An end clamp

Abstract

The application discloses an end clamp, which comprises a mounting base plate, a positioning device, a shearing and picking device, an opening and cutting knife and at least one grabbing device. The positioning device is arranged on the mounting base plate and is used for positioning a position of a to-be-cut packing belt and a position of a to-be-cut sealing opening on a carton. The shearing and picking device is arranged on the mounting base plate and is used for shearing the packing belt on the carton at the position of the to-be-cut packing belt and picking the sheared packing belt. The opening and cutting knife is arranged on the mounting base plate and is used for cutting the carton at the position of the to-be-cut sealing opening to open the carton. The at least one grabbing device is arranged on the mounting base plate and is used for grabbing materials from the opened carton and transporting the materials to a target position. The shearing of the packing belt on the carton, the cutting of the sealed carton and the carrying of the materials in the carton are realized by the components of the end clamp, so that the shearing of the packing belt, the cutting of the sealed carton and the carrying of the materials in the carton are not needed to be manually performed, the labor cost is saved, and the production automation degree is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical control, in particular to an end clamp. BACKGROUND

[0002] Most raw material transportation will adopt cartons, in order to ensure that the goods in the carton will not scatter during transportation, the carton is generally packaged by transparent tape and packing tape. When the goods in the carton need to be taken out, the packing tape on the carton needs to be cut off and the sealed carton needs to be cut open, and then the materials in the carton are taken out and transported to the target position. The current cutting of packing tape, cutting of sealed carton and carrying of materials in the carton are mainly operated by manual operation. If there are many cartons, a large amount of manual operation is required for a long time, which is labor-intensive and high in labor cost. SUMMARY

[0003] The present application provides an end clamp for saving labor cost and improving production automation.

[0004] The present application provides an end clamp, comprising:

[0005] a mounting bottom plate;

[0006] a positioning device arranged on the mounting bottom plate and used for positioning a position of a packing tape to be cut and a position of a sealing opening to be cut on the carton;

[0007] a cutting and picking device arranged on the mounting bottom plate and used for cutting the packing tape on the carton at the position of the packing tape to be cut and picking the cut packing tape;

[0008] an opening and cutting knife arranged on the mounting bottom plate and used for cutting the carton at the position of the sealing opening to be cut to open the carton;

[0009] at least one grabbing device arranged on the mounting bottom plate and used for grabbing the materials from the opened carton and transporting the materials to a target position.

[0010] In some embodiments, the at least one grabbing device comprises a vacuum grabbing mechanism, and the vacuum grabbing mechanism comprises a vacuum suction cup, a vacuum detection switch and a vacuum generator.

[0011] The vacuum generator is fixed on the mounting bottom plate, and the vacuum generator is in communication with the vacuum suction cup through a first air guide pipe and an air guide pump to provide compressed air to the vacuum suction cup so that the vacuum suction cup generates a negative pressure suction force to suck the materials.

[0012] The vacuum detection switch is located between the vacuum generator and the vacuum suction cup, and the vacuum detection switch is in communication with the vacuum suction cup through a second air guide pipe to generate a material falling alarm of the vacuum suction cup when it is detected that a vacuum value of the vacuum suction cup is less than a preset vacuum value.

[0013] In some embodiments, the vacuum generator is fixed to the mounting base through a first mounting plate, the first mounting plate extends to the outside of the mounting base, and the positioning device is fixed to the end of the first mounting plate away from the mounting base through a second mounting plate.

[0014] In some embodiments, the at least one grabbing device comprises a clamping mechanism, and the clamping mechanism comprises a second cylinder and a pair of clamping plates.

[0015] The second cylinder is fixed to the mounting base, and the pair of clamping plates are respectively connected to the two ends of the second cylinder. The second cylinder is used to adjust the distance between the pair of clamping plates, so as to clamp the materials in the carton when the carton is opened, and transport the materials to the target position.

[0016] In some embodiments, any clamping plate comprises at least two clamping heads, and the at least two clamping heads are distributed at intervals to increase the contact area with the materials.

