such as a DC motor or a rotary cylinder, which transmits the circular motion to the protrusion at the other end. The displacement path of the protrusion is preferably a circular motion rather than a linear motion, as the large swing cover itself performs a circular motion around its axis when opened.

[0016] Preferably, there is only one large swing cover flipping mechanism, which is arranged above the large swing cover away from the rotation axis of the upper pressing plate.

[0017] Note: The inventor disclosed a first-generation carton opening mechanism in the invention patent application titled "An industrial robot using spindles to automatically open and fold cartons", in which the rotation axis of the upper pressure plate is on one side of the carton, so the upper pressure plate can only rotate around the axis in the direction of the large swing cover on one side under the action of the driving mechanism. Correspondingly, the large swing cover away from the rotation axis of the upper pressure plate will fall off the suction cup earlier in the process of being sucked up by the suction cup because its flipping direction around its own rotation axis is opposite to the rotation direction of the upper pressure plate. At this time, it may not have flipped to the angle that can prevent it from falling back. Therefore, if only one large swing cover flipping mechanism is set for the purpose of cost saving, it is preferably set at the position described in this solution, which can achieve twice the result with half the effort.

[0018] Furthermore, there are two large swing cover flipping mechanisms, one on each of the two large swing covers.

[0019] Note: Compared with the solution of "there is only one large swing cover flipping mechanism, which is arranged above the large swing cover away from the rotation axis of the upper pressure plate", this solution can further reduce the probability of the large swing cover falling back after being flipped up.

[0020] Furthermore, the frame is provided with a fixing hook, the fixing hook is in an N-shape, and the lower edge of the fixing hook is lower than When it contacts the large flap, it is the upper edge of the large flap.

[0021] Note: The large swing cover flipping mechanism can further increase the flipping angle of the two large swing covers based on the upper pressure plate. Thus, the purpose of the invention can be achieved, that is, the probability of the large swing cover falling back after being turned up can be reduced, and by adding the fixed The hook is used to fix the large swing cover after it is flipped up to a nearly vertical state, thereby further reducing the risk of the large swing cover falling back after being flipped up. Specifically, the large flap is flipped up by the large flap flipping mechanism, and the flipping angle gradually increases until the upper edge of the large flap is The edge of the fixed hook touches the lower edge of the fixed hook. At this time, because the lower edge of the fixed hook is lower than the upper edge of the large swing cover when it contacts the large swing cover, the fixed hook is The upper edge of the large swing cover will be subject to resistance from the fixed hook. Those skilled in the art will think that the large swing cover cannot pass through. However, The Ming people noticed that since the material of the large swing cover is paper, which is flexible, the large swing cover will eventually The large swing cover can still pass over the fixed hook when it moves down. At this time, the large swing cover moves into the fixed hook and is limited in position by the fixed hook, and will not fall back. elephant.

[0022] Furthermore, the pallet platform is a horizontal structure for supporting cartons.

[0023] Furthermore, the upper pressure plate includes a fixed part and a rotating part, a first upper surface suction cup is provided under the fixed part, and a second upper surface suction cup is provided under the rotating part; the rotating axis of the rotating part is installed on the fixed part; there is a third driving mechanism, the fixed end of the third driving mechanism is installed on the fixed part, and the movable end of the third driving mechanism is connected to the rotating part through a connecting rod.

[0024] Note: The upper pressure plate can only rotate around the axis in the direction of the large swing cover under the action of the driving mechanism. The large swing cover of the rotating axis of the upper pressing plate is turned up in the opposite direction of the rotating direction of the upper pressing plate because of its own rotating axis. The suction cup will fall off earlier in the process of sucking up. The upper pressure plate has been improved to ensure that it can fully rotate to a sufficient angle to ensure that it can go over the protrusion. The body is pressed on the upper surface of the carton, the first upper surface suction cup and the second upper surface suction cup each absorb the two large swing covers, and then the third drive The movable end of the driving mechanism extends out, drives the connecting rod, and then drives the rotating part to rotate around the axis relative to the fixed part. The suction cup on the second upper surface rotates accordingly, driving the large swing cover it is adsorbed on to rotate at a larger angle.

