Full-automatic packaging box production line with mechanical arm positioning function

Abstract

The invention relates to the technical field of packaging box machining, in particular to a full-automatic packaging box production line with a mechanical arm positioning function, which comprises a mounting table, a supporting frame is fixedly mounted at the bottom of the mounting table, a taking and placing mechanism is arranged, and a pneumatic sucker is started to generate negative pressure to adsorb a packaging box; during machining, a fourth motor is started to drive a second lead screw to rotate and drive a sliding block to move, so that a transverse driving wheel is attached to a hinge ball, the hinge ball is prevented from rotating through limiting of a telescopic spring, and then a fifth motor drives the driving wheel to rotate to adjust transverse rotation of a pneumatic suction cup; longitudinal rotation can be achieved by reversely driving a fourth motor, the whole device is driven in an auxiliary mode through transverse and longitudinal driving wheels, the position of the pneumatic suction cup can be flexibly adjusted within the allowable range of the hinge frame, inclination and rotation can be transversely and longitudinally adjusted, the device is suitable for production and machining of packaging boxes of different sizes, and the adaptability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of packaging box processing, in particular to a full-automatic packaging box production line with mechanical arm positioning. Background Art

[0002] A packaging box is a container used to package products. It plays an important role in protecting products, facilitating transportation, and promoting sales. It is usually made of paper, plastic, metal and other materials. Its shape, size and design vary depending on the packaged product. The packaging box can prevent the product from being damaged during transportation and storage, such as collision, extrusion, moisture, etc. At the same time, the exquisite packaging box design can attract consumers' attention, convey product information and brand image, and enhance the market competitiveness of products. In terms of structure, the packaging box may have a lid, drawer, tongue and other parts to meet different packaging needs. In addition, some packaging boxes will also use special processes such as printing, hot stamping, embossing, etc. to increase its beauty and uniqueness;

[0003] During the processing of packaging boxes, the smoothness requires the use of equipment such as gluing machines, automatic folding machines, sealing machines and drying machines for auxiliary production. In the existing production and processing process, the above equipment is usually combined into a production line to assist in production and processing. For example, the Chinese patent with announcement number CN108215315B discloses a packaging box production line, and its gluing processing method effectively improves the yield rate and bonding quality of the packaging box on the blank paperboard. The various components of the whole assembly line have the advantages of connection and coordination, high production efficiency and stable working state. The key points of its technical solution are that it includes an assembly line body, and the assembly line body is respectively provided with a conveying and loading device, a positioning device, a gluing device, a feeding device, a transfer device, a pressure feeding device, a folding device and a collecting device along the forward direction of the assembly line. The gluing device includes an automatic gluing component and an automatic release paper gluing component for realizing the gluing action on the packaging box;

[0004] There are some obvious problems in the production and processing of the above-mentioned production line. First of all, the production line is relatively long as a whole, and during the processing period, it often requires multiple people to assist in the operation to complete the production task. This means that it cannot achieve automated uninterrupted continuous production and processing, and is heavily dependent on manual operation. As a result, the production line consumes a lot of human resources in the overall production and processing process. Moreover, manual operation has limitations, and workers cannot work continuously for a long time. This makes the overall production and processing efficiency entirely dependent on the proficiency of manual operation and the state of the workers at the time. In addition, long-term manual operation will not only have an adverse effect on the health of the workers, but it is obviously impossible to achieve 24-hour continuous production and processing. In summary, this method that relies on manual operation has a high labor cost during the overall use period, and the production and processing efficiency is low, and it is urgent to improve it. Summary of the invention

[0005] The object of the present invention is to provide a fully automatic packaging box production line with robot arm positioning to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides a fully automatic packaging box production line with mechanical arm positioning, comprising a mounting table, a support frame is fixedly installed at the bottom of the mounting table, a third motor is fixedly installed on the inner side of the support frame, the top output end of the third motor penetrates the support frame and is fixedly installed with a mounting frame, automatic mechanical arms are fixedly installed at the top of the mounting frame in a ring-shaped arrangement at equal intervals, a gluing machine, an automatic folding machine, a sealing machine and a drying machine are sequentially installed in a ring-shaped arrangement on the top of the mounting table, the mounting table is arranged in a ring-shaped shape when viewed from above, and the gluing machine, the automatic folding machine, the sealing machine and the drying machine are all arranged at an angle of 60°;

[0007] The automatic robotic arm includes a transverse movement mechanism, which is fixedly installed on the top of the mounting frame at equal intervals. A lifting mechanism is fixedly installed on the top of the transverse movement mechanism, a pick-and-place mechanism is fixedly installed on the outside of the lifting mechanism, and a visual inspection device is fixedly installed on the top of the lifting mechanism.