[0017] In some embodiments, the mounting base is a rectangular plate, the at least one grabbing device comprises a vacuum grabbing mechanism and a clamping mechanism, the positioning device and the clamping mechanism are respectively arranged on the two sides of the mounting base along the width direction, and the cutting and picking device and the vacuum grabbing mechanism are respectively arranged on the two sides of the mounting base along the length direction.

[0018] In some embodiments, a flange connecting block is further included, and the flange connecting block and the carton opening cutter are respectively arranged on the two sides of the mounting base in the thickness direction. The flange connecting block is used to connect with a robot or a mechanical hand that controls the movement of the end clamp.

[0019] In some embodiments, the cutting and picking device comprises:

[0020] A first cylinder is arranged on the mounting base.

[0021] A pneumatic cutter is connected with the first cylinder, and is used to cut the packing belt on the carton at the position of the to-be-cut packing belt.

[0022] A picking clamp is connected with the first cylinder, and is used to pick up the cut packing belt.

[0023] In some embodiments, an angle adjusting device is arranged between the first cylinder and the mounting base, and the angle adjusting device is used to adjust the inclination angle of the first cylinder and the mounting base.

[0024] In some embodiments, a cutter detection device is further included.

[0025] The cutter detection device is connected to the bottom of the mounting base, the carton opening cutter is connected to the bottom of the cutter detection device, and the cutter detection device is used to detect the carton opening cutter to generate a replacement blade head alarm when it is detected that the blade head of the carton opening cutter is incomplete.

[0026] It can be seen from the above technical solutions that the application has the following advantages: the end clamp provided by the application comprises a mounting bottom plate, a positioning device, a shearing and picking device, an opening box cutter and a grabbing device. The positioning device is used for positioning a position to be sheared and packed and a position to be cut and sealed on a paper box. The shearing and picking device is used for shearing a packing belt at the position to be sheared and packed and picking the sheared packing belt. The opening box cutter is used for cutting the position to be cut and sealed, so that the paper box is opened. The grabbing device is used for taking out materials from the opened paper box and transporting the materials to a target position. The shearing of the packing belt on the paper box, the cutting of the sealed paper box and the carrying of the materials in the paper box are realized by the components of the end clamp, so that the shearing of the packing belt, the cutting of the sealed paper box and the carrying of the materials in the paper box are not needed to be manually performed, the labor cost is saved, and the production automation degree is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0028] Fig. 1 A perspective view of the end clamp provided by the application is shown in FIG. 1;

[0029] Fig. 2 A front view of the end clamp provided by the application is shown in FIG. 2;

[0030] Fig. 3 A bottom view of the end clamp provided by the application is shown in FIG. 3;

[0031] Fig. 4 A top view of the end clamp provided by the application is shown in FIG. 4.

[0032] Wherein:

[0033] 1-flange connecting block;

[0034] 2-mounting bottom plate, 21-first mounting plate, 22-second mounting plate;

[0035] 3-positioning device, 31-vision camera, 32-vision lens;

[0036] 4-shearing and picking device, 41-first air cylinder, 42-pneumatic scissors, 43-picking clamp;

[0037] 5-angle adjusting device;

[0038] 6-opening box cutter;

[0039] 7-cutter detection device;

[0040] 8 - vacuum gripping mechanism, 81 - vacuum chuck, 82 - vacuum detection switch, 83 - vacuum generator;

[0041] 9 - clamping mechanism, 91 - second cylinder, 92 - clamping plate, 93 - clamping head. DETAILED DESCRIPTION

[0042] The application provides an end clamp, an unpacking device and an unpacking method, which are used for saving labor cost and improving production automation degree.

[0043] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to illustrate the relative positional relationship between the components or constituent parts, and do not particularly limit the specific installation orientation of the components or constituent parts.

[0044] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0045] In addition, the terms "mounting", "setting", "provided with", "connection", "connected" should be understood broadly. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication between two devices, elements or constituent parts. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0046] In addition, the structure, proportion, size and the like shown in the drawings in the present application are only used to cooperate with the disclosed content of the specification, to enable those skilled in the art to understand and read, and do not have technical substantive significance, and any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and the purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0047] Further, the terms "first", "second", "third", and the like if present, are used herein to distinguish between similar objects having different properties, and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that such terms, if used, are used interchangeably to refer to an embodiment of the present application described herein, and that no or other temporal significance is to be inferred from the use of such terms.

