Full-automatic intelligent box opening machine and box opening method

Abstract

A high-speed full-automatic intelligent box opening machine and a box opening method, the box opening machine is provided with a suction cup assembly installed on a box taking manipulator, which can grab a flat folded paper box in a box storage mechanism, then a box opening cylinder in the suction cup assembly drives an opening lever to swing inward to open the flat folded paper box, after the paper box is opened, a box conveying manipulator below moves upward, drags the opened paper box through the suction cup assembly and conveys the paper box to a folding mechanism, a small suction cup on a limiting plate at one end of the suction cup assembly can be adsorbed on one side of the paper box to provide support for the side of the paper box, and in the conveying process of the paper box to the folding mechanism, a box supporting manipulator above moves downward to adsorb the upper surface of the paper box, the paper box is firmly fixed between the box conveying manipulator and the box supporting manipulator, and is in a stable open state, avoiding the problem of left and right shaking of the paper box during the movement to the folding mechanism, and ensuring the opening quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of box opening machines, in particular to a full-automatic intelligent box opening machine and a box opening method. BACKGROUND

[0002] Cartons are widely used in product packaging in various industries. When cartons leave the factory, they are in the form of flat plates that are folded up. Before the products are packed, the cartons need to be opened by a box opening machine. Then the opened cartons are sent to a cover folding mechanism to fold the bottom cover of the carton to form the bottom of the carton, and then the folded carton is sent to a tape sealing mechanism for sealing.

[0003] There are still some problems in the current box opening machine during the opening process. For example, the carton may shake left and right during the process of being transported to the cover folding mechanism (because the bottom of the carton has not been sealed, the overall structure is not stable), which will cause the carton to shake during the cover folding process, resulting in poor flatness of the folded carton and poor opening effect. In addition, the folded flat cartons are usually neatly stacked at one end of the packing machine, and a mechanical hand is used to grab them one by one for opening. During this process, the height of the neatly stacked flat cartons will gradually decrease, so the mechanical hand needs to have a relatively large travel distance to grab the lower flat cartons, which causes inconvenience in grabbing and low efficiency in grabbing. Moreover, the existing box opening machine mainly uses a traditional linkage mechanism, and the adjustment mechanism adjusts the position by manually rotating a hand wheel to adapt to different sizes of cartons. In addition, when opening cartons of different sizes, multiple positions need to be adjusted at the same time, which is tedious and wastes manpower. At the same time, due to the large manual operation error, the cartons may be misaligned during opening, resulting in low forming rate. SUMMARY

[0004] To solve the above problems, the present application provides a full-automatic intelligent box opening machine and a box opening method.

[0005] The technical scheme of the present application is as follows: a high-speed full-automatic intelligent box opening machine, comprising a storage mechanism, a carton taking mechanical hand, a carton feeding mechanical hand, a carton supporting mechanical hand, a cover folding mechanism and a tape sealing mechanism installed in the rack. The storage mechanism is installed at one end of the rack, the carton taking mechanical hand is arranged above the storage mechanism, the vertical moving arm of the carton taking mechanical hand is provided with a suction disc assembly at the lower end, the bottom surface of the shell of the suction disc assembly is uniformly provided with a plurality of small suction discs, and a notch is formed at one end of the bottom plate. A lower end of an execution opening box lever is hingedly connected to the notch, a box opening cylinder is hingedly connected to the middle of the shell, and the outer end of the piston rod of the box opening cylinder is hingedly connected to the upper end of the execution opening box lever.

[0006] The lower side of the one side of the box taking manipulator is provided with a box feeding manipulator, and the upper end of the vertical moving arm of the box feeding manipulator is provided with a suction disc assembly B corresponding to the suction disc assembly A, wherein the suction disc assembly B is of L-shaped structure, and the vertical surface and the bottom surface are respectively provided with small suction discs.

[0007] The one side of the box feeding manipulator is provided with a cover folding mechanism, the glue sealing mechanism is arranged at the end of the box feeding manipulator, and the end cover pressing plate corresponding to the cover folding mechanism is arranged at the entrance of the glue sealing mechanism, and the upper side and the lower side of the end cover pressing plate are respectively provided with a cover folding rod.