[0008] Furthermore, the visual inspection device is composed of a depth industrial camera, a photoelectric sensor and a laser sensor. Two fixed frames are also provided on the outside of the mounting platform. The inner side of the fixed frame is rotatably connected to a conveyor belt. The fixed frame is also set at an angle of 60° between the gluing machine, automatic folding machine, sealing machine and dryer.

[0009] Furthermore, the transverse movement mechanism includes a slide groove, which is opened at the top of the mounting frame, and a first motor is fixedly installed at the inner end of the slide groove, and a first screw rod is fixedly installed at the output end of the first motor, and the first screw rod is rotatably connected to the inner side of the slide groove, and a slider is threadedly connected to the outer surface of the first screw rod, and the slider is slidably connected to the inside of the slide groove, and the top of the slider is fixedly connected to the bottom of the lifting mechanism.

[0010] Furthermore, the lifting mechanism includes a lifting frame, which is fixedly installed on the top of the slider, a driving assembly is fixedly installed on the outer side of the lifting frame, a slide is slidably connected to the inner side of the lifting frame, the outer side of the slide is fixedly connected to the driving assembly, and the outer side of the slide is fixedly connected to the pick-and-place mechanism.

[0011] Furthermore, support plates are fixedly installed on both sides of the bottom of the lifting frame, and the support plates are slidably arranged on the outside of the supporting frame.

[0012] Furthermore, the driving assembly includes a side mounting frame, which is fixedly installed on the inner top and bottom of the lifting frame, and a transmission belt is rotatably connected between the inner sides of the side mounting frame. A second motor is fixedly installed on one side of the side mounting frame located at the top, and the output end of the second motor is fixedly connected to the upper end shaft of the transmission belt. The second motor is used to drive the transmission belt, and the transmission belt is fixedly connected to the slide.

[0013] Furthermore, the picking and placing mechanism includes a concave seat, which is fixedly installed on the inner side of the slide, and an electric push rod is fixedly installed on the inner side of the concave seat. The output end of the electric push rod passes through the concave seat and is fixedly installed with an adjustment component, the outer side of the adjustment component is rotatably connected with a hinged ball, and the outer side of the hinged ball is fixedly installed with a pneumatic suction.

[0014] Furthermore, the adjustment assembly includes a cross rail, which is fixedly installed on the output end of the electric push rod, and the inside of the cross rail is rotatably connected to a second screw rod, both ends of the second screw rod are threadedly connected to sliding blocks, and the sliding block is slidably connected to the inner side of the cross rail, and an elastic member is fixedly installed on the outer side of the cross rail, and a driving member is fixedly installed on the inner side of the elastic member, and the two driving members are arranged one longitudinally and the other transversely, and an articulated frame is fixedly installed on the middle part of the outer side of the cross rail, and the articulated ball is rotatably connected to the inside of the articulated frame, and a fourth motor is fixedly installed on one end of the cross rail, and the output end of the fourth motor is fixedly connected to one end of the second screw rod.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] First, in the present invention, an automatic mechanical arm is provided, and the first motor is started to drive the first screw rod to rotate, driving the slide block to slide in the slide slot, thereby adjusting the lateral displacement of the lifting frame, and then driving the pick-and-place mechanism to move lateral, and the second motor is started to drive the transmission track to rotate, so that the slide block slides in the lifting frame, and the lateral and longitudinal displacement adjustment of the pick-and-place mechanism is realized, and the third motor is started to drive the mounting frame to rotate, so that the packaging box can be processed in sequence through the gluing machine, the automatic folding machine, the sealing machine and the drying machine, so as to realize continuous automatic production, and only one person is needed to operate, so as to reduce the dependence on manual labor and improve the convenience and efficiency of production and processing;