[0048] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0049] Please refer to Figs. 1 to 4 The end clamp provided by the embodiments of the present application comprises a mounting base plate 2, a positioning device 3, a cutting and picking device 4, an opening and cutting knife 6, and at least one grabbing device. The positioning device 3 is fixed to a first side of the mounting base plate 2, and is used to position a position to be cut on a packing tape on a carton and a position to be cut on a sealing opening of the carton. The cutting and picking device 4 is fixed to a second side of the mounting base plate 2, and the second side is adjacent to the first side. The cutting and picking device 4 is used to cut the packing tape on the carton at the position to be cut on the packing tape, and is also used to pick up the cut packing tape and transport the packing tape to a packing tape collecting device. The opening and cutting knife 6 is fixed to a lower side of the mounting base plate 2, and is used to cut the position to be cut on the sealing opening of the carton to open the carton. The grabbing device is fixed to the mounting base plate 2, and is used to grab materials from the opened carton and transport the materials to a target position.

[0050] In some embodiments, the at least one grabbing device comprises a vacuum grabbing mechanism 8, which comprises a vacuum suction cup 81, a vacuum detection switch 82, and a vacuum generator 83. The vacuum suction cup 81 is fixed to a fourth side of the mounting base plate 2, and the fourth side is adjacent to the first side. The vacuum generator 83 is fixed to the mounting base plate 2 and located between the positioning device 3 and the flange connecting block 1. The vacuum generator 83 is in communication with the vacuum suction cup 81 through a first air guide pipe and an air guide pump, and is used to provide compressed air for the vacuum suction cup 81 to generate a negative pressure suction force to suck materials. The vacuum detection switch 82 is fixed to the mounting base plate 2 and located between the vacuum generator 83 and the vacuum suction cup 81. The vacuum detection switch 82 is in communication with the vacuum suction cup 81 through a second air guide pipe, and is used to detect the vacuum value of the vacuum suction cup 81, and when the vacuum value of the vacuum suction cup 81 is detected to be less than a preset vacuum value, a material falling alarm of the vacuum suction cup 81 can also be generated to prompt the on-site staff to handle in time.

[0051] In the embodiment, the vacuum chuck 81 is fixed to the fourth side of the mounting base plate 2, adjacent to the positioning device 3 and opposite to the shearing pickup device 4; the material of the vacuum chuck 81 can be rubber or silica gel, or other materials, which are not limited here; the rubber-made vacuum chuck can be operated at high temperature, and the silica rubber-made vacuum chuck is very suitable for grabbing products with rough surface; in order to avoid scratching the surface of the product, a vacuum chuck made of nitrile rubber or silica rubber with a corrugated pipe can also be selected. The vacuum generator 83 fixed to the mounting base plate 2 is a new, efficient and small vacuum component that generates negative pressure by using a positive pressure air source; the vacuum generator 83 provides compressed air to the vacuum chuck 81 through the first air guide pipe and the air guide pump, so as to cooperate with the vacuum chuck 81 to adsorb and transport various materials. The vacuum detection switch 82 is fixed to the mounting base plate 2 and located between the vacuum generator 83 and the vacuum chuck 81; the vacuum detection switch 82 is in communication with the vacuum chuck 81 through the second air guide pipe; the vacuum detection switch 82 is a switch for detecting the range of vacuum degree, also known as vacuum relay, which automatically opens and closes the control circuit and sends an electrical signal to instruct the vacuum adsorption mechanism to operate normally when the actual working vacuum degree reaches the specified requirement; in the application scheme, the vacuum detection switch 82 is used to send an electrical signal to generate a material falling alarm of the vacuum chuck 81 through the control circuit when the vacuum value of the vacuum chuck 81 is detected to be less than the preset vacuum value.

[0052] The vacuum grabbing mechanism 8 is used to suck the materials in the carton when the carton is opened, and transport the materials to the target position.