[0025] Furthermore, the displacement mechanism includes a second driving mechanism and a driven part, one end of the driven part is connected to the second driving mechanism, and the other end is connected to the protrusion, the protrusion and the driven part are movably connected around the axis, and an elastic mechanism is present to connect the protrusion and the driven part.

[0026] Note: To further ensure that the large swing cover can go over the bulge, the displacement mechanism has been improved. Originally fixed, it is now changed to elastic movable. The protrusion will rotate relative to the driven part around the axis due to the movement of the swing cover. The elastic mechanism can be a spring or other commonly used elastic mechanism. The mechanism only needs to be able to pull the protrusion back to its original position. The driven part is the displacement mechanism.

[0027] Furthermore, the lower surface of the front section of the protrusion is arc-shaped, and the upper surface of the front section of the protrusion is straight.

[0028] Note: The curved lower surface facilitates the large swing cover to move along its arc, making it easier to pass over the protrusion; however, after passing over the protrusion, it is necessary to ensure that the large swing cover does not easily fall back over the protrusion in the opposite direction, so the upper surface is designed to be flat.

[0029] Beneficial effect: The present invention solves the problem in the prior art that the large flap is easily fallen back after being flipped up during the unpacking process of the carton, thereby affecting production efficiency. It greatly reduces the probability of the large flap falling back and greatly improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall schematic diagram of a carton opening mechanism.

[0031] Figure 2 It is an overall schematic diagram of a large swing cover flip-up mechanism.

[0032] Figure 3 This is a schematic side view of the fixing hook.

[0033] Figure 4 It is a side view of the fixed hook.

[0034] Figure 5 This is an overall schematic diagram of a carton opening mechanism with a fixed hook.

[0035] Figure 6 It is an overall schematic diagram of a large swing cover flip-up mechanism.

[0036] Figure 7 It is a partial schematic diagram of the upper pressing plate, connecting parts, tray platform, and the first driving mechanism.

[0037] Figure 8 It is a partial schematic diagram of the upper pressing plate, connecting parts, tray platform, and the first driving mechanism.

[0038] Frame 1, upper pressure plate 2, fixed part 21, first upper surface suction cup 211, rotating part 22, second upper surface suction cup 221, third driving mechanism 23, connecting rod 231, tray platform 3, connecting part 31, first driving mechanism 4, large swing cover flipping mechanism 5, displacement mechanism 51, protrusion 52, second driving mechanism 53, elastic mechanism 54, fixed hook 6. Implementation Method

[0039] Example 1: Figure 1 A carton opening mechanism comprises a frame 1 and an upper pressing plate 2. The frame 1 is provided with a tray platform 3. The lower surface of the upper pressing plate 2 is provided with an upper surface suction cup for adsorbing the large swing cover on the upper surface of the carton. A first driving mechanism 4 drives the upper pressing plate 2 to move up and down. The carton opening mechanism further comprises a large swing cover flipping mechanism 5. Figure 2 The large swing cover flipping mechanism 5 includes a displacement mechanism 51 and a protrusion 52. The protrusion 52 is on the surface of the displacement mechanism 51 facing the carton. The displacement mechanism 51 drives the protrusion 52 to move. The displacement trajectory of the protrusion 52 includes a sub-displacement in the vertical direction. The front end of the protrusion 52 exceeds the edge of the large swing cover of the carton.

