A compatible robot intelligent box opening machine

Abstract

A compatible robot intelligent unpacking machine comprises a base, a collaborative robot, a cover folding mechanism and a adhesive tape sticking mechanism; the collaborative robot has a multi-joint mechanical arm, an execution end of the multi-joint mechanical arm is provided with an unpacking executor, and the collaborative robot is used for controlling the multi-joint mechanical arm to drive the unpacking executor to pick up an external box and open the box; the cover folding mechanism comprises a first cover folding piece and a second cover folding piece which are arranged at intervals, and two third cover folding pieces which are arranged on both sides of the first cover folding piece in a reciprocating mode; the collaborative robot drives the unpacking executor to drive the opened box to move in multiple degrees of freedom, so as to cooperate with the first cover folding piece and the second cover folding piece to fold small flaps of the box; and the two third cover folding pieces are used for folding large flaps of the box by approaching each other; the adhesive tape sticking mechanism is arranged at the end of the cover folding mechanism, and the collaborative robot is further used for driving the unpacking executor to move the folded cover box to the adhesive tape sticking mechanism for adhesive tape processing.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging technical field, and particularly discloses a compatible robot intelligent unpacking machine. BACKGROUND

[0002] The unpacking machines in the prior art are generally divided into two types of horizontal and vertical types. The horizontal unpacking machine generally places the box horizontally, and the box enters from the top, which is suitable for the case where the box height is low. The vertical unpacking machine places the box vertically, and the box enters from the side, which is suitable for the case where the box height is high. However, these two ways cannot be compatible to process different types of boxes due to their respective application ranges. When there are different box heights on the production line, two different types of unpacking machines are needed to process, which increases the equipment cost and floor space. When the production line needs to switch to process different types of boxes, the adjustment and replacement between the two devices will also be time-consuming and labor-intensive, affecting the production efficiency. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present application is to provide a compatible robot intelligent unpacking machine, which can simultaneously meet the horizontal and vertical requirements, so as to improve the flexibility, efficiency and cost-effectiveness of the production line.

[0004] To achieve the above-mentioned purpose, a compatible robot intelligent unpacking machine according to the present application comprises a base, a collaborative robot and a feeding mechanism. The feeding mechanism is used to store unopened boxes. The collaborative robot has a multi-joint robot arm, and the execution end of the multi-joint robot arm is provided with an unpacking executor. The collaborative robot is used to control the multi-joint robot arm to drive the unpacking executor to pick up the unopened box in the feeding mechanism and open it.

[0005] The base is provided with a cover folding mechanism and a glue sticking mechanism used in cooperation with the collaborative robot.

[0006] The cover folding mechanism comprises a first cover folding piece and a second cover folding piece arranged at intervals, and two third cover folding pieces arranged on both sides of the first cover folding piece and the second cover folding piece for reciprocating movement. The collaborative robot drives the unpacking executor to reciprocally move the opened box to cooperate with the first cover folding piece and the second cover folding piece to fold the two first flaps of the box. The two third cover folding pieces are used to approach each other to fold the two second flaps of the box.

[0007] The glue sticking mechanism is arranged at the end of the cover folding mechanism. The collaborative robot is used to drive the unpacking executor to move the box with the first and second flaps folded to the glue sticking mechanism. The glue sticking mechanism is used to perform glue sealing treatment on the folded box.

[0008] Furthermore, the collaborative robot also has a control box arranged on the base, and the multi-joint robotic arm is connected to the control box. The control box is used to control the multi-joint robotic arm to link the multi-joint manipulator to move in multiple degrees of freedom to pick up unopened boxes in the feeding mechanism and perform unpacking operations. The control box has a main control touch screen, which is used to control the movement speed of the multi-joint robotic arm and the unpacking actuator.

[0009] Furthermore, the multi-joint robotic arm includes a mounting base, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, a first arm body and a second arm body arranged on a base, the first joint is rotatably arranged on the mounting base, the second joint is rotatably connected to the first joint and is perpendicular to the rotation axis of the first joint, the first arm body is connected between the second joint and the third joint, the third joint is coaxially rotatably connected to the fourth joint, the rotation axis of the fourth joint is parallel to the rotation axis of the second joint and is perpendicular to the axis of the first arm body, the second arm body is connected between the fourth joint and the fifth joint, the fifth joint is rotatably connected to the sixth joint, the rotation axis of the sixth joint is perpendicular to the axis of the second arm body, the seventh joint is rotatably connected to the sixth joint, the rotation axis of the seventh joint is perpendicular to the rotation axis of the sixth joint, and the unpacking actuator is rotatably arranged on the seventh joint.