[0053] In the embodiment, the vacuum grabbing mechanism 8 is used to suck the materials in the carton when the carton is opened, and the materials can be miscellaneous objects such as the clamping plate 92 placed in the carton. The vacuum grabbing mechanism 8 is used to suck the materials in the carton and transport the materials to the target position; the vacuum grabbing mechanism 8 is also used to grab the carton when the materials in the carton are emptied, and transport the carton to the corresponding target position. Alternatively, the vacuum grabbing mechanism 8 can also be used to remove the end cover on the carton, or to grab the materials in the carton with a weight less than the preset weight, for example, the materials can be aluminum barrels with lids.

[0054] In some embodiments, the end clamp further comprises: a first mounting plate 21 and a second mounting plate 22. The first mounting plate 21 is fixed to the mounting base plate 2, and the vacuum generator 83 is fixed to the mounting base plate 2 through the first mounting plate 21, and the first mounting plate 21 extends to the outside of the first side of the mounting base plate 2; the positioning device 3 is fixed to the end of the first mounting plate 21 away from the mounting base plate 2 through the second mounting plate 22.

[0055] That is, the vacuum generator 83 and the positioning device 3 are fixed to the first side of the mounting base plate 2 through the first mounting plate 21, so that the vacuum generator 83 and the positioning device 3 can be conveniently fixed, installed and dismounted.

[0056] In some embodiments, the at least one grabbing device includes a clamping mechanism 9, which includes a second cylinder 91 and a pair of clamping plates 92. The second cylinder 91 is fixed to the mounting base plate 2, and the pair of clamping plates 92 are respectively connected to the two ends of the second cylinder 91. The second cylinder 91 is used to adjust the distance between the pair of clamping plates 92, so as to clamp the materials in the carton when the carton is opened, and transport the materials to the target position.

[0057] In some embodiments, any clamping plate 92 includes at least two clamping heads 93, which are spaced apart to increase the contact area with the materials. Optionally, the clamping head 93 is a polyurethane clamping head.

[0058] Specifically, the second cylinder 91 is fixed to the third side of the mounting base plate 2, which is opposite to the first side. The at least two clamping heads 93 are spaced apart at the end of the clamping plate 92 away from the positioning device 3. The second cylinder 91 cooperates with the clamping plate 92 and the at least two clamping heads 93, and is used to clamp the materials in the carton when the carton is opened, and transport the materials to the target position.

[0059] In this embodiment, the second cylinder 91 is a parallel opening and closing cylinder. The second cylinder 91 is fixed to the third side of the mounting base plate 2. The second cylinder 91 cooperates with the at least two clamping heads 93 to clamp the materials in the target range, which is determined by the stroke range of the second cylinder 91. The materials are regular circular barrel materials. The second cylinder 91 is used to adjust the distance between the clamping heads 93 of the two clamping plates 92 according to the diameter of the materials, so that the distance between the clamping heads 93 on the two clamping plates 92 matches the diameter of the materials. For example, the materials can be aluminum barrels with circular lids. The second cylinder 91 can change the stroke range according to the materials, which greatly improves the versatility of the end gripper.

[0060] In some embodiments, the mounting base plate 2 is a rectangular plate. The at least one grabbing device includes the vacuum grabbing mechanism 8 and the clamping mechanism 9. The positioning device 3 and the clamping mechanism 9 are respectively arranged on the two sides of the mounting base plate 2 along the width direction (i.e., the long side of the rectangular plate). The shearing picking device 4 and the vacuum grabbing mechanism 8 are respectively arranged on the two sides of the mounting base plate 2 along the length direction (i.e., the short side of the rectangular plate).