[0008] Preferably, the storage box mechanism comprises a storage base and two storage supports; the two storage supports are symmetrically and slidably connected to the two ends of the base, and a driving assembly for driving the two storage supports to slide on the storage base is arranged on the base; the storage support comprises a square frame, a lifting plate assembly and a limiting assembly; the inner sides of the two vertical columns on the two sides of the square frame are provided with slide rails A; the two ends of the cross beam of the lifting plate assembly are slidably connected between the two slide rails A through slide blocks A; the inner sides of the two ends of the cross beam are provided with lifting plates; a lead screw is vertically connected to the middle part of the square frame, and a nut block is arranged at the middle part of the cross beam; the lead screw and the nut block are threadedly connected; and a lead screw motor is arranged at the upper end of the square frame.

[0009] The limiting assembly comprises a groove-shaped plate fixedly connected vertically between the two ends of the square frame, a square hole is arranged at the upper end of the groove-shaped plate, and a triangular limiting block extending inwardly from the square hole is rotatably connected between the two side plates of the groove-shaped plate; the upper surface of the limiting block is provided with a supporting plane, the inner side is provided with a pushing inclined surface, and the outer side of the limiting block is provided with a baffle abutting against the two sides of the square hole.

[0010] Preferably, two slide rails B are symmetrically arranged on the two sides of the storage base, and the two ends of the bottom plate of the storage support are provided with slide blocks B which are slidably connected between the two slide rails B.

[0011] Preferably, the driving assembly comprises a push rod A connected between the bottom plate of one storage support and one end plate of the storage base, and a push rod B connected between the bottom plate of the other storage support and the other end plate of the storage base.

[0012] Preferably, the cover folding mechanism comprises two cover folding plates symmetrically hinged above the supporting plate, and a cover folding cylinder is hinged to the inner side of the cover folding plate to drive the cover folding plate to swing inwardly.

[0013] Preferably, the box taking manipulator, the box feeding manipulator and the box supporting manipulator are single-belt manipulators.

[0014] Preferably, the box conveying manipulator and the box supporting manipulator simultaneously suck the carton up and down in the overlapping stroke to complete the cover folding and adhesive tape sealing, so that the stability of the box conveying process is ensured, and the misalignment of the carton is eliminated.

[0015] A box opening method of a high-speed full-automatic intelligent box opening machine, comprising the following steps:

[0016] Step one: the box storage mechanism horizontally lays the carton blank, and the jacking assembly in the box storage mechanism sends the carton blank to the box taking manipulator stroke;

[0017] Step two: the box taking manipulator sucks the carton through the suction disc assembly B, and the opening cylinder on the suction disc assembly B drives the stirring rod to act, so that the carton is in the shape of a Chinese character and is transported to the box conveying manipulator stroke at the same time;

[0018] Step three: the box taking manipulator moves downward, and the box conveying manipulator moves upward, so that the Chinese character-shaped carton is placed above the suction disc assembly B; step four: the box conveying manipulator translates through the cover folding mechanism to realize the left and right cover folding actions;

[0019] Step five: the box conveying manipulator moves to the box supporting manipulator stroke, and the carton with the completed left and right cover folding actions is simultaneously sucked and transported to the upper and lower cover folding mechanisms by the two manipulators;

[0020] Step six: after the four-side cover folding is completed, the carton is directly transported to the adhesive tape sealing mechanism to be sealed, and the whole box opening action is completed.

[0021] The box opening machine has the beneficial technical effects that:

[0022] (1) The box opening machine is provided with the suction disc assembly on the box taking manipulator, which can grab the flat folded carton in the box storage mechanism, and then the opening cylinder in the suction disc assembly drives the opening stirring rod to swing inward to open the flat folded carton.

[0023] (2) The storage base of the box opening machine is provided with a storage bracket at each end. The lower part of the storage bracket is equipped with a lifting plate assembly that can move up and down. Each end of the lifting assembly is provided with a lifting plate. The flat carton is placed between the lifting plates of the two storage brackets. The lifting plate assemblies on both sides lift several flat cartons of a certain thickness to the limiting assembly installed on the upper part of the storage bracket. When the flat carton contacts the triangular limiting block of the limiting assembly, it can push against it and swing inward, pass smoothly through the limiting block, and then the limiting block is reset under the action of the torsion spring and supported at the lower end of the flat carton. Through the continuous lifting of the lifting plate assembly, the upper part of the storage mechanism can always have flat cartons to provide materials for the box opening process. The robot only needs a small movement stroke to grab the flat carton. The grabbing process is convenient and efficient. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0025] Figure 2 This is a three-dimensional structural diagram of the box-retrieving robot of the present invention (the single belt is omitted in the figure);

[0026] Figure 3 yes Figure 2 A three-dimensional structural diagram of the suction cup component A;

[0027] Figure 4 This is a three-dimensional structural diagram of the box-delivering robot of the present invention (the single belt is omitted in the figure);

[0028] Figure 5 This is a three-dimensional structural schematic diagram of the storage tank mechanism of the present invention;

[0029] Figure 6 yes Figure 5 A three-dimensional structural diagram of the central storage support;

[0030] Figure 7 yes Figure 6 Sectional view along axis AA;

[0031] Figure 8 yes Figure 5 A three-dimensional structural diagram of the middle limiting component;

[0032] Figure 9 yes Figure 5 A schematic diagram of the rear view structure of the middle limiting component;

[0033] Figure 10 A flowchart of the cardboard box forming process of this invention.