[0017] Secondly, in the present invention, by setting up a pick-and-place mechanism, the pneumatic suction cup is started to generate negative pressure to absorb the packaging box. When the lateral displacement of the transverse movement mechanism is insufficient, the electric push rod can be started for further adjustment. During processing, the fourth motor is started to drive the second screw to rotate, drive the sliding block to move, so that the lateral driving wheel fits the hinge ball, and the rotation of the hinge ball is prevented by the telescopic spring limiter. The fifth motor then drives the driving wheel to rotate to adjust the lateral rotation of the pneumatic suction cup, and the fourth motor can be driven in reverse to achieve longitudinal rotation. The whole is assisted by the transverse and longitudinal driving wheels, and the position of the pneumatic suction cup can be flexibly adjusted within the allowable range of the articulated frame. The tilt and rotation can be adjusted horizontally and vertically to adapt to the production and processing of packaging boxes of different sizes, thereby improving the adaptability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the top view structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure in the present invention when viewed from above;

[0021] Figure 4 It is a schematic diagram of the state structure of the mounting platform and a single set of pick-and-place mechanism in the present invention;

[0022] Figure 5 This is a schematic diagram of the outer structure of the automatic mechanical arm in the present invention;

[0023] Figure 6 This is a schematic diagram of the inner structure of the automatic mechanical arm of the present invention;

[0024] Figure 7 It is a schematic diagram of the top view of the pick-and-place mechanism in the present invention;

[0025] Figure 8 It is a bottom view of the structure of the pick-and-place mechanism in the present invention.

[0026] In the figure: 1, mounting table; 2, support frame; 3, third motor; 4, mounting frame; 5, glue coating machine; 6, automatic mechanical arm; 61, transverse movement mechanism; 611, slideway; 612, first motor; 613, first screw rod; 614, slider; 62, lifting mechanism; 621, lifting frame; 622, driving assembly; 6221, side mounting frame; 6222, transmission crawler; 6223, second motor; 623, slide; 624, support plate; 63, pick-and-place mechanism; 631, concave seat; 632, electric push rod; 633, adjustment assembly; 6331, transverse Rail; 6332, second screw rod; 6333, sliding block; 6334, elastic member; 63341, fixed seat; 63342, telescopic spring; 63343, fixed block; 63344, support shaft; 6335, driving member; 63351, concave frame; 63352, driving wheel; 63353, fifth motor; 6336, articulated frame; 6337, fourth motor; 634, articulated ball; 635, pneumatic suction cup; 64, visual inspection device; 7, automatic folding machine; 8, sealing machine; 9, drying machine; 10, fixed frame; 11, conveyor belt. DETAILED DESCRIPTION

[0027] Example

[0028] See also Figure 1-Figure 8 In an embodiment of the present invention, a fully automatic packaging box production line with mechanical arm positioning is provided, wherein the diameter of the mounting frame 4 is in the range of 1-3 meters, the height of the supporting frame 2 is in the range of 0.5-1.5 meters, the length of the first screw rod 613 is in the range of 0.5-1.2 meters, the moving speed of the slider 614 in the slide groove 611 is in the range of 0.1-0.5 meters / second, the height of the lifting frame 621 is in the range of 0.5-2 meters, the moving speed of the slider 623 in the lifting frame 621 is in the range of 0.05-0.3 meters / second, the travel range of the electric push rod 632 is 0.2-0.8 meters, the length of the second screw rod 6332 is in the range of 0.3-0.8 meters, and the moving speed of the sliding block 6333 in the horizontal rail 63 31 has a range of 0.03-0.2 m / s, and a suction range of 50-200 N for the pneumatic suction cup 635, comprising a mounting platform 1, a support frame 2 is fixedly mounted on the bottom of the mounting platform 1, a third motor 3 is fixedly mounted on the inner side of the support frame 2, a mounting frame 4 is fixedly mounted on the top output end of the third motor 3 through the support frame 2, an automatic mechanical arm 6 is fixedly mounted on the top of the mounting frame 4 in an annular arrangement with equal spacing, a gluing machine 5, an automatic folding machine 7, a sealing machine 8 and a drying machine 9 are sequentially installed in an annular arrangement on the top of the mounting platform 1, and the mounting platform 1 is annularly arranged in a top view, and the gluing machine 5, the automatic folding machine 7, the sealing machine 8 and the drying machine 9 are all arranged at an angle of 60°;