[0061] In the embodiment, the mounting base plate 2 is used as a fixed base plate of the positioning device 3, the cutting and picking device 4, the case opening cutter 6 and the grabbing device; the positioning device 3 is fixed on the first side of the mounting base plate 2, and is used for positioning a position of a to-be-cut packing tape on a carton and a position of a to-be-cut sealing port for sealing the carton, wherein the to-be-cut sealing port position of the carton is a sealing port position of the carton sealed by a transparent tape or a sealing tape; when the positioning device 3 is positioned at the to-be-cut packing tape position, the positioning device 3 sends a first signal with the to-be-cut packing tape position to a robot, so that the robot controls a mechanical arm to move the cutting and picking device 4 fixed on the second side of the mounting base plate 2 to the to-be-cut packing tape position according to the first signal, and controls a tip of a pneumatic cutter 42 of the cutting and picking device 4 to cut the packing tape; when the tip of the pneumatic cutter 42 cuts the packing tape on the carton, the robot controls a picking clamp 43 of the cutting and picking device 4 to pick the cut packing tape, wherein the second side is adjacent to the first side; when the positioning device 3 is positioned at the to-be-cut sealing port position, the positioning device 3 sends a second signal with the to-be-cut sealing port position to the robot, so that the robot controls the case opening cutter 6 fixed on the lower side of the mounting base plate 2 to move to the to-be-cut sealing port position according to the second signal, and controls the case opening cutter 6 to cut the transparent tape or the sealing tape at the to-be-cut sealing port position, so that the carton is opened; then, the grabbing device is used for grabbing the material from the opened carton; when the grabbing device grabs the material, the robot controls the grabbing device to move, so that the material is transported to a designated position.

[0062] In some embodiments, the positioning device 3 can be a visual camera device, and specifically, the positioning device 3 includes a visual camera 31 including a visual lens 32.

[0063] In order to facilitate the assembly of the clamp, the end clamp further includes a flange connecting block 1, and the flange connecting block 1 and the case opening cutter 6 are respectively arranged on two sides in the thickness direction of the mounting base plate 2; specifically, the flange connecting block 1 is mounted on the top surface of the mounting base plate 2, and the case opening cutter 6 is mounted on the bottom surface of the mounting base plate 2; the flange connecting block 1 is used for connecting with a robot or a mechanical hand for controlling the movement of the end clamp.

[0064] It should be noted that the end clamp is connected with a six-axis robot or a mechanical hand through the flange connecting block 1, and the six-axis robot or the mechanical hand is used for controlling the rotation of the end clamp.

[0065] In the embodiment, the flange connecting block 1 is fixed to the upper central position of the mounting base plate 2, and the end clamp is flange-connected with the six-axis robot or mechanical hand through the flange connecting block; the end clamp and the flange connecting block 1 of the six-axis robot or mechanical hand are tightly combined through bolts, so as to form a detachable joint, which facilitates engineers to disassemble and replace the damaged end clamp, six-axis robot or mechanical hand. The six-axis robot is a machine that realizes various functions and automatically performs work by relying on its own power and control ability, and runs according to a pre-programmed program. The actual control of the six-axis robot is completed by a microcomputer. The first axis of the six-axis robot is the position of the linkage base plate, which is also the core position of bearing, and bears the weight of the entire robot and the large swing of the robot left and right horizontally. The second axis of the six-axis robot is an important axis for controlling the swing and extension of the robot front and back. The third axis of the six-axis robot is also an axis for controlling the swing of the robot front and back, but the swing range is much smaller than that of the second axis. The fourth axis of the six-axis robot is an axis for controlling the 180° rotation of the upper arm part, which is equivalent to the human forearm. The fifth axis of the six-axis robot is used to accurately position the end clamp to the first position or the second position through the fifth axis when the target position is determined, which is equivalent to the human wrist part. The sixth axis of the six-axis robot is used to move slightly through the sixth axis when the first position or the second position is positioned according to the fifth axis. The sixth axis is equivalent to a turntable that can rotate horizontally by 360°, which can more accurately position the first position or the second position. The software system of the six-axis robot can be reprogrammed according to the changes of the working environment and the changes of the workpiece. In the present application, the pre-programmed program can be modified to make the six-axis robot adapt to paper boxes of different sizes, thereby effectively improving the versatility of the device of the present application. The end clamp of the present application is controlled to move by the six-axis robot or mechanical hand, so that the paper box is opened, and the first material or the second material in the paper box is transported to the target position, thereby improving the automation degree of the production process.