[0040] It should be noted that the tray platform 3 is a horizontal structure for supporting cartons, and can be a part of the frame 1 or a component independent of the frame 1. The upper platen 2 can move up and down vertically, or in other forms where the movement includes a vertical component. The protrusion 52 is initially above the large swing cover, and the upper surface suction cup absorbs the two large swing covers and drives the large swing covers to rise until the upper surface of the large swing cover touches the protrusion 52. Because the front end of the protrusion 52 exceeds the edge of the large swing cover of the carton, the large swing cover will be subject to a certain resistance from the protrusion 52. Those skilled in the art may think that the large swing cover cannot pass through. However, the inventors noticed that since the material of the large swing cover is paper, which is flexible, the large swing cover can eventually still pass over the protrusion 52 under the adsorption force of the upper surface suction cup. At this time, the protrusion 52 comes from the upper surface of the large swing cover to the lower surface, and the upper surface suction cup has completed its mission. Because the front end of the protrusion 52 exceeds the edge of the large swing cover of the carton, the large swing cover above it can be pushed to continue to flip by relying on the displacement of the large swing cover flipping mechanism 5. The flipping angle depends on the displacement scale of the displacement mechanism 51 in the large swing cover flipping mechanism 5, and is no longer restricted by the upper surface suction cup, effectively reducing the probability of the large swing cover falling back after being flipped up. The function of the protrusion 52 is to contact the large swing cover and further flip it up. The function of the displacement mechanism 51 is to connect the driving mechanism at one end and the protrusion 52 at the other end, and transmit the force of the driving mechanism to the protrusion 52 through the lever action, so that the protrusion 52 is displaced and drives the large swing cover to move.

[0041] Example 2: Based on Example 1, the upper pressure plate 2 is connected to the pallet platform 3 through a connecting member 31, and the upper pressure plate 2 is movably connected to the connecting member 31 so as to rotate around the axis. The first driving mechanism 4 drives the upper pressure plate 2 to rotate around the axis relative to the connecting member 31.

[0042] It should be noted that this solution clarifies how the upper pressure plate 2 moves relative to the carton, that is, the upper pressure plate 2 moves by rotation, and the rotation axis is on one side of the carton. In this solution, when the upper surface suction cup adsorbs and lifts the two large swing covers on the upper surface of the carton, the force conditions of the two large swing covers are different.

[0043] Example 3: Based on Example 1, the upper pressing plate 2 is directly above the tray platform 3, and the first driving mechanism 4 drives the upper pressing plate 2 to move vertically up and down.

[0044] It should be noted that this solution specifies how the upper platen 2 moves relative to the carton. Specifically, the upper platen 2 moves vertically up and down. Specifically, the upper platen 2 moves vertically downward until the upper surface suction cups on its lower surface adhere to the two large flaps on the upper surface of the carton. The upper platen 2 then moves upward, driving the flaps to open. In this solution, the forces and motion trajectories of the two flaps during opening are completely symmetrical. In this solution, the upper platen 2 is moved up and down by a pneumatic cylinder.

[0045] Example 4: Based on Example 1, the displacement trajectory of the protrusion 52 driven by the displacement mechanism 51 is an arc or a straight line.

[0046] It should be noted that, no matter it is an arc, a straight line or even other trajectories, as long as there is a motion component in the vertical direction, the two large swing covers can continue to open to a sufficiently large angle.

[0047] Example 5: Based on Example 1, the displacement mechanism 51 is driven by a second driving mechanism 53, and the second driving mechanism 53 is a DC motor or a rotary cylinder.

[0048] It should be noted that this embodiment further limits the displacement trajectory of the protrusion 52 caused by the displacement mechanism 51 to a circular arc. Specifically, one end of the displacement mechanism 51 is connected to a power source capable of generating circular motion, such as a DC motor or a rotary cylinder, which then transmits the circular motion to the protrusion 52 at the other end. The displacement trajectory of the protrusion 52 is preferably a circular motion rather than a linear motion, as the large swing cover itself performs a circular motion around its axis when opened.

[0049] Example 6: Based on Example 2, there is only one large swing cover flipping mechanism 5, which is arranged above the large swing cover away from the rotation axis of the upper pressing plate 2.

