A highly versatile and efficient automatic box-covering device and box-covering method

Abstract

The present invention discloses a highly versatile and efficient automatic box-covering device and box-covering method, which comprises a conveyor line, a box-taking robot and a box-opening and box-covering mechanism arranged on both sides of the conveyor line, and a carton feeding bin located beside the box-taking robot; the box-opening and box-covering mechanism comprises a first lifting module and a second lifting module, a second bracket driven by the first lifting module to move up and down, a third bracket driven by the second lifting module to move up and down and located below the second bracket, a third suction cup group arranged on the second bracket and adsorbing the rear surface of the carton, a plurality of clamping assemblies arranged on the second bracket and clamping the top of the side edge of the three-dimensional carton, and an inner support support module arranged on the third bracket to hold the bottom of the three-dimensional carton and support the three-dimensional carton from the inside to keep it in an open state. The present invention can quickly and efficiently complete the box-covering action, greatly improving the production rhythm of the packaging line.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging equipment, and in particular relates to a highly versatile and efficient automatic box-covering equipment and a box-covering method. Background Art

[0002] After the production of photovoltaic modules is completed, they need to be stacked and packaged. After the stacking is completed, a cardboard box needs to be put around the outer periphery of the stack, so automatic box-putting equipment is needed.

[0003] Automatic box-covering equipment generally includes carton picking, opening, and box-covering actions. Patent CN217836248U in the prior art discloses a robot-type automatic box-opening and box-covering equipment, which uses a robot to pick up and open cartons, and then cooperates with an auxiliary box-opening unit to adsorb the two opposite surfaces of the box, and then synchronously moves downward to cover the box on the periphery of the photovoltaic module. Patent CN117326146B also discloses an automatic box-covering machine, which also uses a robot to pick up a box, and then open the box. After the box is opened, it is placed on a box-supporting assembly, the bottom of the box is expanded and maintained, and then the robot and the box-supporting assembly descend together to cover the box on the product. After descending a certain distance, the robot continues to adsorb the box, and the box-supporting assembly is pulled out, and the robot completes the final stage of box-covering.

[0004] Although the above-mentioned box-nesting equipment all realizes the automatic box-nesting packaging action, the robot has to participate in the entire box-nesting action and can only withdraw to take down the next carton after the box is completely put on the product, so the box-nesting operation efficiency is low.

[0005] Therefore, it is necessary to provide a new and highly versatile and efficient automatic box-covering equipment and box-covering method to solve the above-mentioned technical problems. Summary of the invention

[0006] One of the main purposes of the present invention is to provide a highly versatile and efficient automatic box-covering device, which can quickly and efficiently complete the box-covering action and greatly improve the production rhythm of the packaging line.

[0007] The present invention achieves the above-mentioned purpose through the following technical scheme: a highly versatile and efficient automatic box-nesting equipment, which includes a conveyor line, a box-taking robot and a box-opening and box-nesting mechanism arranged on the front and rear sides of the conveyor line, and a carton feeding bin located next to the box-taking robot; the box-opening and box-nesting mechanism includes a first lifting module and a second lifting module, a second bracket driven by the first lifting module to move up and down, a third bracket driven by the second lifting module to move up and down and located below the second bracket, a third suction cup group arranged on the second bracket and adsorbing the rear surface of the carton, a plurality of clamping components arranged on the second bracket and clamping the top of the side edge of the three-dimensional carton, and an internal support module arranged on the third bracket to support the bottom of the three-dimensional carton and support the three-dimensional carton from the inside to keep it in an open state.

[0008] Furthermore, the box-picking robot includes a multi-axis robot, a first bracket arranged at the movable end of the multi-axis robot, and a first suction cup group arranged on the first bracket.

[0009] Furthermore, a second suction cup group is provided on the first bracket, and the first suction cup group and the second suction cup group are independently vacuum controlled; the first suction cup group adsorbs the front surface of the carton, and the second suction cup group adsorbs the left surface or the right surface of the flat carton.

[0010] Furthermore, when taking a box, the first suction cup group and the second suction cup group jointly adsorb the flat carton; when opening the box, the first suction cup group maintains adsorption on the front surface of the carton, and the second suction cup group cancels adsorption on the carton.

[0011] Furthermore, the clamping assembly is provided with two groups, respectively clamping the left and right side tops of the three-dimensional carton; the clamping assembly includes a first cylinder fixed on the second bracket and a pair of clamping claws driven by the first cylinder to open or clamp.