[0066] In some embodiments, the shearing pickup device 4 includes a first cylinder 41, a pneumatic shear 42 and a pickup clamp 43. The first cylinder 41 is arranged on the mounting base plate 2, and the first cylinder 41 is used to control the action of the pneumatic shear 42 and the pickup clamp 43. The pneumatic shear 42 is connected with the first cylinder 41, and the pneumatic shear 42 is used to shear the packing belt on the paper box at the position of the packing belt to be sheared. The pickup clamp 43 is connected with the first cylinder 41, and the pickup clamp 43 is used to pick up the sheared packing belt.

[0067] The application positions the position of the to-be-cut packing belt on the carton and the position of the to-be-cut sealing opening of the sealed carton through the positioning device 3, moves the cutting and picking device 4 to the position of the to-be-cut packing belt through the mechanical arm, controls the first cylinder 41 to make the tip of the pneumatic scissors 42 cut the packing belt, controls the first cylinder 41 to make the picking clamp 43 pick the cut packing belt, then cuts the to-be-cut sealing opening through the opening cutter 6 to make the carton open, and then takes out the material from the opened carton through the grabbing device and transports the material to the target position.

[0068] In this way, the cutting of the packing belt on the carton, the cutting of the sealed carton and the transportation of the material in the carton are realized through the components of the end clamp, so that manual cutting of the packing belt, cutting of the sealed carton or transportation of the material in the carton is not needed, and the labor cost is greatly saved.

[0069] In some embodiments, the angle adjusting device 5 is arranged between the first cylinder 41 and the mounting plate 2, and is used to adjust the inclination angle of the first cylinder 41 and the mounting plate 2.

[0070] Of course, according to actual needs, the angle adjusting device 5 can be a swing device or a non-powered angle pad. For example, the first cylinder 41 is fixed to the mounting plate 2 through the angle pad, so that a preset angle of inclination is formed between the first cylinder 41 and the mounting plate 2, so that the pneumatic scissors 42 and the picking clamp 43 have enough rotation space, which is beneficial to the operation of cutting the packing belt and picking.

[0071] In some embodiments, the end clamp further comprises a cutter detection device 7; the cutter detection device 7 is connected to the bottom of the mounting plate 2, the opening cutter 6 is connected to the bottom of the cutter detection device 7, and the cutter detection device 7 is used to detect the opening cutter 6 to generate a replacement blade alarm when the head of the opening cutter 6 is detected to be incomplete.

[0072] Specifically, the cutter detection device 7 can be a cutter detection photoelectric switch; the upper end of the cutter detection photoelectric switch is connected to the lower side of the mounting plate 2, the lower end of the cutter detection photoelectric switch is connected to the opening cutter 6, and the cutter detection photoelectric switch is used to generate a replacement blade alarm when the head of the opening cutter 6 is detected to be incomplete.

[0073] In this embodiment, the replacement blade alarm generated by the cutter detection photoelectric switch can make the worker find the damage of the head of the opening cutter 6 in time, so that the head of the opening cutter is replaced in time, the production process is avoided to be delayed due to the damage of the head, and the reduction of production efficiency is avoided.

[0074] The application also provides an unpacking device, which comprises a robot or a six-axis mechanical arm and the end clamp described in the above embodiments; the end clamp is movably connected with the robot or the six-axis mechanical arm, the robot or the six-axis mechanical arm is used for controlling the movement of the end clamp, and the end clamp is the end clamp of any one of the above embodiments.

[0075] In the embodiment, the robot or the six-axis mechanical arm is movably connected with the end clamp and is used for controlling the positioning device 3, the cutting and picking device 4, the unpacking cutter 6 or the grabbing device of the end clamp to rotate to a target position according to a preprogrammed program, so that the positioning device 3, the cutting and picking device 4, the unpacking cutter 6 or the grabbing device of the end clamp complete a target operation at the target position. For example, the robot or the six-axis mechanical arm controls the pneumatic scissors 42 of the end clamp to move to a to-be-cut packing belt position of the paper box packing belt and controls the pneumatic scissors 42 to cut the paper box packing belt at the to-be-cut packing belt position.

[0076] The above describes the end clamp and the unpacking device provided by the application, and the following describes a specific unpacking process of the unpacking device provided by the application.

[0077] Step 1: When it is determined that the paper box reaches a designated unpacking position, the robot or the six-axis mechanical arm controls the positioning device 3 of the end clamp to move to the designated unpacking position, so that the positioning device 3 positions a to-be-cut packing belt position and a to-be-cut sealing position on the paper box.