[0010] Furthermore, the unpacking actuator includes a first mounting plate connected to the execution end of the multi-joint robotic arm, and a first suction cup part arranged on the first mounting plate. The unpacking actuator also includes a second mounting plate rotatably arranged on the first mounting plate, and a second suction cup part arranged on the second mounting plate. The first suction cup part and the second suction cup part both have a vacuum suction cup and a vacuum generator connected to the vacuum suction cup. The first suction cup part and the second suction cup part respectively absorb two adjacent side panels of the box in a parallel state and rotate 90 degrees relative to each other to realize the unpacking action.

[0011] Furthermore, a first telescopic rod and a first driving member for driving the first telescopic rod to move back and forth are provided on the first mounting plate, and a bent first crank is provided on the second mounting plate, and the free end of the first telescopic rod is rotatably connected to the free end of the first crank; the first mounting plate and the second mounting plate realize the parallel or 90-degree rotation of the first suction cup part and the second suction cup part through the linkage cooperation of the first telescopic rod and the first crank.

[0012] Furthermore, the folding cover mechanism also includes two side support frames arranged on both sides of the first folding cover member and the second folding cover member, and the two side support frames are provided with a second telescopic rod and a second driving member for driving the second telescopic rod to move back and forth, and the two third folding cover members are respectively connected to the free ends of the two second telescopic rods; the plane where the two third folding cover members are located is lower than the plane where the first folding cover member and the second folding cover member are located.

[0013] Furthermore, an inclined guide plate is provided at the tail end of the second folding cover member, and two folding limit strips are provided on both sides of the guide plate. The two folding limit strips form a "V" structure, and the plane where the end of the folding limit strip close to the guide plate is located is located between the plane where the first folding cover member is located and the plane where the third folding cover member is located, and the free ends of the two folding limit strips extend toward the third folding cover member and are inclined downward.

[0014] Furthermore, the gluing mechanism includes a supporting frame arranged on the base, a transition plane is provided at one end of the guide plate away from the two-fold cover, and the supporting surface of the supporting frame and the transition plane are in the same plane; a reeling roller, a first gluing member and a second gluing member are rotatably provided in the supporting frame, and the free ends of the first gluing member and the second gluing member are both provided with a rotatable gluing roller, and the first gluing member and the second gluing member rotate in opposite directions, the reeling roller is used to reel the external adhesive tape onto the first gluing member, and the first gluing member and the second gluing member are used to cooperate with the movement of the box body to stick the adhesive tape on the box body;

[0015] A cutter is provided between the first adhesive member and the second adhesive member. A telescopic structure is provided at one end of the cutter. When the box moves to the telescopic structure, the cutter moves away from the tape on the box. When the box passes over the telescopic structure, the cutter returns to its original position and cuts off the tape.

[0016] Furthermore, the gluing mechanism also includes a side pressure wheel assembly, which includes a plurality of rollers rotatably arranged on one side of the supporting frame. The rollers are used to cooperate with the moving action of the unpacking actuator. When the unpacking actuator moves the box body after folding the lid to the gluing mechanism, the box body resists the rollers and is assisted in being guided to the first gluing part and the second gluing part by the rotation of the rollers.

[0017] Furthermore, the compatible robot intelligent box opener also includes a feeding mechanism arranged on one side of the collaborative robot for storing external boxes, and the external boxes are tilted and laid flat or vertically in the feeding mechanism.

[0018] Working principle of the present invention: A compatible robot intelligent box opening machine of the present invention controls the box opening actuator through a six-axis collaborative robot to cooperate with the feeding mechanism, the folding mechanism and the gluing mechanism to complete the picking, opening and sealing of unopened boxes.

[0019] The unpacking steps are as follows: first, the collaborative robot grabs the unopened box from the feeding mechanism, and the unpacking actuator moves the box to the folding mechanism and then rotates the box so that the two first hinges of the box successively contact the first folding cover and the second folding cover to be folded; secondly, the collaborative robot controls the unpacking actuator to stop the action, and the two third folding covers approach each other to contact the two second hinges of the box and make the two second hinges approach each other to cooperate with the folding limit strips for final folding; thirdly, the collaborative robot controls the unpacking actuator to drive the box to move toward the two folding limit strips in a "V" structure. After being contacted and approached by the two third folding covers, the two second hinges of the box are folded into a coplanar shape with the help of the two folding limit strips; finally, the collaborative robot controls the unpacking actuator to continue moving the folded box, and through the coordinated cooperation of the first gluing part and the second gluing part, the tape on the gluing roller is applied to the box, and the cutter cuts it to complete the sealing.