[0012] Furthermore, the second bracket is provided with a position adjustment module for adjusting the distance between the two groups of the clamping assemblies; the position adjustment module includes a first motor fixed on the second bracket and a pair of movable supporting pressure bars which are slidably arranged on the second bracket and driven by the first motor to move left and right, the clamping assembly is fixedly arranged on the movable supporting pressure bars, and the second bracket is provided with a plurality of fixed pressure bars which press down the three-dimensional carton together with the movable supporting pressure bars.

[0013] Furthermore, the inner support module includes a plurality of support components and a driving module that drives the support components to move forward, backward, left and right; the support components include a support base plate that supports the bottom of the three-dimensional carton and an inner support plate that is arranged on the support base plate and supports the inner side of the corner or side of the three-dimensional carton.

[0014] Furthermore, the driving module includes a second motor fixed on the third bracket, a pair of first support plates driven by the second motor to move left and right, a pair of third motors fixed on the first support plates, and a pair of second support plates driven by the third motor to move forward and backward, and the support assembly is provided on each of the second support plates.

[0015] Furthermore, it also includes a lifting mechanism for lifting the photovoltaic components on the conveyor line upwards and a precision positioning module for accurately positioning the photovoltaic components around them.

[0016] Furthermore, the precision positioning module includes a plurality of positioning components; one positioning component is provided on each second support plate below the support component; the positioning component includes a second cylinder fixed on the second support plate and a right-angle correction plate driven by the second cylinder to move horizontally.

[0017] Furthermore, the lifting mechanism is embedded below the conveyor line and includes a third cylinder, a fourth bracket driven by the third cylinder to move up and down, and a plurality of floating support platforms arranged on the fourth bracket.

[0018] Another object of the present invention is to provide an efficient automatic box-fitting method, which is implemented based on the efficient automatic box-fitting device as described above, and comprises the following steps:

[0019] S1, photovoltaic modules are transported to the designated position through the conveyor line;

[0020] S2. During step S2, the box-taking robot takes out a flat carton from the carton supply bin and moves it to the bottom of the second bracket;

[0021] S3, the box-retrieving robot sucks the front surface of the flat carton against the third suction cup group, and the third suction cup group sucks the rear surface of the flat carton. The box-retrieving robot pulls the front side panel of the flat carton outward and adjusts it toward the middle to open the flat carton into a three-dimensional carton state;

[0022] S4, the clamping assembly clamps the top of the left and right sides of the three-dimensional carton;

[0023] S5, the first lifting module drives the second bracket to descend, and the third suction cup group absorbs one side of the three-dimensional carton and then descends, and the three-dimensional carton is placed on the inner support support module; the bottom of the three-dimensional carton is located on the support bottom plate of the support assembly, and the inner support plate supports the three-dimensional carton from the inside; during this process, the box-taking robot withdraws to take the next flat carton, or absorbs the front surface of the three-dimensional carton and descends synchronously, and withdraws to take the next flat carton after the three-dimensional carton is placed on the support bottom plate;

[0024] S6, the second lifting module drives the third bracket to descend, and the first lifting module drives the second bracket to descend synchronously, so that the three-dimensional carton is inserted into the photovoltaic module to a set depth;

[0025] S7, the second bracket stops descending, the third bracket continues to descend, and the driving module drives the supporting assembly to evacuate;

[0026] S8, the clamping assembly releases the clamping of the three-dimensional carton, the second bracket continues to descend, and the movable support pressure rod on the second bracket is used to press the three-dimensional carton down into place to complete the box nesting.

[0027] Furthermore, it also includes using a precision positioning module to accurately position the four sides of the photovoltaic component before putting the three-dimensional carton on the photovoltaic component in step S6; the precision positioning module is arranged beside or below the conveyor line, or is arranged at the active end of the driving module and is located below the support component.