[0078] In the embodiment, the paper box is conveyed by a power roller line, and a positioning cylinder in the power roller line is used for positioning the paper box. When the positioning cylinder determines that the paper box is located at the designated unpacking position, the positioning cylinder sends a first positioning signal to the robot or the six-axis mechanical arm, so that the robot or the six-axis mechanical arm determines that the paper box is located at the designated unpacking position according to the first positioning signal. When the robot or the six-axis mechanical arm determines that the paper box is located at the designated unpacking position, the six-axis robot controls the positioning device 3 of the end clamp to move to the designated unpacking position, so that the positioning device 3 positions the to-be-cut packing belt position and the to-be-cut sealing position on the paper box.

[0079] Step 2: The robot or the six-axis mechanical arm controls the pneumatic scissors 42 of the end clamp to move to the to-be-cut packing belt position and controls the pneumatic scissors 42 to cut the packing belt.

[0080] In the embodiment, when the positioning device 3 positions the to-be-cut packing belt position of the packing belt on the paper box and the to-be-cut sealing position of the paper box, the positioning device 3 sends a second positioning signal to the robot or the six-axis mechanical arm, and the second positioning signal comprises position information of the to-be-cut packing belt position and the to-be-cut sealing position, so that the robot or the six-axis mechanical arm controls the pneumatic scissors 42 of the end clamp to move to the to-be-cut packing belt position according to the to-be-cut packing belt position information in the second positioning signal and controls the pneumatic scissors 42 to cut the packing belt.

[0081] Third step: the robot or six-axis robot arm controls the pick-up clamp 43 of the end effector to move to the position of the packaging tape to be cut, and controls the pick-up clamp 43 to pick up the packaging tape;

[0082] In this embodiment, when the pneumatic scissors 42 cut the packaging tape, the robot or six-axis robot arm controls the first pneumatic cylinder 41 of the end effector to move to the position of the packaging tape to be cut, and controls the first pneumatic cylinder 41 to make the pick-up clamp 43 pick up the packaging tape, so as to avoid the packaging tape from falling on the power roller line and affecting the efficiency of carton transportation.

[0083] Fourth step: the robot or six-axis robot arm controls the opening cutter 6 of the end effector to move to the position of the sealing mouth to be cut, and controls the opening cutter 6 to cut the position of the sealing mouth to be cut, so as to open the carton;

[0084] In this embodiment, when the packaging tape picking is completed, the robot or six-axis robot arm controls the opening cutter 6 of the end effector to move to the position of the sealing mouth to be cut according to the position information of the sealing mouth to be cut in the second positioning signal, and controls the opening cutter 6 to cut the position of the sealing mouth to be cut, so as to open the carton.

[0085] Fifth step: the robot or six-axis robot arm controls the grabbing device of the end effector to move above the carton, so that the grabbing device grabs the material from the opened carton and transports the material to the target position.

[0086] In this embodiment, when it is determined that the carton is opened, the robot or six-axis robot arm controls the grabbing device of the end effector to rotate above the carton, so that the grabbing device grabs the material from the opened carton and transports the material to the target position.

[0087] In this embodiment, the robot or six-axis robot arm realizes the cutting of the packaging tape on the carton, the cutting of the sealed carton and the carrying of the material in the carton by controlling the positioning device 3, the cutting and picking device 4, the opening cutter 6 and the grabbing device of the end effector, so that manual cutting of the packaging tape, cutting of the sealed carton or carrying of the material in the carton is not needed, the labor cost is saved, and the production automation degree is improved.