[0020] Beneficial effects of the present invention: A compatible robot intelligent box opening machine of the present invention, through the design of the above scheme, realizes fully automatic processing from box picking, box opening, lid folding to glue sealing, greatly improves production efficiency, and has strong compatibility, and is suitable for boxes of various shapes, sizes and placement methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the multi-joint robotic arm and the box opening actuator of the present invention;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the unpacking actuator of the present invention after being flattened;

[0024] Figure 4 Schematic diagram of the three-dimensional structure of the multi-joint robotic arm of the present invention;

[0025] Figure 5 is a schematic diagram of the cutaway three-dimensional structure of the first joint of the present invention;

[0026] Figure 6 is a schematic diagram of the three-dimensional structure of the folding cover mechanism of the present invention;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the adhesive laminating mechanism of the present invention;

[0028] Figure 8 Schematic diagram of the local structure of the glue sticking mechanism of the present invention Figure 1 ;

[0029] Figure 9 Schematic diagram of the local structure of the glue sticking mechanism of the present invention Figure 2 ;

[0030] Figure 10 It is a schematic diagram of the three-dimensional structure of the control box and the base of the present invention.

[0031] Reference numerals include:

[0032] 1. Base; 2. Collaborative robot; 3. Multi-joint robotic arm; 4. Box opening actuator; 5. Folding mechanism; 6. Gluing mechanism; 7. Control box; 30. Mounting base; 31. First joint; 311. Main housing; 312. Drive motor; 313. Small gear; 314. Reducer; 315. Large gear; 32. Second joint; 33. First arm; 34. Third joint; 35. Fourth joint; 36. Second arm; 37. Fifth joint; 38. Sixth joint; 39. Seventh joint; 41. First mounting plate; 411. First suction cup; 42. Second mounting plate; 421. Second suction cup Part; 43. First driving member; 44. First telescopic rod; 45. First crank; 51. First folding cover member; 52. Second folding cover member; 53. Third folding cover member; 54. Side support frame; 541. Second driving member; 542. Second telescopic rod; 55. Guide plate; 56. Folding limit strip; 60. Gluing roller; 61. Carrying frame; 62. Unwinding roller; 63. First gluing member; 64. Second gluing member; 65. Cutter; 661. Lower pressure plate; 662. Knife guard; 663. Stop handle 67. Side pressure wheel assembly; 671. Roller; 68. Connecting rod; 69. Tension spring; 71. Main control touch screen. DETAILED DESCRIPTION

[0033] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0034] See also Figures 1 to 10 As shown, a compatible robot intelligent box opening machine of the present invention includes a base 1, a collaborative robot 2 and a feeding mechanism; the feeding mechanism is used to store unopened boxes, the collaborative robot 2 has a multi-joint robotic arm 3, and the execution end of the multi-joint robotic arm 3 is provided with a box opening actuator 4, the collaborative robot 2 is used to control the multi-joint robotic arm 3 to drive the box opening actuator 4 to pick up the unopened boxes in the feeding mechanism and open them;

[0035] The base 1 is provided with a cover folding mechanism 5 and a glue sticking mechanism 6 for use with the collaborative robot 2;

[0036] The folding cover mechanism 5 includes a first folding cover member 51 and a second folding cover member 52 that are spaced apart, and two third folding cover members 53 that are reciprocatingly arranged on either side of the first folding cover member 51 and the second folding cover member 52. The central axes of the first folding cover member 51 and the second folding cover member 52 are collinearly arranged. The collaborative robot 2 drives the box opening actuator 4 to drive the opened box to move back and forth so that the first folding cover member 51 and the second folding cover member 52 contact the two first hinges of the box to be folded. The two third folding cover members 53 are used to approach each other to contact the two second hinges of the box to fold them.

[0037] The gluing mechanism 6 is arranged at the end of the folding mechanism 5, and the collaborative robot 2 is used to drive the unpacking actuator 4 to transfer the box body after the first hinge and the second hinge are folded to the gluing mechanism 6, and the gluing mechanism 6 is used to seal the folded box body with glue.

[0038] In actual use, the collaborative robot 2 picks up an unopened box from the feeding mechanism through the unpacking actuator 4 (the box in the feeding mechanism can be in a vertical or flat state here), and uses the suction and rotation functions of the manipulator to open the box into a "mouth" structure. After unpacking, the box is transported by the manipulator to the folding mechanism 5 for folding. The folding mechanism 5 is composed of two first folding members 51 and two second folding members 52. First, the collaborative robot 2 drives the manipulator to drive the box so that the two first flaps (small flaps) of the box successively contact the first folding members 51 and the second folding members 52 to fold. Afterwards, the two third folding members 53 approach each other and contact the two second flaps (large flaps) of the box. At the same time, the unpacking actuator 4 pushes the box forward to the gluing mechanism 6, so that the tape is applied to the large flap to seal the box. After the box is sealed, the unpacking actuator 4 transfers the opened and bottom-sealed box to the next process.