[0029] The automatic robot arm 6 includes a transverse movement mechanism 61, which is fixedly installed on the top of the mounting frame 4 at equal intervals. A lifting mechanism 62 is fixedly installed on the top of the transverse movement mechanism 61, and a pick-up and placement mechanism 63 is fixedly installed on the outside of the lifting mechanism 62. A visual inspection device 64 is fixedly installed on the top of the lifting mechanism 62. The support frame 2 at the bottom of the mounting platform 1 provides stable support for the entire device. The third motor 3 drives the mounting frame 4 to rotate, so that the automatic robot arm 6 arranged in a ring shape on the top can sequentially transport the packaging box to the gluing machine 5, the automatic folding machine 7, the sealing machine 8 and the drying machine 9 for processing. The mounting platform 1 is annular when viewed from above and the various devices are arranged at an angle of 60°. The layout is reasonable and space-saving. The transverse movement mechanism of the automatic robot arm 6 61 can realize horizontal position adjustment, the lifting mechanism 62 can flexibly adjust the height, the pick-and-place mechanism 63 is convenient for grabbing and placing the packaging box, and the visual inspection device 64 on the top can accurately position to ensure the accuracy of the operation. The entire production line realizes full-automatic production, improves production efficiency, reduces manual intervention, and reduces labor costs. At the same time, it ensures the stability and consistency of production and can adapt to the production needs of packaging boxes of different specifications. Its 60-degree angle matching design, when the third motor 3 drives the pick-and-place mechanism 63 to rotate, each pick-and-place mechanism 63 is just adapted to the position of the gluing machine 5, automatic folding machine 7, sealing machine 8 and drying machine 9, and can be processed by each equipment in turn to realize automatic and continuous production.

[0030] See also Figure 1-Figure 6 The visual inspection device 64 is composed of a depth industrial camera, a photoelectric sensor and a laser sensor. Two fixed frames 10 are also arranged on the outside of the mounting platform 1. The inner side of the fixed frame 10 is rotatably connected with a conveyor belt 11. The fixed frame 10 is also arranged at a 60° angle with the gluing machine 5, the automatic folding machine 7, the sealing machine 8 and the drying machine 9. The visual inspection device 64 in the fully automatic packaging box production line with robot arm positioning is composed of a depth industrial camera, a photoelectric sensor and a laser sensor, which has many advantages. The depth industrial camera can provide three-dimensional depth information of the object, so that the robot arm can judge the position and posture of the packaging box more accurately, ensuring the accuracy of grasping and placing. The photoelectric sensor can quickly detect the existence and position change of the object, which is convenient for production. The operation of the production line provides timely feedback signals, and the laser sensor can perform high-precision distance measurement, further improving the accuracy of the robot arm operation. In addition, the two fixed frames 10 arranged on the outside of the mounting table 1 and the conveyor belt 11 connected to the inner side of the two fixed frames facilitate the input and output of the packaging boxes and improve the overall efficiency of the production line. The fixed frame 10 is set at an angle of 60° to the gluing machine 5, the automatic folding machine 7, the sealing machine 8 and the drying machine 9, making the layout of the entire production line more reasonable and compact, saving space while facilitating the robot arm to efficiently transfer packaging boxes between various equipment, improving the continuity and automation of production. At the same time, one of the two conveyor belts 11 is used for loading processing and the other is for unloading processing, which is convenient for auxiliary production.