[0028] Compared with the prior art, the highly versatile and efficient automatic box-covering equipment and box-covering method of the present invention have the beneficial effect of being able to quickly and efficiently complete the box-covering action and greatly improve the production rhythm of the packaging line. Specifically,

[0029] (1) By setting up a carton opening and box-sleeving mechanism, the carton automatic box-sleeving action can be completed. After the carton is taken out and the carton is opened in cooperation with the carton opening and box-sleeving mechanism, the carton-taking robot can withdraw to take the next flat carton. The subsequent box-sleeving action is completed by the carton opening and box-sleeving mechanism. The carton taking and box-sleeving actions are completed by two separate mechanisms, thereby achieving synchronous operation. Compared with the original carton-taking robot that performs carton taking, carton opening and box-sleeving actions in sequence, the operation efficiency is greatly improved;

[0030] (2) In the box opening and box inserting mechanism, two independently lifting second brackets and third brackets are provided. A third suction cup group, a clamping assembly and a pressure rod assembly are provided on the second bracket. The third suction cup group is used to realize box opening. The clamping assembly is used to clamp the top of the three-dimensional carton after box opening, keep the carton open and provide an upward force to the carton. The pressure rod assembly presses the three-dimensional carton down into place in the final stage of box inserting. An internal support support module is provided on the third bracket, which includes a support assembly and a driving module. The driving module drives the support assembly to support the bottom of the three-dimensional carton on the one hand, and to open the three-dimensional carton from the inside on the other hand, so as to ensure that the bottom of the three-dimensional carton can be smoothly inserted into the periphery of the photovoltaic module. During the box inserting process, the second bracket and the third bracket descend synchronously, thereby smoothly realizing the box inserting action.

[0031] (3) By setting up a precision positioning module, the positions of the four sides of the photovoltaic module can be precisely positioned before the box is put on, and the photovoltaic module can be lifted up by using a floating support platform in conjunction with the lifting mechanism, making it easier for the photovoltaic module to float horizontally, thereby making it easier for the precision positioning module to fine-tune the horizontal position of the photovoltaic module. Precise positioning of the photovoltaic module ensures the accurate and smooth putting of the three-dimensional carton, and improves the reliability and smoothness of the putting-on action. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of a box-taking robot in an embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of a box opening and box closing mechanism and a conveying line in an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of the second bracket in an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the clamping assembly in an embodiment of the present invention;

[0037] Figure 6 It is a structural schematic diagram of the inner support module on the third bracket in an embodiment of the present invention;

[0038] Figure 7 It is a structural schematic diagram of a support assembly and a precision positioning module in an embodiment of the present invention;

[0039] Figure 8 It is a schematic diagram of the structure of the conveying line, the lifting mechanism and the correcting mechanism in the embodiment of the present invention;

[0040] Fig. 9 It is a structural schematic diagram of the jacking mechanism in an embodiment of the present invention;

[0041] The numbers in the figure represent:

[0042] 100-highly versatile and efficient automatic box-packing equipment; 200-photovoltaic modules; 300-flat carton;

[0043] 1- conveyor line; 2- box picking robot, 21- multi-axis robot, 22- first bracket, 23- first suction cup group, 24- second suction cup group;

[0044] 3-box opening and closing mechanism, 31-first lifting module, 32-second lifting module, 33-second bracket, 331-fixed pressure rod, 34-third bracket, 35-third suction cup group, 36-clamping assembly, 361-first cylinder, 362-clamping claw, 37-inner support module, 371-support assembly, 3711-support bottom plate, 3712-inner support plate, 372-driving module, 3721-second motor, 3722-first support plate, 3723-third motor, 3724-second support plate, 38-position adjustment module, 381-first motor, 382-movable support pressure rod, 39-precision positioning module, 391-second cylinder, 392-right angle return plate;

[0045] 4-lifting mechanism, 41-third cylinder, 42-fourth bracket, 43-floating support platform;

[0046] 5-correction mechanism; 6-carton feeding bin. DETAILED DESCRIPTION

[0047] Embodiment 1:

[0048] Please refer to Figure 1-Figure 9 The present embodiment is a highly versatile and efficient automatic box-covering equipment 100, which includes a conveyor line 1, a box-removing robot 2 and a box-opening and box-covering mechanism 3 arranged on the front and rear sides of the conveyor line 1, a lifting mechanism 4 for lifting the photovoltaic components 200 on the conveyor line 1 upward, a correction mechanism 5 for correcting the position of the photovoltaic components 200 on the lifting mechanism 4, and a carton supply bin 6 located on the left and right sides of the box-removing robot 2.