[0039] Specifically, the collaborative robot 2 also has a control box 7 arranged on the base 1, and the multi-joint robotic arm 3 is connected to the control box 7. The control box 7 is used to control the multi-joint robotic arm 3 to link the multi-joint manipulator to perform multi-degree-of-freedom movement to pick up the unopened box in the feeding mechanism and perform the unpacking operation. The control box 7 has a main control touch screen 71, which is used to control the movement speed of the multi-joint robotic arm 3 and the unpacking actuator 4.

[0040] The control box 7 of collaborative robot 2 is designed to manage and coordinate the collaboration between the multi-jointed robotic arm 3 and the manipulator. The multi-jointed robotic arm 3 and control box 7 are connected via a data communication interface, enabling real-time data transmission and command issuance. The main control touchscreen 71, the core of control box 7, is responsible for continuously receiving information from sensors and analyzing the surrounding environment. Based on environmental information and pre-programmed design, the main control touchscreen 71 controls the movement of the multi-jointed robotic arm 3 and the manipulator, ensuring precise multi-degree-of-freedom motion. The main control touchscreen 71 can also adjust the movement speed of the robotic arm and manipulator to accommodate different operational requirements.

[0041] Specifically, the multi-joint robotic arm 3 includes a mounting base 30, a first joint 31, a second joint 32, a third joint 34, a fourth joint 35, a fifth joint 37, a sixth joint 38, a seventh joint 39, a first arm body 33 and a second arm body 36 arranged on the base 1, the first joint 31 is rotatably arranged on the mounting base 30, the second joint 32 is rotatably connected to the first joint 31 and is perpendicular to the rotation axis of the first joint 31, the first arm body 33 is connected between the second joint 32 and the third joint 34, the third joint 34 is connected to the fourth joint 35 at the same time, and the sixth joint 38 is connected to the seventh joint 39 at the same time. The fourth joint 35 is connected in rotation with the axis, the rotation axis of the second joint 32 is parallel to the rotation axis of the second joint 32 and is perpendicular to the axis of the first arm 33. The second arm 36 is connected between the fourth joint 35 and the fifth joint 37. The fifth joint 37 is rotationally connected with the sixth joint 38, and the rotation axis of the sixth joint 38 is perpendicular to the axis of the second arm 36. The seventh joint 39 is rotationally connected with the sixth joint 38, and the rotation axis of the seventh joint 39 is perpendicular to the rotation axis of the sixth joint 38. The unpacking actuator 4 is rotationally set on the seventh joint 39.

[0042] During actual use, the first joint 31 rotates 360 degrees relative to the base 1 and drives all joints and robotic arms of the multi-joint manipulator to rotate. The second joint 32 can rotate 360 ​​degrees relative to the first joint 31 and drive the joints and robotic arms other than the first joint 31 to rotate along an axis perpendicular to the rotation axis of the first joint 31. The third joint 34 is connected to the fourth joint 35 and drives the fourth joint 35 to drive the second robotic arm, the second joint 32, the sixth joint 38, the seventh joint 39 and the unpacking actuator 4 to rotate along the axis of the third joint 34. The fifth joint 37 is connected to the sixth joint 38 and drives the sixth joint 38 to drive the seventh joint 39 and the unpacking actuator 4 to rotate around the axis of the fifth joint 37. The seventh joint 39 is connected to the sixth joint 38 and drives the unpacking actuator 4 and the body of the seventh joint 39 to rotate around the axis of the sixth joint 38. When the multi-joint manipulator picks up and places materials, the first joint 31, the second joint 32, the third joint 34, the fourth joint 35, the fifth joint 37, the sixth joint 38, the seventh joint 39 and the box opening actuator 4 work together under the control of the control box 7 to complete the actions of picking up and opening the box.

[0043] Specifically, the first joint 31, the second joint 32, the third joint 34, the fifth joint 37 and the seventh joint 39 all include a main housing 311, a drive motor 312 arranged in the main housing 311, a pinion 313 connected to the drive motor 312, and a reducer 314 connected to the pinion 313; the input end of the reducer 314 is provided with a large gear 315, the small gear 313 and the large gear 315 are connected via a belt drive, and the small gear 313 and the large gear 315 of the reducer 314 can be connected by a toothed belt, a V-belt, etc., and the drive motor 312 is connected to the control box 7.

[0044] Specifically, the unpacking actuator 4 includes a first mounting plate 41 connected to the execution end (the end of the seventh joint 39) of the multi-joint robotic arm 3, and a first suction cup part 411 arranged on the first mounting plate 41. The unpacking actuator 4 also includes a second mounting plate 42 rotatably arranged on the first mounting plate 41, and a second suction cup part 421 arranged on the second mounting plate 42. The first suction cup part 411 and the second suction cup part 421 both have a vacuum suction cup and a vacuum generator connected to the vacuum suction cup. The first suction cup part 411 and the second suction cup part 421 respectively absorb the two adjacent side panels of the box in a parallel state and rotate 90 degrees relative to each other to realize the unpacking action.