[0031] See also Figure 1-Figure 6 The transverse movement mechanism 61 includes a slide groove 611, which is opened at the top of the mounting frame 4. A first motor 612 is fixedly installed at the inner end of the slide groove 611. A first screw rod 613 is fixedly installed at the output end of the first motor 612. The first screw rod 613 is rotatably connected to the inner side of the slide groove 611. A slider 614 is threadedly connected to the outer surface of the first screw rod 613. The slider 614 is slidably connected to the inside of the slide groove 611. The top of the slider 614 is fixedly connected to the bottom of the lifting mechanism 62. The lifting mechanism 62 includes a lifting frame 621, which is fixedly installed on the top of the slider 614. A driving assembly 622 is fixedly installed on the outside, a slide 623 is slidably connected to the inside of the lifting frame 621, the outside of the slide 623 is fixedly connected to the driving assembly 622, the outside of the slide 623 is fixedly connected to the pick-and-place mechanism 63, and support plates 624 are fixedly installed on both sides of the bottom of the lifting frame 621. The support plates 624 are slidably arranged on the outside of the support frame 2. The driving assembly 622 includes a side mounting frame 6221, which is fixedly installed on the top and bottom of the inside of the lifting frame 621. A transmission crawler 6222 is rotatably connected between the insides of the side mounting frames 6221, and a side of the side mounting frame 6221 located at the top is fixedly installed A second motor 6223 is installed, the output end of the second motor 6223 is fixedly connected to the upper end shaft of the transmission crawler 6222, the second motor 6223 is used to drive the transmission crawler 6222, the transmission crawler 6222 and the slide 623 are fixedly connected, in the transverse mechanism 61, the slide 611 is opened on the top of the mounting frame 4, the first motor 612 drives the first screw rod 613 to rotate, so that the threaded slider 614 slides in the slide 611, thereby driving the lifting mechanism 62 to move horizontally, and realizing accurate horizontal position adjustment, the lifting frame 621 of the lifting mechanism 62 is connected to the transverse mechanism 61 through the slider 614, and the lifting mechanism 62 is stable. Reliable, the side mounting frame 6221 in the driving assembly 622 is fixed on the lifting frame 621, the second motor 6223 drives the transmission crawler 6222 to rotate, and drives the slide 623 fixedly connected to the transmission crawler 6222 to slide on the inside of the lifting frame 621, so as to realize the height adjustment of the pick-up and place mechanism 63, and the support plate 624 slides on the outside of the support frame 2, further enhancing the stability of the lifting mechanism 62. This design enables the entire robot arm to flexibly adjust the position of the pick-up and place mechanism 63 in the horizontal and vertical directions, and accurately transfer the packaging box from one device to another, thereby improving the automation degree and production efficiency of the production line.

[0032] See also Figure 1-Figure 8The pick-and-place mechanism 63 includes a concave seat 631, which is fixedly mounted on the inner side of the slide 623. An electric push rod 632 is fixedly mounted on the inner side of the concave seat 631. An adjustment component 633 is fixedly mounted on the output end of the electric push rod 632 through the concave seat 631. The outer side of the adjustment component 633 is rotatably connected to a hinge ball 634. A pneumatic suction is fixedly mounted on the outer side of the hinge ball 634. The adjustment component 633 includes a cross rail 6331, which is fixedly mounted on the output end of the electric push rod 632. The inner side of the cross rail 6331 is rotatably connected to a second The screw rod 6332, both ends of the second screw rod 6332 are threadedly connected with a sliding block 6333, the sliding block 6333 is slidably connected to the inner side of the cross rail 6331, the outer side of the cross rail 6331 is fixedly installed with an elastic member 6334, the inner side of the elastic member 6334 is fixedly installed with a driving member 6335, one of the two driving members 6335 is arranged longitudinally and the other is arranged transversely, an articulated frame 6336 is fixedly installed in the middle of the outer side of the cross rail 6331, the articulated ball 634 is rotatably connected to the inside of the articulated frame 6336, and one end of the cross rail 6331 is fixedly installed with a first Four motors 6337, the output end of the fourth motor 6337 is fixedly connected to one end of the second screw rod 6332, the concave seat 631 in the pick-and-place mechanism 63 provides a stable installation position for other components, the electric push rod 632 can push the adjustment component 633 to achieve further position adjustment, increasing the flexibility of pick-and-place, the cross rail 6331 of the adjustment component 633 is connected to the concave seat 631 through the electric push rod 632, the fourth motor 6337 drives the second screw rod 6332 to rotate, so that the threaded sliding block 6333 slides on the inner side of the cross rail 6331, This in turn drives the elastic member 6334 and the driving member 6335 to move. The elastic member 6334 and the driving member 6335 cooperate with each other, one is set longitudinally and the other is set transversely, so that the hinge ball 634 can be limited or driven to rotate when necessary. The pneumatic suction cup 635 on the outside of the hinge ball 634 can generate negative pressure to adsorb the packaging box. The pneumatic suction cup 635 can be adjusted in multiple directions through the adjustment component 633, including transverse, longitudinal, rotation and tilt, so as to adapt to packaging boxes of different sizes to the greatest extent, thereby improving the adaptability of the production line and the accuracy of the pick-and-place operations.