[0049] The box-taking robot 2 includes a multi-axis robot 21, a first bracket 22 arranged at the movable end of the multi-axis robot 21, and a first suction cup group 23 arranged on the first bracket 22. The multi-axis robot 21 drives the first suction cup group 23 to suck the unopened flat carton 300 from the carton feeding bin 6, and then moves to the top of the photovoltaic module 200, and cooperates with the box opening and box inserting mechanism 3 to open the carton. A second suction cup group 24 is also arranged on the first bracket 22, and the first suction cup group 23 and the second suction cup group 24 are vacuum-controlled separately. When taking the box, the first suction cup group 23 and the second suction cup group 24 jointly absorb the unopened flat carton 300. When opening the box, the first suction cup group 23 maintains the adsorption function on the surface of one side of the flat carton 300, and the second suction cup group 24 cancels the adsorption function on the flat carton 300.

[0050] Generally speaking, in order to save space and facilitate packaging and transportation, incoming cartons are generally stacked together in a compressed state, and the compression rule is generally that two adjacent side surfaces are compressed into a plane, and the other two adjacent side surfaces are also compressed into a plane, and the two planes are superimposed to form a cardboard shape, and then multiple cardboards can be stacked. When taking a box, the first suction cup group 23 and the second suction cup group 24 jointly adsorb the carton, wherein the first suction cup group 23 adsorbs a main side surface (i.e., a side with a larger area) of a flat carton ("flat carton" is a carton when it is not opened), and the second suction cup group 24 adsorbs an adjacent side surface of the flat carton. On the one hand, it can ensure that the carton maintains its flatness before it is opened, so that when the carton is opened later, the unpacking mechanism 3 can accurately and effectively adsorb the other main side surface of the flat carton; on the other hand, by adsorbing the two adjacent side surfaces of the flat carton, it can effectively prevent the carton from drooping and slightly opening by the lower cardboard due to gravity, resulting in subsequent inability to open the carton normally.

[0051] In this embodiment, the box opening and box inserting mechanism 3 is mainly used to open the flat carton into a three-dimensional carton with the box taking robot 2, and then keep the carton in the open state and insert it onto the photovoltaic module 200. The box opening and box inserting mechanism 3 includes a first lifting module 31 and a second lifting module 32, a second bracket 33 arranged at the movable end of the first lifting module 31, a third bracket 34 arranged at the movable end of the second lifting module 32 and located below the second bracket 33, a third suction cup group 35 arranged on the second bracket 33 and adsorbing the vertical main side surface of the flat carton, a plurality of clamping components 36 arranged on the second bracket 33 and clamping the top of the side edge of the three-dimensional carton, and an inner support support module 37 arranged on the third bracket 34 to support the bottom of the three-dimensional carton and support the three-dimensional carton from the inside to keep it in the open state. The three-dimensional carton is the state after the flat carton is opened.

[0052] The third suction cup group 35 forms a vertical suction surface as a whole, which is used to assist in unpacking, and at the same time maintains suction on the side surface of the three-dimensional carton after unpacking. When unpacking, the first suction cup group 23 sucks one main side surface (i.e., the front side surface) of the flat carton, and the third suction cup group 35 sucks the other main side surface (i.e., the rear side surface) of the flat carton, and then the first suction cup group 23 sucks the carton and pulls it apart, so that the flat carton is opened to form a three-dimensional carton.

[0053] The clamping assembly 36 is provided with two groups, which clamp the left and right side tops of the three-dimensional carton respectively, so that the carton can be kept in an open state after it is opened; on the other hand, at the end of the boxing, when the inner support module 37 is pulled out of the carton, the clamping assembly 36 can clamp and pull the three-dimensional carton from above to prevent the three-dimensional carton from falling with the inner support module 37, so that the inner support module 37 cannot be smoothly pulled out of the three-dimensional carton. The clamping assembly 36 includes a first cylinder 361 fixed to the second bracket 33 and a pair of clamping claws 362 driven by the first cylinder 361 to open or clamp.