[0034] 01. tank mechanism, 11. storage base, 111. push rod A, 112. push rod B, 113. slide rail B, 13. storage support, 131. square frame, 132. slide rail A, 133. slide block B, 14. lifting plate assembly, 141. crossbeam, 142. slide block A, 143. lifting plate, 144. nut slide block, 151. lead screw, 152. lead screw motor, 16. limit component, 161. slot-shaped plate, 162. square hole, 163. limit block, 164. baffle, 165. torsional spring, 02. box taking manipulator, 21. suction cup assembly A, 211. notch, 212. opening box actuating lever, 213. opening box cylinder, 03. box conveying manipulator, 31. suction cup assembly B, 311. limit plate, 04. box supporting manipulator, 41. suction cup assembly C, 05. sealing tape mechanism, 51. end cap pressing plate, 52. cover folding lever, 06. rack, 71. cover folding plate, 72. cover folding cylinder, 81. small suction cup. DETAILED DESCRIPTION

[0035] Embodiment one, see the description of the accompanying drawings Figures 1-10 A high-speed full-automatic intelligent box opening machine, comprising a tank mechanism, a box taking manipulator and a sealing tape mechanism installed in a rack, the tank mechanism is installed at one end of the rack, the box taking manipulator is arranged above the tank mechanism, a vertical moving arm of the box taking manipulator is provided with a suction cup assembly A at the lower end, a plurality of small suction cups are uniformly arranged on the bottom plate surface of the shell of the suction cup assembly A, the box taking manipulator is used to grab the flat paper box in the tank mechanism, a notch is arranged at one end of the bottom plate, an opening box actuating lever is hingedly connected to the shell and extends into the notch, an opening box cylinder is hingedly connected to the middle of the shell, the outer end of the piston rod of the opening box cylinder is hingedly connected to the upper end of the opening box actuating lever, and the opening box cylinder drives the opening box actuating lever to swing into the notch to open the folded flat paper box.

[0036] A box conveying manipulator is installed below one side of the box taking manipulator, a suction cup assembly B corresponding to the suction cup assembly A is installed at the upper end of the vertical moving arm of the box conveying manipulator, a limit plate is vertically arranged at one end of the suction cup assembly B, and the inner surface of the limit plate is also provided with a small suction cup, the small suction cup on the limit plate can be adsorbed on one side of the paper box to provide support for one side of the paper box; a box supporting manipulator is installed on the rack at one side of the box taking manipulator, a suction cup assembly C corresponding to the suction cup assembly B below is installed at the lower end of the vertical moving arm of the box supporting manipulator, the suction cup assembly C below the box supporting manipulator moves downward to adsorb the upper surface of the paper box, the paper box is firmly fixed between the box conveying manipulator and the box supporting manipulator to avoid the problem of left and right shaking of the paper box during movement to the cover folding mechanism;

[0037] The side of the box conveying manipulator is provided with a cover folding mechanism, the end of the box conveying manipulator is provided with a sealing tape mechanism, and the entrance of the sealing tape mechanism is provided with an end cover pressing plate corresponding to the cover folding mechanism. The cover folding mechanism folds the bottom cover of the two ends of the carton inward, and the end cover pressing plate is used to press the bottom cover of the two ends before the sealing tape is pasted instead of the cover folding mechanism. The upper and lower parts of the end cover pressing plate are respectively provided with a cover folding rod, which is used to fold the bottom cover of the two sides. The sealing tape mechanism is a commonly used mechanism, and will not be explained in detail.