[0088] It should be noted that the above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An end clamp characterized by, The application relates to a paper box cutting and material grabbing device, which comprises the following parts: a mounting bottom plate (2); a positioning device (3) arranged on the mounting bottom plate (2) and used for positioning a position to be cut and a position to be cut off on a paper box; a cutting and picking device (4) arranged on the mounting bottom plate (2) and used for cutting a packing belt on the paper box at the position to be cut and picking the cut packing belt; an opening and cutting knife (6) arranged on the lower side of the mounting bottom plate (2) and used for cutting the paper box at the position to be cut off to open the paper box; at least one grabbing device arranged on the mounting bottom plate (2) and used for grabbing materials from the opened paper box and transporting the materials to a target position; the mounting bottom plate (2) is a rectangular plate, the at least one grabbing device comprises a vacuum grabbing mechanism (8) and a clamping mechanism (9), the positioning device (3) and the clamping mechanism (9) are arranged on the two sides of the mounting bottom plate (2) along the width direction respectively, and the cutting and picking device (4) and the vacuum grabbing mechanism (8) are arranged on the two sides of the mounting bottom plate (2) along the length direction respectively; the cutting and picking device (4) comprises: a first air cylinder (41) arranged on the mounting bottom plate (2); a pneumatic cutter (42) connected with the first air cylinder (41) and used for cutting the packing belt on the paper box at the position to be cut; a picking clamp (43) connected with the first air cylinder (41) and used for picking the cut packing belt; an angle adjusting device (5) arranged between the first air cylinder (41) and the mounting bottom plate (2) and used for adjusting the inclination angle of the first air cylinder (41) and the mounting bottom plate (2); during operation, the position to be cut and the position to be cut off on the paper box are positioned by the positioning device (3), the pneumatic cutter (42) is controlled to cut the packing belt by the first air cylinder (41), the picking clamp (43) is controlled to pick the cut packing belt by the first air cylinder (41), then the position to be cut off is cut by the opening and cutting knife (6) to open the paper box, the materials are taken out from the opened paper box by the grabbing device, and the materials are transported to the target position.

2. The end clamp of claim 1, wherein the at least one grabbing device comprises the vacuum grabbing mechanism (8), the vacuum grabbing mechanism (8) comprises a vacuum suction disc (81), a vacuum detection switch (82) and a vacuum generator (83); the vacuum generator (83) is fixed on the mounting bottom plate (2), the vacuum generator (83) is communicated with the vacuum suction disc (81) through a first air guide pipe and an air guide pump to provide compressed air to the vacuum suction disc (81) so that the vacuum suction disc (81) generates negative pressure suction force to suck the materials; the vacuum detection switch (82) is located between the vacuum generator (83) and the vacuum suction disc (81), the vacuum detection switch (82) is communicated with the vacuum suction disc (81) through a second air guide pipe to generate a material falling alarm of the vacuum suction disc (81) when it is detected that the vacuum value of the vacuum suction disc (81) is smaller than a preset vacuum value.

3. The end clamp of claim 2, wherein, The vacuum generator (83) is fixed to the installation base plate (2) through a first installation plate (21), the first installation plate (21) extends to the outside of the installation base plate (2), and the positioning device (3) is fixed to the end of the first installation plate (21) away from the installation base plate (2) through a second installation plate (22).

4. The end clamp of claim 1, wherein, The at least one grabbing device comprises a clamping mechanism (9), and the clamping mechanism (9) comprises a second air cylinder (91) and a pair of clamping plates (92). The second air cylinder (91) is fixed to the installation base plate (2), and a pair of clamping plates (92) are respectively connected to two ends of the second air cylinder (91). The second air cylinder (91) is used for adjusting the distance between the pair of clamping plates (92) to clamp the materials in the carton when the carton is opened and transport the materials to the target position.

5. The end clamp of claim 4, wherein, Any one of the clamping plates (92) comprises at least two clamping heads (93), and the at least two clamping heads (93) are distributed at intervals.

6. The end clamp of claim 1, wherein, The flange connecting block (1) and the carton opening cutter (6) are respectively arranged on both sides of the thickness direction of the installation base plate (2), and the flange connecting block (1) is used for connecting with a robot or a mechanical hand for controlling the movement of the end clamp.

7. The end clamp of any one of claims 1-6, wherein, The cutter detection device (7) is further included. The cutter detection device (7) is connected to the bottom of the installation base plate (2), the carton opening cutter (6) is connected to the bottom of the cutter detection device (7), and the cutter detection device (7) is used for detecting the carton opening cutter (6) to generate a replacement blade alarm when it is detected that the blade head of the carton opening cutter (6) is incomplete.

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