[0033] See also Figure 5-Figure 8The elastic member 6334 includes a fixed seat 63341, which is fixedly installed on the outer side of the sliding block 6333. A telescopic spring 63342 is fixedly installed on the inner side of the fixed seat 63341. A fixed block 63343 is fixedly installed on the end of the telescopic spring 63342. The driving member 6335 is fixedly installed on the outer side of the fixed block 63343. A support shaft 63344 is fixedly installed on the outer end of the fixed block 63343. The end of the support shaft 63344 passes through the fixed seat 63341. The telescopic spring 63342 is sleeved on the outer side of the support shaft 63344. The driving member 6335 includes a concave frame 63351. The inner side of the concave frame 63351 is rotatably connected with a driving wheel. 63352, a fifth motor 63353 is fixedly connected to one side of the concave frame 63351, an output end of the fifth motor 63353 is fixedly connected to the driving wheel 63352, two concave frames 63351 in a pick-and-place mechanism 63, one concave frame 63351 is arranged longitudinally, and the other concave frame 63351 is arranged transversely, the transversely arranged concave frame 63351 is fixedly installed on the outer side of a fixed block 63343, the fifth motor 63353 on the longitudinally arranged fixed seat 63341 is fixedly installed on the outer side of the other fixed block 63343, the fixed seat 63341 in the elastic member 6334 is a telescopic spring 63342 and a driving member 6335 Provide an installation foundation, the telescopic spring 63342 is sleeved on the outside of the support shaft 63344, the setting of the support shaft 63344 can support and reinforce the telescopic spring 63342, so that the driving member 6335 can stably contact the hinge ball 634, connect the fixed seat 63341 and the fixed block 63343, so that the driving member 6335 can assist in positioning the hinge ball 634 by extending the telescopic spring 63342 when operating the hinge ball 634, and the telescopic spring 63342 on one side is further compressed by adjusting the driving wheel 63352 at the end of the other telescopic spring 63342 to separate the hinge ball 634. It can be seen that this device not only ensures the effective positioning of the hinge ball 634 The concave frame 63351 of the driving member 6335 is rotated inside to connect the driving wheel 63352, and the fifth motor 63353 can accurately control the rotation of the driving wheel 63352. The concave frames 63351 arranged horizontally and vertically in a pick-and-place mechanism 63 cooperate to flexibly adjust the position of the pneumatic suction cup 635 according to different needs. The horizontally arranged driving wheel 63352 can realize the horizontal rotation adjustment of the pneumatic suction cup 635, and the vertically arranged driving wheel 63352 can realize the vertical rotation adjustment, so that the pick-and-place mechanism 63 can accurately position and operate the packaging box in all directions, thereby improving the adaptability and production efficiency of the production line.

[0034] The working principle of the present invention is as follows: by setting up the automatic mechanical arm 6, the present device can show excellent performance during use. The first motor 612 can be started to operate. At this time, the first motor 612 drives the first screw rod 613 to rotate, and the first screw rod 613 is located inside the slide groove 611 and rotates, thereby prompting the first screw rod 613 to drive the slider 614 to slide inside the slide groove 611. Through the sliding of the slider 614 inside the slide groove 611, the lateral displacement of the driving lifting frame 621 can be adjusted, thereby assisting in adjusting the lateral displacement of the driving pick-up and placement mechanism 63, so that the present device as a whole can extremely flexibly adjust the lateral movement of the pick-up and placement mechanism 63. Then, the second motor 6223 is started to operate. The second motor 6223 can drive the inside of the side mounting frame 6221 The transmission crawler 6222 rotates, and the rotation of the transmission crawler 6222 can drive the slide 623 to slide up and down on the inner side of the lifting frame 621. This method of cooperating with the first screw rod 613 to drive the slide block 614 to slide linearly on the inner side of the slide groove 611 enables the device as a whole to flexibly adjust the horizontal and vertical displacements of the pick-up and placement mechanism 63, and then the packaging box sucked on the pick-up and placement mechanism 63 can be accurately adjusted. At this time, the mounting frame 4 can be driven to rotate by starting the third motor 3. The rotation of the mounting frame 4 can flexibly process the packaging box through the gluing machine 5, the automatic folding machine 7, the sealing machine 8 and the drying machine 9 in sequence. In this way, the device can realize continuous automatic production, and only one person is required to operate the whole device, which greatly reduces the dependence on manual labor;