[0045] During actual use, the first mounting plate 41 rotates under the drive of the built-in drive motor 312 of the seventh joint 39, and the second mounting plate 42 is rotationally connected to the first mounting plate 41 through the crank-connecting rod 68 mechanism. When the collaborative robot 2 drives the multi-joint manipulator to link the first mounting plate 41 and the suction cup part on the second mounting plate 42 to absorb the two adjacent side panels of the external box (at this time the first mounting plate 41 and the second mounting plate 42 are coplanar), the second mounting plate 42 rotates relative to the first mounting plate 41 and makes the angle between the two be 90 degrees. At this time, the two adjacent side panels of the box are turned from a flattened state to a vertical state, that is, the box is in a "mouth" shaped open state.

[0046] Specifically, the first mounting plate 41 is provided with a first telescopic rod 44 and a first driving member 43 for driving the first telescopic rod 44 to move back and forth, and the second mounting plate 42 is provided with a bent first crank 45, and the free end of the first telescopic rod 44 is rotatably connected to the free end of the first crank 45; the first mounting plate 41 and the second mounting plate 42 realize the parallel or 90-degree rotation of the first suction cup part 411 and the second suction cup part 421 through the linkage cooperation of the first telescopic rod 44 and the first crank 45.

[0047] In this embodiment, the first driving member 43 is a miniature cylinder. The curved design of the first crank 45 converts the linear motion of the miniature cylinder into angular (rotational) motion of the crank. During the extension and retraction of the first telescopic rod 44, the movement of the first crank 45 causes the first suction cup portion 411 and the second suction cup portion 421 to rotate parallel or 90 degrees. This linkage design enables rapid and accurate suction cup movement, improving work efficiency. Furthermore, this structure enables the unpacking actuator 4 to maintain good balance and stability during movement, reducing the impact of vibration on the device and increasing its service life.

[0048] Specifically, the folding cover mechanism 5 also includes two side support frames 54 arranged on both sides of the first folding cover member 51 and the second folding cover member 52, and the two side support frames 54 are each provided with a second telescopic rod 542 and a second driving member 541 for driving the second telescopic rod 542 to move back and forth, and the two third folding cover members 53 are respectively connected to the free ends of the two second telescopic rods 542; the plane where the two third folding cover members 53 are located is lower than the plane where the first folding cover member 51 and the second folding cover member 52 are located.

[0049] In this embodiment, the first folding member 51 and the second folding member 52 are both in the shape of long strips, and a clearance position is provided between the first folding member 51 and the second folding member 52. After the box is opened, the opening actuator 4 first rotates the box under the drive of the multi-joint robot 3, causing the box to tilt and causing a small hinge at the front end of the box to contact the first folding member 51 and be automatically folded. Then, the opening actuator 4, under the drive of the multi-joint robot 3, causes the box to fall and rotate in the opposite direction to be straightened and reset. During this process, another small hinge of the box extends into the clearance position. Then, the opening actuator 4 drives the box to move forward in parallel, and the second folding member 52 contacts the other small hinge, causing the two small hinges to be folded one after another. After the two small hinges are folded, they are temporarily placed on the first and second folding members 52, which are in the shape of long strips. At this time, the two second driving members 541 (three-axis cylinders) synchronously drive the two second telescopic rods 542 to contact the two large hinges to fold them.

[0050] Specifically, an inclined guide plate 55 is provided at the tail end of the second folding cover member 52, and two folding limit strips 56 are provided on both sides of the guide plate 55. The two folding limit strips 56 form a "V" structure. The plane where the end of the folding limit strip 56 close to the guide plate 55 is located is located between the plane where the first folding cover member 51 is located and the plane where the third folding cover member 53 is located. The free ends of the two folding limit strips 56 extend toward the third folding cover member 53 and are inclined downward. The distance between the free ends of the two folding limit strips 56 is greater than the distance between the ends of the two folding limit strips 56 close to the guide plate 55.

[0051] During the transfer of the unpacking actuator 4, the large hinge of the box is folded by the two third folding parts 53 and moved forward. At this time, the "V"-shaped folding limit strip 56 located between the third folding parts 53 and the gluing mechanism 6 can play an auxiliary guiding role. In addition, the design of the guide plate 55 can make the box smoother when being transferred to the gluing mechanism 6.