[0054] In order to be applicable to cartons of various sizes, a position adjustment module 38 for adjusting the distance between the two groups of clamping assemblies 36 is provided on the second bracket 33. The position adjustment module 38 includes a first motor 381 fixed on the second bracket 33 and a pair of movable support pressure rods 382 that are slidably arranged on the second bracket 33 and driven by the first motor 381 to move left and right. The clamping assembly 36 is fixedly arranged on the movable support pressure rod 382, ​​and the position adjustment of the clamping assembly 36 is achieved as the movable support pressure rod 382 moves left and right. The second bracket 33 is also provided with a fixed pressure rod 331 that presses down the three-dimensional carton together with the movable support pressure rod 382. The movable support pressure rod 382 and the fixed pressure rod 331 together constitute a pressure rod assembly that presses down the three-dimensional carton. On the one hand, the movable support pressure bar 382 is used as the installation body of the clamping assembly 36. On the other hand, in the final stage of box casing, before the carton is put into place, the inner support support module 37 at the bottom needs to be pulled out from the inside of the carton. After the inner support support module 37 is pulled out, the carton is only held by the clamping assembly 36 and the third suction cup group 35. In order to prevent the carton from falling and not being put into place, the movable support pressure bar 382 and the fixed pressure bar 331 are used to press the three-dimensional carton downward, so as to ensure that the three-dimensional carton is completely pressed down into place and the casing is completed. In addition, the left and right positions of the movable support pressure bar 382 can be automatically adjusted, which can be applied to the pressing down of cartons of various sizes.

[0055] The movable support pressure rod 382 and the fixed pressure rod 331 extend forward and backward and their lengths cover the section between the front and rear sides of the three-dimensional carton, so that when pressed down, the pressure rod assembly can press the tops of the front and rear sides of the three-dimensional carton to ensure that the three-dimensional carton descends uniformly as a whole and remains flat without being skewed.

[0056] When the jaws 362 are in the open state, the bottom of the jaws 362 is higher than the lower surface of the movable supporting pressure rod 382, ​​so that the movable supporting pressure rod 382 can act on the three-dimensional carton; when the jaws 362 are in the clamping state, the bottom of the jaws 362 is lower than the lower surface of the movable supporting pressure rod 382, ​​so that the jaws 362 can clamp the top side of the three-dimensional carton.

[0057] The inner support support module 37 includes four groups of support components 371 and a driving module 372 for driving the four groups of support components 371 to move forward, backward, left and right. The support component 371 includes a support base plate 3711 supporting the bottom of the three-dimensional carton and an inner support plate 3712 arranged on the support base plate 3711 and supporting the inner side of the corner of the three-dimensional carton. The driving module 372 includes a second motor 3721 fixed on the third bracket 34, a pair of first support plates 3722 driven by the second motor 3721 to move left and right, a pair of third motors 3723 fixed on the first support plate 3722, and a pair of second support plates 3724 driven by the third motor 3723 to move forward and backward. The driving module 372 has four movable ends, each of which is provided with a second support plate 3724, and each second support plate 3724 is provided with a support component 371. The four support components 371 are respectively arranged on the four second support plates 3724 to achieve position movement. Through the driving module 372, on the one hand, the support component 371 can be driven to transfer between the working position and the waiting position, and on the other hand, the support component 371 can be driven to adjust the position to be suitable for three-dimensional cartons of various sizes, thereby improving the versatility of the equipment.

[0058] In other embodiments, the inner support plate 3712 in the support assembly 371 can also be configured to support the four side bottoms of the three-dimensional carton from the inside. Generally, when a carton is put into a box, the four corner areas of the photovoltaic module are easily stuck. Therefore, preferably, the inner support plate 3712 is configured to support the four corner areas of the three-dimensional carton from the inside.

[0059] The inner support plate 3712 is arranged in an upright state at the end of the supporting base plate 3711, which will not interfere with the outer surface of the photovoltaic module while ensuring the internal support of the three-dimensional carton, so as to ensure that the supporting component 371 can smoothly descend from top to bottom along the outer periphery of the photovoltaic module to complete the carton installation.

[0060] A rectangular frame structure is formed on the third bracket 34. The driving module 372 drives the support component 371 to move within the rectangular frame. The four corner areas of the three-dimensional carton are located on the support component 371 and move downward with the support component 371 to be inserted into the box. The middle opening of the rectangular frame can just avoid the photovoltaic component 200, allowing the photovoltaic component 200 to extend into the interior of the three-dimensional carton.

[0061] When the photovoltaic component 200 is transported to the box-putting station through the conveyor line 1, there will be differences in the position where it stays, and there will be errors in the position where the photovoltaic component 200 is placed on the bottom pallet. However, the position of the three-dimensional carton is fixed. Therefore, in order to ensure that the three-dimensional carton can be smoothly put on the periphery of the photovoltaic component 200, this embodiment also includes a precision positioning module 39.