[0035] By setting up the pick-and-place mechanism 63, the device can play an excellent role during use. The pneumatic suction cup 635 can be started to operate. After the start-up, the suction cup can generate negative pressure, thereby assisting in adsorbing the packaging box to be processed. During use, the pneumatic suction cup 635 can not only use the lateral movement mechanism 61 and the lifting mechanism 62 to move up and down, but also can be further adjusted. During production and processing, when the lateral displacement adjustment distance of the lateral movement mechanism 61 is not enough, the electric push rod 632 can be started to assist in adjusting the pneumatic suction cup 635 to further move, and further lateral displacement compensation can be performed. At the same time, during the processing, the fourth motor 6337 can be started to operate. 37 drives the second screw rod 6332 to rotate. The rotation of the second screw rod 6332 can drive the sliding block 6333 to move toward one side of the transverse rail 6331. At this time, the transversely arranged driving wheel 63352 can be driven to fit the hinge ball 634. As the sliding block 6333 moves further, the telescopic spring 63342 is compressed, and the elastic force of the other telescopic spring 63342 can continue to drive the other driving wheel 63352 to limit the hinge ball 634. Therefore, the hinge ball 634 can be prevented from rotating during the adjustment process. As the telescopic spring 63342 on the movable side continues to be compressed, the driving wheel 63352 at the end of the other telescopic spring 63342 leaves the hinge ball 634. When the lateral driving wheel 63352 fits the articulated ball 634, the fifth motor 63353 can drive the driving wheel 63352 to rotate, thereby driving the articulated ball 634 to rotate through the driving wheel 63352. At this time, the electric suction cup can be adjusted to rotate lateral. If longitudinal rotation is required, the fourth motor 6337 can be driven in reverse. The fourth motor 6337 drives the longitudinal driving wheel 63352 to approach the articulated ball 634, and the other lateral driving wheel 63352 will be affected by the telescopic spring 63342 to fit the articulated ball 634 during the adjustment process of the longitudinal driving wheel 63352 to ensure that it does not rotate. When the longitudinal driving wheel 63352 fits the articulated ball 634, the lateral driving wheel 63352 3352 leaves the hinge ball 634, and the fifth motor 63353 is started to drive the longitudinally arranged driving wheel 63352 to rotate, and the longitudinal driving wheel 63352 is rotated to drive the hinge ball 634 to rotate longitudinally. It can be seen that the whole is assisted by the transverse and longitudinal driving wheels 63352 to drive, and the position of the pneumatic suction cup 635 can be flexibly adjusted within the range of rotation allowed by the hinge frame 6336. The whole can not only adjust the tilt horizontally and vertically, but also rotate and tilt, and can be flexibly adjusted in the links of gluing, drying, folding and sealing, so as to adapt to the production and processing of packaging boxes of different sizes to the greatest extent, and significantly improve the adaptability of the device during overall use.

Claims

1. A fully automatic packaging box production line with robot arm positioning, characterized in that: The invention comprises a mounting platform (1), a support frame (2) is fixedly mounted on the bottom of the mounting platform (1), a third motor (3) is fixedly mounted on the inner side of the support frame (2), a mounting frame (4) is fixedly mounted on the top output end of the third motor (3) through the support frame (2), automatic mechanical arms (6) are fixedly mounted on the top of the mounting frame (4) in a ring-shaped arrangement at equal intervals, a gluing machine (5), an automatic folding machine (7), a sealing machine (8) and a drying machine (9) are sequentially mounted in a ring-shaped arrangement on the top of the mounting platform (1), the mounting platform (1) is arranged in a ring-shaped arrangement in a top view, and the gluing machine (5), the automatic folding machine (7), the sealing machine (8) and the drying machine (9) are arranged at an angle of 60°.

2. The fully automatic packaging box production line with robot arm positioning according to claim 1, characterized in that: The automatic robotic arm (6) comprises a transverse movement mechanism (61), wherein the transverse movement mechanism (61) is fixedly installed at equal intervals on the top of the mounting frame (4), a lifting mechanism (62) is fixedly installed on the top of the transverse movement mechanism (61), a pick-up and placement mechanism (63) is fixedly installed on the outer side of the lifting mechanism (62), and a visual detection device (64) is fixedly installed on the top of the lifting mechanism (62).