[0052] Specifically, the gluing mechanism 6 includes a supporting frame 61 provided on the base 1, and a transition plane is provided at one end of the guide plate 55 away from the two-fold cover, and the supporting surface of the supporting frame 61 is in the same plane as the transition plane; a reeling roller 62, a first gluing member 63 and a second gluing member 64 are rotatably provided in the supporting frame 61, and the first gluing member 63 and the second gluing member 64 are telescopically arranged relative to the supporting frame 61, and a rotatable gluing roller 60 is provided at the free ends of the first gluing member 63 and the second gluing member 64, and the reeling roller 62 is used to reel the external adhesive tape onto the first gluing member 63, and the gluing roller 60 of the first gluing member 63 is used to cooperate with the movement of the box body to stick the adhesive tape on the box body;

[0053] A cutter 65 is provided between the first gluing member 63 and the second gluing member 64. A telescopic structure is provided at one end of the cutter 65. When the box moves to the telescopic structure, the cutter 65 moves away from the tape on the box. When the box passes over the telescopic structure, the cutter 65 returns to its original position and cuts off the tape. The gluing roller 60 of the second gluing member 64 is used to cooperate with the movement of the box to stick the remaining part of the tape cut by the cutter 65 on the box to seal the box.

[0054] The telescopic structure includes a lower pressure plate 661 rotatably mounted on the support frame 61 and connected to the blade, and a blade guard 662 rotatably mounted on the support frame 61. A stopper 663 protrudes upward from the blade guard 662, and the length of the stopper 663 is shorter than that of the lower pressure plate 661. During use, as the box body continues to move, the box body first contacts the lower pressure plate 661, causing the blade to press downward and retract. It then contacts the stopper 663, exposing the blade. After passing over the lower pressure plate 661, the lower pressure plate 661 rotates, causing the blade to move upward and cut the tape. Finally, after passing over the stopper 663, the stopper 663 rotates, causing the blade guard 662 to reset and fold the cover.

[0055] Specifically, the gluing mechanism 6 also includes a connecting rod 68 and a tension spring 69. The end of the first gluing member 63 away from the gluing roller 60 is rotatably set on the supporting frame 61 and connected to one end of the connecting rod 68. The other end of the connecting rod 68 is connected to the middle and upper position of the second gluing member 64; the supporting frame 61 is roughly rectangular, and a cross bar is provided in the middle of the supporting frame 61. One end of the tension spring 69 is connected to the cross bar, and the other end of the tension spring 69 is connected to the end of the second gluing member 64 away from the gluing roller 60.

[0056] After the gluing mechanism 6 is activated, the unwinding roller 62 begins to rotate, unwinding the outer tape and conveying it to the first gluing member 63. As the box moves, the first and second gluing members 63 and 64 begin to work, pressing the tape onto the box surface. During this process, the rotation of the gluing roller 60 effectively and tightly adheres the tape to the box surface. When the box approaches the telescopic structure of the cutter 65, the structure automatically raises to prevent contact between the blade and the tape. Once the box passes over this structure, the blade automatically resets, perfectly severing the tape and sealing the bottom of the box.

[0057] In actual use, when the collaborative robot 2 drives the box to move on the gluing mechanism 6, the box first contacts the gluing roller 60 of the first gluing part 63. At this time, the first gluing part 63 moves downward under the action of the connecting rod 68 and the tension spring 69 and drives the second gluing part 64 to move downward, and the tape is stuck to the bottom of the box by the first gluing roller 60; then the box continues to move forward and contacts the baffle to expose the blade. When the box continues to move forward, the telescopic structure causes the blade to rise upward to cut the tape; after cutting, the baffle rotates and resets to cover the blade; the box continues to move forward, and at this time the first gluing part 63 begins to reset due to the lack of resistance from the box, and is linked to the second gluing part 64 to reset upward through the connecting rod 68 and the tension spring 69. Finally, as the box continues to move forward, the tape cut by the blade is completely stuck to the bottom of the box by the second gluing part 64.

[0058] This gluing mechanism 6 automates the unwinding and application of the tape, significantly improving efficiency and reducing manpower requirements. The flat design and configuration of the gluing roller 60 ensure accurate tape application without air bubbles, enhancing the aesthetics and integrity of the product packaging. The retractable cutter 65 is designed to automatically operate according to the movement of the box, enhancing the system's flexibility and adaptability.

[0059] Specifically, the gluing mechanism 6 also includes a side pressure wheel assembly 67, which includes a plurality of rollers 671 rotatably arranged on one side of the supporting frame 61. The rollers 671 are used to cooperate with the moving action of the unpacking actuator 4. In the process of the unpacking actuator 4 transferring the box body after folding the lid to the gluing mechanism 6, the box body resists the rollers 671 and is assisted in being guided to the first gluing part 63 and the second gluing part 64 with the help of the rotation of the rollers 671.