[0062] The photovoltaic assembly is precisely positioned around the periphery through the precision positioning module 39. The precision positioning module 39 includes four positioning components, which act on the four corner areas of the photovoltaic assembly 200 respectively, and precisely position the positions around the photovoltaic assembly 200 to ensure that the three-dimensional carton can be smoothly put into the box. The four positioning components are respectively arranged on the four second support plates 3724 and are located below the support component 371, and together with the second support plate 3724, the position adjustment and the position transfer between the working position and the waiting position are realized. The positioning component includes a second cylinder 391 fixed on the second support plate 3724 and a right-angle correction plate 392 driven by the second cylinder 391 to move horizontally.

[0063] In other embodiments, the precise positioning module 39 may be separate, or the precise positioning function may be integrated into the correction mechanism 5. The structure of the correction mechanism 5 may also adopt the existing technology, which includes a long side positioning component and a short side positioning component. The long side positioning component may be arranged on the front and rear sides of the conveyor line 1, and the short side positioning component may be embedded below the conveyor line 1 and located on the left and right sides of the lifting mechanism 4. Alternatively, the correction mechanism 5 includes four correction components, which are arranged on the front and rear sides of the conveyor line 1, aligned with the four corner areas of the photovoltaic module, and accurately position the four corner positions of the photovoltaic module.

[0064] The lifting mechanism 4 is embedded below the conveyor line 1 and includes a third cylinder 41, a fourth bracket 42 driven by the third cylinder 41 to move up and down, and a plurality of floating support platforms 43 arranged on the fourth bracket 42. The size of the floating support platform 43 should not be too large. When designing, the plane area size should be reduced as much as possible under the premise of ensuring sufficient supporting capacity, so as to reduce the size of the gap opened on the conveyor line 1 and reduce the impact of the gap on the conveyor line 1 on the movement of the photovoltaic module.

[0065] In one embodiment, the surface of the floating support platform 43 is covered with a plurality of balls to reduce friction, so that the photovoltaic assembly 200 located on the floating support platform 43 is easier to be pushed.

[0066] In another embodiment, the floating support platform 43 selects an existing structure on the market, such as an air-locked floating bearing device disclosed in patent TWM558793U, which has a floating platform. When the floating function is needed, the floating platform is free relative to the base and has a horizontal floating freedom of 360°. When the floating function is not needed, the floating platform is locked and remains stationary.

[0067] In order to ensure that the lifting mechanism 4 can reliably lift the photovoltaic assembly 200 upward as a whole and separate it from the surface of the conveyor line 1, so that the correction mechanism 5 can easily correct the position of the photovoltaic assembly 200, this embodiment adopts multiple floating support platforms 43 to jointly support the photovoltaic assembly 200. The multiple floating support platforms 43 cover most of the area on the lower surface of the photovoltaic assembly 200 to prevent the photovoltaic assembly 200 from collapsing in a local area or tipping over due to unstable support. In addition, since the floating support platform 43 is embedded in the conveyor line 1, when not needed, the floating support platform 43 is located below the conveyor line 1, and when needed, the floating support platform 43 extends upward from the conveyor line 1. Therefore, a certain hollow opening needs to be opened on the conveyor line 1 for the floating support platform 43 to perform lifting activities. However, if the size of the hollow opening is too large, it will affect the normal transportation of the photovoltaic assembly 200. When passing through the hollow opening, it is easy to get stuck or bump with a large amplitude, and there is a risk of damage to the product. Therefore, in order to solve the above problems, this embodiment adopts multiple smaller floating support platforms 43, which can not only ensure that the photovoltaic components 200 are sufficiently, reliably and effectively supported, but also ensure that the photovoltaic components 200 are smoothly and smoothly transported on the conveyor line 1.

[0068] This embodiment also provides an efficient automatic box nesting method, which includes the following steps:

[0069] S1, the photovoltaic module 200 is transported to the box-mounting station through the conveyor line 1;

[0070] S2, the lifting mechanism 4 lifts the photovoltaic module 200 upwards and separates it from the surface of the conveyor line 1, and the correcting mechanism 5 positions the photovoltaic module 200. After positioning, the photovoltaic module 200 falls back onto the conveyor line 1;

[0071] S3, during steps S1 to S2, the box taking robot 2 takes out a flat carton from the carton supply bin 6 and moves it to the bottom of the second bracket 33;