3. The fully automatic packaging box production line with robot arm positioning according to claim 2, characterized in that: The visual inspection device (64) is composed of a depth industrial camera, a photoelectric sensor and a laser sensor. Two fixed frames (10) are also arranged on the outside of the mounting platform (1). The inner side of the fixed frames (10) is rotatably connected to a conveyor belt (11). The fixed frames (10) are also arranged at an angle of 60° to the gluing machine (5), the automatic folding machine (7), the sealing machine (8) and the drying machine (9).

4. The fully automatic packaging box production line with robot arm positioning according to claim 2, characterized in that: The transverse movement mechanism (61) includes a slide groove (611), the slide groove (611) is opened at the top of the mounting frame (4), a first motor (612) is fixedly installed at the inner end of the slide groove (611), a first screw rod (613) is fixedly installed at the output end of the first motor (612), the first screw rod (613) is rotatably connected to the inner side of the slide groove (611), the outer surface of the first screw rod (613) is threadedly connected to a slider (614), the slider (614) is slidably connected to the inside of the slide groove (611), and the top of the slider (614) is fixedly connected to the bottom of the lifting mechanism (62).

5. The fully automatic packaging box production line with robot arm positioning according to claim 4, characterized in that: The lifting mechanism (62) comprises a lifting frame (621), wherein the lifting frame (621) is fixedly mounted on the top of the slider (614), a driving assembly (622) is fixedly mounted on the outer side of the lifting frame (621), a slide frame (623) is slidably connected to the inner side of the lifting frame (621), the outer side of the slide frame (623) is fixedly connected to the driving assembly (622), and the outer side of the slide frame (623) is fixedly connected to the pick-and-place mechanism (63).

6. The fully automatic packaging box production line with robot arm positioning according to claim 5, characterized in that: Support plates (624) are fixedly mounted on both sides of the bottom of the lifting frame (621), and the support plates (624) are slidably arranged on the outside of the supporting frame (2).

7. The fully automatic packaging box production line with robot arm positioning according to claim 6, characterized in that: The driving assembly (622) comprises a side mounting frame (6221), wherein the side mounting frame (6221) is fixedly mounted on the inner top and bottom of the lifting frame (621), a transmission belt (6222) is rotatably connected between the inner sides of the side mounting frame (6221), a second motor (6223) is fixedly mounted on one side of the side mounting frame (6221) located at the top, an output end of the second motor (6223) is fixedly connected to an inner upper end shaft of the transmission belt (6222), the second motor (6223) is used to drive the transmission belt (6222), and the transmission belt (6222) and the slide frame (623) are fixedly connected.

8. The fully automatic packaging box production line with robot arm positioning according to claim 7, characterized in that: The pick-and-place mechanism (63) comprises a concave seat (631), wherein the concave seat (631) is fixedly mounted on the inner side of the slide (623), an electric push rod (632) is fixedly mounted on the inner side of the concave seat (631), an output end of the electric push rod (632) passes through the concave seat (631) and is fixedly mounted with an adjustment component (633), an outer side of the adjustment component (633) is rotatably connected with a hinge ball (634), and an outer side of the hinge ball (634) is fixedly mounted with a pneumatic suction cup (635).

9. The fully automatic packaging box production line with robot arm positioning according to claim 8, characterized in that: The adjustment component (633) includes a cross rail (6331), which is fixedly installed on the output end of the electric push rod (632), and the inside of the cross rail (6331) is rotatably connected to a second screw rod (6332), and both ends of the second screw rod (6332) are threadedly connected to sliding blocks (6333), and the sliding blocks (6333) are slidably connected to the inner side of the cross rail (6331), and an elastic member (6334) is fixedly installed on the outer side of the cross rail (6331).

10. The fully automatic packaging box production line with robot arm positioning according to claim 9, characterized in that: A driving member (6335) is fixedly installed on the inner side of the elastic member (6334), and one of the two driving members (6335) is arranged longitudinally and the other is arranged transversely. A hinge frame (6336) is fixedly installed on the middle part of the outer side of the cross rail (6331), and the hinge ball (634) is rotatably connected to the inside of the hinge frame (6336). A fourth motor (6337) is fixedly installed on one end of the cross rail (6331), and the output end of the fourth motor (6337) is fixedly connected to one end of the second screw rod (6332).

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