[0038] The storage mechanism comprises a storage base and two storage supports; the two storage supports are symmetrically and slidably connected to the two ends of the base, and a driving assembly is installed on the base to drive the two storage supports to slide on the storage base, so that the distance between the two storage supports can be easily adjusted to adapt to different specifications of flat cartons. The storage support comprises a square frame, a lifting plate assembly and a limiting assembly. The inner sides of the vertical columns on both sides of the square frame are provided with slide rails A, the ends of the cross beam of the lifting plate assembly are slidably connected between the two slide rails A, the inner sides of the two ends of the cross beam are provided with lifting plates, a lead screw is vertically connected to the middle part of the square frame, and a nut block is arranged in the middle part of the cross beam, the lead screw and the nut block are threadedly connected, a lead screw motor is arranged at the upper end of the square frame, the lead screw motor drives the lead screw to rotate, the lead screw drives the cross beam to slide upward along the square frame through the nut block, and then the flat carton is lifted upward through the lifting plate;

[0039] At least two limiting assemblies are arranged between the two ends of the square frame to provide stable support for the flat carton.

[0040] The limiting assembly comprises a slot-shaped plate fixedly connected vertically between the two ends of the square frame, a square hole is arranged at the upper end of the slot-shaped plate, a triangular limiting block extending inward from the square hole is rotatably connected between the two side plates of the slot-shaped plate, a torsional spring is arranged between the rotating shaft of the limiting block and the slot-shaped plate, the upper surface of the limiting block is provided with a supporting plane, the inner side is provided with a pushing inclined surface as a driving surface for driving the limiting block to swing inward, and the outer side of the limiting block is provided with a baffle abutting against the two sides of the square hole. The abutting block abuts against the surface of the slot-shaped plate, so that the supporting plane of the limiting block is a horizontal plane.

[0041] Two slide rails B are symmetrically arranged on the two sides of the storage base, and slide blocks B are arranged at the two ends of the bottom plate of the storage support and slidably connected between the two slide rails B; the driving assembly comprises a push rod A and a push rod B, the push rod A is connected between the bottom plate of one storage support and one end plate of the storage base, and the push rod B is connected between the bottom plate of the other storage support and the other end plate of the storage base. The two storage supports are driven to slide on the storage base by the electric push rods, so that the distance between the two storage supports can be easily adjusted.

[0042] The folding cover mechanism comprises two folding cover plates symmetrically hinged above the support plate, and a folding cover cylinder is hinged on the inner side of the folding cover plate to drive the folding cover plate to swing inward, for folding the cover plates at both ends of the carton; the carton taking manipulator, the carton feeding manipulator and the carton supporting manipulator are all single-belt manipulators, which are the existing mechanical hand mechanisms and will not be described here.

[0043] The carton feeding manipulator and the carton supporting manipulator simultaneously suck the carton up and down in the overlapping stroke to complete the folding cover and the sealing of the adhesive tape, so as to ensure the stability of the carton feeding process and eliminate the misalignment of the carton.

[0044] Embodiment two, see the description of the accompanying drawings Figures 1-10 A carton opening method of a high-speed full-automatic intelligent carton opening machine, comprising the following steps:

[0045] Step one: the storage mechanism horizontally lays the carton blank, and the jacking assembly in the storage mechanism sends the carton blank to the carton taking manipulator stroke;

[0046] Step two: the carton taking manipulator sucks the carton through the suction cup assembly A, and the opening cylinder on the suction cup assembly A drives the opening and taking lever to act, the carton is in the shape of a "mouth" and is conveyed to the carton feeding manipulator stroke at the same time;

[0047] Step three: the carton taking manipulator moves down, and the carton feeding manipulator moves up, and the "mouth"-shaped carton is placed above the suction cup assembly B;

[0048] Step four: the carton feeding manipulator translates through the folding cover mechanism to realize the folding cover action on both sides;

[0049] Step five: the carton feeding manipulator moves to the carton supporting manipulator stroke, and the carton with folded covers on both sides is sucked and conveyed to the upper and lower folding cover mechanisms by the two manipulators;

[0050] Step six: after the four-side folding cover is completed, the carton is directly conveyed to the adhesive tape sealing mechanism for sealing, and the whole carton opening action is completed.