[0072] S4, the box-taking robot 2 sucks the front surface of the flat carton against the third suction cup group 35, and the third suction cup group 35 sucks the rear surface of the flat carton. The box-taking robot 2 pulls the front side panel of the flat carton outward and adjusts it toward the middle, opening the flat carton into a three-dimensional carton state;

[0073] S5, the clamping assembly 36 clamps the top of the left and right sides of the three-dimensional carton;

[0074] S6, the first lifting module 31 drives the second bracket 33 to descend, and the third suction cup group 35 sucks one side of the three-dimensional carton and then descends, and the three-dimensional carton is placed on the inner support support module 37; the bottom of the three-dimensional carton is located on the support bottom plate 3711 of the support component 371, and the inner support plate 3712 in the support component 371 supports the corner area of ​​the three-dimensional carton from the inside; during this process, the box-taking robot 2 can withdraw to take the next flat carton, or it can suck the front surface of the three-dimensional carton and cooperate with it to descend synchronously, and withdraw to take the next flat carton after the three-dimensional carton is placed on the support bottom plate 3711;

[0075] S7, the second lifting module 32 drives the third bracket 34 to descend to a set height, the first lifting module 31 drives the second bracket 33 to descend synchronously at a constant speed, and the three-dimensional carton is inserted into the photovoltaic module 200 to a set depth;

[0076] S8, the second bracket 33 stops descending, the third bracket 34 continues to descend, and the driving module 372 drives the supporting assembly 371 to evacuate;

[0077] S9, the clamping assembly 36 releases the clamping of the three-dimensional carton, the second bracket 33 continues to descend, and the three-dimensional carton is pressed down into place by the pressure rod assembly to complete the box nesting.

[0078] In one embodiment, step S2 further comprises using a precise positioning module 39 disposed beside the conveyor line 1 to precisely position the four sides of the photovoltaic assembly 200 .

[0079] In another embodiment, step S7 further includes: before the three-dimensional carton is placed on the photovoltaic assembly 200 , the precise positioning module 39 on the third bracket 34 is used to precisely position the four sides of the photovoltaic assembly 200 .

[0080] In this embodiment, a "flat carton" is a carton in an unopened and folded state; a "three-dimensional carton" is a carton in a three-dimensional rectangular state after opening; and "carton" is a general term for "flat carton" and "three-dimensional carton".

[0081] For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, all of which fall within the protection scope of the present invention.

Claims

1. A highly versatile and efficient automatic box-packing equipment, characterized by: It includes a conveyor line, a box-taking robot and a box-opening and box-covering mechanism arranged on both sides of the conveyor line, and a carton feeding bin located beside the box-taking robot; the box-opening and box-covering mechanism includes a first lifting module and a second lifting module, a second bracket driven by the first lifting module to move up and down, a third bracket driven by the second lifting module to move up and down and located below the second bracket, a third suction cup group arranged on the second bracket and adsorbing the rear surface of the carton, a plurality of clamping components arranged on the second bracket and clamping the top of the side edge of the three-dimensional carton, and an inner support support module arranged on the third bracket to support the bottom of the three-dimensional carton and support the three-dimensional carton from the inside to keep it in an open state; The clamping assembly is provided with at least two pairs for clamping the tops of the left and right sides of the three-dimensional carton respectively, and the clamping assembly includes a first cylinder fixed on the second bracket and a pair of clamping claws driven by the first cylinder to open or clamp; The second bracket is provided with a position adjustment module for adjusting the distance between the two groups of the clamping assemblies; The inner support module includes a plurality of support components and a driving module for driving the support components to move forward, backward, left and right; the support component includes a support bottom plate for supporting the bottom of the three-dimensional carton and an inner support plate arranged on the support bottom plate and supporting the inner side of the corner or the inner side of the side of the three-dimensional carton; The clamping assembly clamps and lifts the three-dimensional carton in the final stage of box insertion so that the inner support module can be smoothly withdrawn from the inside of the three-dimensional carton.

2. The highly versatile and efficient automatic box-covering equipment according to claim 1 is characterized in that: The box-picking robot comprises a multi-axis robot, a first bracket arranged at the movable end of the multi-axis robot, and a first suction cup group arranged on the first bracket.

3. The highly versatile and efficient automatic box-covering equipment according to claim 2, characterized in that: A second suction cup group is also provided on the first bracket, and the first suction cup group and the second suction cup group are independently vacuum controlled; the first suction cup group adsorbs the front surface of the carton, and the second suction cup group adsorbs the left surface or the right surface of the flat carton.