[0050] It should be noted that the inventor disclosed a first-generation carton opening mechanism in the invention patent application titled "An industrial robot using spindles to automatically open and fold a carton", in which the rotation axis of the upper pressure plate 2 is on one side of the carton, so the upper pressure plate 2 can only rotate around the axis in the direction of the large swing cover on one side under the action of the driving mechanism. Correspondingly, the large swing cover away from the rotation axis of the upper pressure plate 2 will fall off the suction cup earlier in the process of being sucked up by the suction cup because its flipping direction around its own rotation axis is opposite to the rotation direction of the upper pressure plate 2. At this time, it may not have flipped to the angle that can prevent it from falling back. Therefore, if only one large swing cover flipping mechanism 5 is set for the purpose of cost saving, it is preferably set at the position described in this solution, which can achieve twice the result with half the effort.

[0051] Example 7: Based on Example 1, there are two large swing cover flipping mechanisms 5, one on each of the two large swing covers.

[0052] It should be noted that, compared with the solution of "there is only one large swing cover flipping mechanism 5, which is arranged above the large swing cover away from the rotation axis of the upper pressure plate 2", this solution can further reduce the probability of the large swing cover falling back after being flipped up.

[0053] Example 8: Based on Example 1, the frame 1 is provided with a fixing hook 6, which is in an N-shape, and the lower edge of the fixing hook 6 is lower than the upper edge of the large swing cover when it contacts the large swing cover. Figure 3 、 4 and 5.

[0054] It should be noted that the large swing cover flipping mechanism 5 can further increase the flipping angle of the two large swing covers on the basis of the upper pressure plate 2, thereby achieving the purpose of the invention, that is, reducing the probability of the large swing cover falling back after being flipped up. By adding the fixed hook 6 in this scheme, the large swing cover is fixed by the fixed hook 6 after being flipped up to a nearly vertical state, thereby further reducing the probability of the large swing cover falling back after being flipped up. Specifically, the large swing cover is flipped up by the large swing cover flipping mechanism 5, and the flipping angle gradually increases until the upper edge of the large swing cover touches the lower edge of the fixed hook 6. At this time, because the lower edge of the fixed hook 6 is lower than the upper edge of the large swing cover when it contacts the large swing cover, the large swing cover will be resisted by the fixed hook 6. Those skilled in the art will think that the large swing cover cannot pass through. However, the inventor noticed that since the material of the large swing cover is paper, paper is flexible, so the large swing cover can eventually still pass over the fixed hook 6 under the action of the second driving mechanism 53. At this time, the large swing cover is displaced into the fixed hook 6 and is limited in position by the fixed hook 6, and will no longer fall back.

[0055] Example 9: Based on Example 1, the pallet platform 3 is a horizontal structure for supporting cartons.

[0056] Example 10: Based on Example 2, the upper pressure plate 2 includes a fixed part 21 and a rotating part 22. A first upper surface suction cup 211 is provided below the fixed part 21, and a second upper surface suction cup 221 is provided below the rotating part 22. The rotating shaft of the rotating part 22 is mounted on the fixed part 21. There is a third driving mechanism 23, the fixed end of the third driving mechanism 23 is mounted on the fixed part 21, and the movable end of the third driving mechanism 23 is connected to the rotating part 22 via a connecting rod 231. Figure 7 、 8 .

[0057] It should be noted that, under the action of the first drive mechanism 4, the upper pressure plate 2 can only rotate about its axis in the direction of the large flap on one side. Accordingly, the large flap that is away from the rotation axis of the upper pressure plate 2 will fall off the suction cup earlier in the process of being sucked up by the suction cup because the direction of its flipping about its own rotation axis is opposite to the rotation direction of the upper pressure plate 2. In order to allow the large flap that is away from the rotation axis of the upper pressure plate 2 to fully rotate to a sufficient angle to ensure that it can pass over the protrusion 52, the upper pressure plate 2 has been improved. During operation, the upper pressure plate 2 first presses as a whole against the upper surface of the carton. The first upper surface suction cup 211 and the second upper surface suction cup 221 each absorb two large flaps. Then, the movable end of the third drive mechanism 23 extends, driving the connecting rod 231, which in turn drives the rotating portion 22 to rotate about its axis relative to the fixed portion 21. The second upper surface suction cup 221 below it rotates accordingly, driving the large flap it absorbs to rotate at a greater angle.