Claims

1. A full-automatic intelligent box opening machine, comprising a storage box mechanism, a box taking manipulator, a box sending manipulator, a box supporting manipulator, a cover folding mechanism and a adhesive tape sealing mechanism, characterized in that: the storage box mechanism is installed at one end of the rack, the box taking manipulator is arranged above the storage box mechanism, the lower end of the vertical moving arm of the box taking manipulator is provided with a suction disc assembly A, the bottom surface of the shell of the suction disc assembly A is uniformly provided with a plurality of small suction discs, and a notch is arranged at one end of the bottom plate, a box opening execution lever is hingedly connected to the shell and extends into the notch, a box opening cylinder is hingedly connected to the middle of the shell, and the outer end of the piston rod of the box opening cylinder is hingedly connected to the upper end of the box opening execution lever; a box sending manipulator is arranged below the side of the box taking manipulator, the upper end of the vertical moving arm of the box sending manipulator is provided with a suction disc assembly B corresponding to the suction disc assembly A, the suction disc assembly B is in L-shaped structure, and small suction discs are arranged on the vertical surface and the bottom surface, respectively; a box supporting manipulator is arranged on the rack at the side of the box taking manipulator, and the lower end of the vertical moving arm of the box supporting manipulator is provided with a suction disc assembly C corresponding to the suction disc assembly B below; a cover folding mechanism is arranged at the side of the box sending manipulator, and an adhesive tape sealing mechanism is arranged at the end of the box sending manipulator, and an end cover pressing plate corresponding to the cover folding mechanism is arranged at the entrance of the adhesive tape sealing mechanism, and a cover folding lever is arranged above and below the end cover pressing plate.

2. The fully automatic intelligent unpacking machine according to claim 1, characterized in that: the storage box mechanism comprises a storage base and two storage supports; the two storage supports are symmetrically and slidably connected to the two ends of the base, a driving assembly for driving the two storage supports to slide on the storage base is arranged on the base, the storage support comprises a square frame, a lifting plate assembly and a limiting assembly, the inner side of the stand on both sides of the square frame is provided with a sliding rail A, the both ends of the cross beam of the lifting plate assembly are slidably connected between the two sliding rails A through sliding blocks A, the both ends of the cross beam are provided with lifting plates on the inner side, a lead screw is vertically connected to the middle of the square frame, a nut block is arranged in the middle of the cross beam, the lead screw and the nut block are threadedly connected, and a lead screw motor is arranged at the upper end of the square frame; the limiting assembly comprises a slot-shaped plate fixedly and vertically connected between the both ends of the square frame, a square hole is arranged at the upper end of the slot-shaped plate, a triangular limiting block extending inwardly from the square hole is rotatably connected between the two side plates of the slot-shaped plate, a supporting plane is arranged on the upper surface of the limiting block, the inner side is a pushing inclined surface, and the outer side of the limiting block is provided with a baffle plate arranged on both sides of the square hole.

3. The fully automatic intelligent unpacking machine according to claim 2, characterized in that: two sliding rails B are symmetrically arranged on both sides of the storage base, and the both ends of the bottom plate of the storage support are provided with sliding blocks B and are slidably connected between the two sliding rails B.

4. The fully automatic intelligent unpacking machine according to claim 2, characterized in that: the driving assembly comprises a push rod A and a push rod B, the push rod A is connected between the bottom plate of one storage support and one end plate of the storage base, and the push rod B is connected between the bottom plate of the other storage support and the other end plate of the storage base.

5. The fully automatic intelligent unpacking machine according to claim 1, characterized in that: the cover folding mechanism comprises two cover folding plates symmetrically hingedly connected above the supporting plate, and a cover folding cylinder is hingedly connected to the inner side of the cover folding plate to drive the cover folding plate to swing inwardly.

6. The fully automatic intelligent unpacking machine according to claim 1, characterized in that: the box taking manipulator, the box sending manipulator and the box supporting manipulator are single-belt manipulators.

7. The fully automatic intelligent unpacking machine according to claim 1, characterized in that: the box sending manipulator and the box supporting manipulator overlap in stroke and simultaneously take paper boxes upward and downward to complete cover folding and adhesive tape sealing.

8. The method of claim 1-7, wherein the method comprises the following steps: Step 1: The storage box mechanism places the cardboard box blank flat, and the lifting component inside the storage box mechanism sends the cardboard box blank into the stroke of the box-taking manipulator; Step 2: The box-taking manipulator sucks the cardboard box through the suction cup component A. At the same time, the opening cylinder on the suction cup component A drives the execution of the opening lever action, and the cardboard box is in a "mouth" shape. While forming, it is conveyed into the stroke of the box-sending manipulator; Step 3: The box-taking manipulator moves downwards, and the box-sending manipulator moves upwards. The "mouth"-shaped cardboard box is placed above the suction cup component B; Step 4: The box-sending manipulator moves horizontally past the flap folding mechanism to achieve the flap folding action on the left and right sides; Step 5: The box-sending manipulator moves into the stroke of the box-supporting manipulator. The cardboard box with the left and right flaps folded is simultaneously sucked by the two manipulators and conveyed to the upper and lower flap folding mechanism; Step 6: After the four-sided flap folding is completed, it is directly conveyed into the tape sealing mechanism for packaging, completing the entire box-opening action.

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