[0060] In the working process of the gluing mechanism 6, first, the unpacking actuator 4 moves the box body with the lid folded to the specified position of the gluing mechanism 6. During this process, one side of the box body will directly contact the roller 671 in the side pressure wheel assembly 67. The side pressure wheel assembly 67 applies a certain lateral pressure to the box body through the rotating roller 671, thereby ensuring that the box body will not be offset or tilted during the movement, ensuring that it remains on the correct path. When the box body moves toward the gluing mechanism 6, the contact point between the roller 671 and the box body provides a guiding effect, so that the box body moves forward smoothly and docks with the first glue and the second glue part 64 above. When the box body reaches the gluing position, the gluing mechanism 6 can start the gluing operation.

[0061] The design of the side pressure roller assembly 67 ensures that the box maintains a stable orientation during the gluing process, improving gluing accuracy and reducing waste caused by directional deviation. By providing auxiliary guidance, the roller system 671 reduces friction on the packaged goods, making the entire gluing process smoother and improving production efficiency. The rotational design of the roller 671 effectively mitigates excessive impact forces, reducing the risk of damage to the box surface and ensuring that each box's surface remains intact.

[0062] Specifically, the compatible robot intelligent box opener also includes a feeding mechanism disposed on one side of the collaborative robot 2 for storing external boxes. The external boxes are tilted and laid flat or vertically in the feeding mechanism. In actual use, due to the multi-joint configuration of the collaborative robot 2, the box opener actuator 4 can achieve multi-degree-of-freedom movement within the X, Y, and X axes. For different feeding methods, such as vertical feeding or horizontal feeding, the box opener actuator 4 can pick up the box under the control of the collaborative robot 2, open it, and then transfer it to the folding mechanism 5 and gluing mechanism 6 for processing. This design makes the box opener more compatible and more flexible in operation, greatly improving the working efficiency of the box opener.

[0063] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A compatible robot intelligent box opener, characterized by: The invention comprises a base (1), a collaborative robot (2), a cover folding mechanism (5) and a gluing mechanism (6); the collaborative robot (2) has a multi-joint mechanical arm (3), and an execution end of the multi-joint mechanical arm (3) is provided with a box opening actuator (4); the multi-joint mechanical arm (3) of the collaborative robot (2) drives the box opening actuator (4) to pick up an unopened box from the outside and open it; The folding cover mechanism (5) comprises a first folding cover member (51) and a second folding cover member (52) arranged at intervals, and two third folding cover members (53) respectively arranged on the left and right sides of the first folding cover member (51) and the left and right sides of the second folding cover member (52); the multi-joint mechanical arm (3) of the collaborative robot (2) drives the box opening actuator (4) to drive the box body to move after opening so as to cooperate with the first folding cover member (51) and the second folding cover member (52) to abut against the two first hinges at the front and rear ends of the folding box body; the two third folding cover members (53) are used to approach each other and abut against the two second hinges at the left and right ends of the box body to fold them; The gluing mechanism (6) is arranged at the end of the folding mechanism (5), and the collaborative robot (2) is used to drive the unpacking actuator (4) to transfer the box body after the first folding leaf and the second folding leaf are folded to the gluing mechanism (6), and the gluing mechanism (6) is used to perform a sealing tape process on the box body after the folding leaf is folded; The folding cover mechanism (5) further comprises a side support frame (54) arranged on the base (1), two second telescopic rods (542) and two second driving members (541) respectively used to drive the two second telescopic rods (542) to move back and forth at both ends of the side support frame (54), the two second telescopic rods (542) being respectively located on both sides of the first folding cover member (51) and the second folding cover member (52); the two third folding cover members (53) are respectively connected to the free ends of the two second telescopic rods (542); the plane where the two third folding cover members (53) are located is lower than the plane where the first folding cover member (51) and the second folding cover member (52) are located; An inclined guide plate (55) is provided on one side of the second folding cover member (52) away from the first folding cover member (51), and two folding limit strips (56) are provided on both sides of the guide plate (55). The two folding limit strips (56) form a "V" structure. The plane where one end of the folding limit strip (56) close to the guide plate (55) is located is located between the plane where the first folding cover member (51) is located and the plane where the third folding cover member (53) is located. The free ends of the two folding limit strips (56) extend toward the third folding cover member (53) and are inclined downward. The distance between the free ends of the two folding limit strips (56) is greater than the distance between the ends of the two folding limit strips (56) close to the guide plate (55). The compatible robot intelligent box opening machine further comprises a feeding mechanism arranged on one side of the collaborative robot (2) for storing external boxes, and the external boxes are arranged in an inclined and flat shape or / and vertical shape within the feeding mechanism.