[0058] Example 11: Based on Example 1, the displacement mechanism 51 includes a second driving mechanism 53 and a driven part (i.e., the displacement mechanism 51). One end of the driven part is connected to the second driving mechanism 53, and the other end is connected to the protrusion 52. The protrusion 52 and the driven part are movably connected around the axis, and an elastic mechanism 54 is provided to connect the protrusion 52 and the driven part. Figure 6 .

[0059] It should be noted that to further ensure that the large swing cover can pass over protrusion 52, the displacement mechanism 51 has been improved. The key point of the improvement is that protrusion 52, which was originally fixed, has been changed to a resiliently movable mechanism. As the swing cover moves, protrusion 52 rotates about its axis relative to the driven portion, further ensuring that the large swing cover can pass over protrusion 52. The resilient mechanism 54 can be a spring or other commonly used resilient mechanism, as long as it can pull protrusion 52 back into its original position.

[0060] Example 12: Based on Example 11, the lower surface of the front section of the protrusion 52 is arc-shaped, and the upper surface of the front section of the protrusion 52 is straight.

[0061] It should be noted that the curved lower surface is conducive to the large swing cover moving along its arc, so that it can more easily pass over the protrusion 52; and after passing over the protrusion 52, it is necessary to ensure that the large swing cover is not easy to reverse and fall back over the protrusion 52, so the upper surface is designed to be flat.

[0062] The above disclosure is merely a preferred embodiment of the present invention, but is not intended to limit the present invention. Any changes and modifications made by those skilled in the art without violating the spirit of the present invention should fall within the scope of protection of the present invention.

Claims

1. A carton opening mechanism, characterized in that: The invention comprises a frame and an upper pressing plate, wherein the frame is provided with a tray platform, and the lower surface of the upper pressing plate is provided with an upper surface suction cup for adsorbing the large swing cover on the upper surface of the carton; a first driving mechanism is provided to drive the upper pressing plate to move up and down; the carton opening mechanism further comprises a large swing cover flipping mechanism, and the large swing cover flipping mechanism comprises a displacement mechanism and a protrusion, wherein the protrusion is on the surface of the displacement mechanism facing the carton, and the displacement mechanism drives the protrusion to move, and the displacement trajectory of the protrusion comprises a partial displacement in the vertical direction, and the front end of the protrusion exceeds the edge of the large swing cover of the carton; The upper pressing plate is connected to the tray platform via a connecting piece, the upper pressing plate and the connecting piece are rotatably connected around an axis, and the first driving mechanism drives the upper pressing plate to rotate around the axis relative to the connecting piece; The upper pressing plate includes a fixed part and a rotating part, wherein a first upper surface suction cup is provided below the fixed part and a second upper surface suction cup is provided below the rotating part; a rotating shaft of the rotating part is installed on the fixed part; There is a third driving mechanism, the fixed end of the third driving mechanism is mounted on the fixed part, and the movable end of the third driving mechanism is connected to the rotating part via a connecting rod; The displacement mechanism includes a second driving mechanism and a driven part. One end of the driven part is connected to the second driving mechanism, and the other end is connected to the protrusion. The protrusion and the driven part are movably connected around the axis, and an elastic mechanism is provided to connect the protrusion and the driven part.

2. The carton opening mechanism according to claim 1, characterized in that: The displacement trajectory of the protrusion driven by the displacement mechanism is an arc or a straight line.

3. The carton opening mechanism according to claim 1, characterized in that: The displacement mechanism is driven by a second driving mechanism, which is a DC motor or a rotary cylinder.

4. The carton opening mechanism according to claim 1, characterized in that: There is only one large swing cover flipping mechanism, which is arranged above the large swing cover away from the axis of the upper pressing plate.

5. The carton opening mechanism according to claim 1, characterized in that: There are two large swing cover flipping mechanisms, one above each of the two large swing covers.

6. The carton opening mechanism according to claim 1, characterized in that: The lower surface of the front section of the protrusion is arc-shaped, and the upper surface of the front section of the protrusion is straight.

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