4. The highly versatile and efficient automatic box-covering equipment according to claim 3 is characterized in that: When taking a box, the first suction cup group and the second suction cup group jointly adsorb the flat carton; when opening the box, the first suction cup group maintains adsorption on the front surface of the carton, and the second suction cup group cancels adsorption on the carton.

5. The highly versatile and efficient automatic box-covering equipment according to claim 1 is characterized in that: The position adjustment module includes a first motor fixed on the second bracket and a pair of movable support rods slidably arranged on the second bracket and driven by the first motor to move left and right. The clamping assembly is fixed on the movable support rods.

6. The highly versatile and efficient automatic box-covering equipment according to claim 5, characterized in that: When the clamp is in an open state, the bottom of the clamp is higher than the lower surface of the movable support pressure rod.

7. The highly versatile and efficient automatic box-covering equipment according to claim 5, characterized in that: The second bracket is provided with a plurality of fixed pressure rods which press down the three-dimensional carton together with the movable supporting pressure rod.

8. The highly versatile and efficient automatic box-covering equipment according to claim 1, characterized in that: The driving module includes a second motor fixed on the third bracket, a pair of first support plates driven by the second motor to move left and right, a pair of third motors fixed on the first support plates, and a pair of second support plates driven by the third motor to move forward and backward, and the support assembly is arranged on each of the second support plates.

9. The highly versatile and efficient automatic box-covering equipment according to claim 8, characterized in that: It also includes a lifting mechanism for lifting the photovoltaic components on the conveyor line upwards and a precision positioning module for accurately positioning the photovoltaic components around them.

10. The highly versatile and efficient automatic box-covering equipment according to claim 9, characterized in that: The precision positioning module includes a plurality of positioning components; one positioning component is provided on each second support plate below the support component; the positioning component includes a second cylinder fixed on the second support plate and a right-angle correction plate driven by the second cylinder to move horizontally.

11. The highly versatile and efficient automatic box-covering equipment according to claim 9, characterized in that: The lifting mechanism is embedded below the conveying line and comprises a third cylinder, a fourth bracket driven by the third cylinder to move up and down, and a plurality of floating support platforms arranged on the fourth bracket.

12. An efficient automatic box-packing method, characterized in that: The high-efficiency automatic box-packing equipment according to claim 1 is implemented, comprising the following steps: S1, photovoltaic modules are transported to the designated position through the conveyor line; S2. During step S2, the box-taking robot takes out a flat carton from the carton supply bin and moves it to the bottom of the second bracket; S3, the box-retrieving robot sucks the front surface of the flat carton against the third suction cup group, and the third suction cup group sucks the rear surface of the flat carton. The box-retrieving robot pulls the front side panel of the flat carton outward and adjusts it toward the middle to open the flat carton into a three-dimensional carton state; S4, the clamping assembly clamps the top of the left and right sides of the three-dimensional carton; S5, the first lifting module drives the second bracket to descend, and the third suction cup group absorbs one side of the three-dimensional carton and then descends, and the three-dimensional carton is placed on the inner support support module; the bottom of the three-dimensional carton is located on the support bottom plate of the support assembly, and the inner support plate supports the three-dimensional carton from the inside; during this process, the box-taking robot withdraws to take the next flat carton, or absorbs the front surface of the three-dimensional carton and descends synchronously, and withdraws to take the next flat carton after the three-dimensional carton is placed on the support bottom plate; S6, the second lifting module drives the third bracket to descend, and the first lifting module drives the second bracket to descend synchronously, so that the three-dimensional carton is inserted into the photovoltaic module to a set depth; S7, the second bracket stops descending, the third bracket continues to descend, and the driving module drives the supporting assembly to evacuate; S8, the clamping assembly releases the clamping of the three-dimensional carton, the second bracket continues to descend, and the pressure rod assembly on the second bracket is used to press the three-dimensional carton down into place to complete the box nesting.

13. The efficient automatic box-covering method according to claim 12, characterized in that: It also includes using a precision positioning module to accurately position the four sides of the photovoltaic component before putting the three-dimensional carton on the photovoltaic component in step S6; the precision positioning module is arranged beside or below the conveyor line, or is arranged at the movable end of the driving module and is located below the support component; the precision positioning module includes a plurality of positioning components; the positioning component includes a second cylinder and a right-angle correction plate driven by the second cylinder to move horizontally.

Images