2. The compatible robot intelligent box opener according to claim 1, characterized in that: The collaborative robot (2) further comprises a control box (7) arranged on the base (1), wherein a central control unit is arranged in the control box (7), and the multi-joint robotic arm (3) is connected to the central control unit. The central control unit is used to control the multi-joint robotic arm (3) to link the unpacking actuator (4) to perform multi-degree-of-freedom movement to pick up the unopened box in the feeding mechanism and perform the unpacking operation. The control box (7) is further provided with a main control touch screen (71) connected to the central control unit, and the main control touch screen (71) is used to adjust the motion parameters of the multi-joint robotic arm (3) and the unpacking actuator (4).

3. The compatible robot intelligent box opener according to claim 1, characterized in that: The multi-joint robotic arm (3) comprises a mounting base (30) arranged on a base (1), a first joint (31), a second joint (32), a third joint (34), a fourth joint (35), a fifth joint (37), a sixth joint (38), a seventh joint (39), a first arm body (33) and a second arm body (36); The first joint (31) is rotatably mounted on the mounting base (30), the second joint (32) is rotatably connected to the first joint (31) and is perpendicular to the rotation axis of the first joint (31), the first arm (33) is connected between the second joint (32) and the third joint (34), the third joint (34) is coaxially rotatably connected to the fourth joint (35), the rotation axis of the fourth joint (35) is parallel to the rotation axis of the second joint (32) and is perpendicular to the axis of the first arm (33), the second arm (36) is connected between the fourth joint (35) and the fifth joint (37), the fifth joint (37) is rotatably connected to the sixth joint (38), the rotation axis of the sixth joint (38) is perpendicular to the axis of the second arm (36), the seventh joint (39) is rotatably connected to the sixth joint (38), the rotation axis of the seventh joint (39) is perpendicular to the rotation axis of the sixth joint (38), and the unpacking actuator (4) is rotatably mounted on the seventh joint (39).

4. The compatible robot intelligent box opener according to claim 1, characterized in that: The unpacking actuator (4) comprises a first mounting plate (41) connected to the execution end of the multi-joint mechanical arm (3), and a first suction cup portion (411) arranged on the first mounting plate (41). The unpacking actuator (4) further comprises a second mounting plate (42) rotatably arranged on the first mounting plate (41), and a second suction cup portion (421) arranged on the second mounting plate (42). The first suction cup portion (411) and the second suction cup portion (421) both have vacuum suction cups and vacuum generators connected to the vacuum suction cups. The first suction cup portion (411) and the second suction cup portion (421) of the two mounting plates in a mutually supporting state are used to respectively suck two adjacent side panels of a box body and rotate 90 degrees relative to each other to achieve an unpacking action.

5. The compatible robot intelligent box opener according to claim 4, characterized in that: The first mounting plate (41) is provided with a first telescopic rod (44) and a first driving member (43) for driving the first telescopic rod (44) to move back and forth; the second mounting plate (42) is provided with a bent first crank (45); the free end of the first telescopic rod (44) is rotatably connected to the free end of the first crank (45); the first mounting plate (41) and the second mounting plate (42) realize parallel or 90-degree rotation of the first suction cup part (411) and the second suction cup part (421) through the linkage cooperation of the first telescopic rod (44) and the first crank (45).

6. The compatible robot intelligent box opener according to claim 1, characterized in that: The gluing mechanism (6) includes a supporting frame (61) arranged on a base (1), a reeling roller (62), a first gluing member (63) and a second gluing member (64) are rotatably arranged on the supporting frame (61), the first gluing member (63) and the second gluing member (64) are telescopically arranged relative to the supporting frame (61), and a rotatable gluing roller (60) is provided at the free end of each of the first gluing member (63) and the second gluing member (64), the reeling roller (62) is used to reel the external adhesive tape onto the first gluing member (63), and the gluing roller (60) of the first gluing member (63) is used to cooperate with the movement of the box body to stick the adhesive tape on the box body; A cutter (65) is provided between the first adhesive member (63) and the second adhesive member (64), and one end of the cutter (65) is provided with a telescopic structure. When the box moves to the telescopic structure, the cutter (65) moves away from the tape on the box. When the box passes over the telescopic structure, the cutter (65) returns to its original position and cuts off the tape. The adhesive roller (60) of the second adhesive member (64) is used to cooperate with the movement of the box to roll and stick the remaining part of the tape after being cut by the cutter (65) on the folding gap of the box to seal the box.

7. The compatible robot intelligent box opener according to claim 6, characterized in that: The gluing mechanism (6) further includes a side pressure wheel assembly, which includes a plurality of rollers rotatably arranged on one side of the supporting frame (61). The rollers are used to cooperate with the transfer action of the unpacking actuator (4). When the unpacking actuator (4) transfers the box body after folding the cover to the gluing mechanism (6), the box body contacts the rollers and is assisted by the rotation of the rollers to be guided to the first gluing part (63) and the second gluing part (64).

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