Industrial robot and assembly equipment

Abstract

The invention provides an industrial robot and assembling equipment. The industrial robot comprises an objective table; the feeding manipulator is configured to be capable of grabbing the partition paper and transferring the partition paper to the objective table; the paper folding mechanical arm comprises a paper folding piece, a first linear actuator, a second linear actuator and a connecting frame, the connecting frame is connected between the paper folding piece and the output end of the second linear actuator, the output end of the first linear actuator is connected with the second linear actuator, and the output end of the second linear actuator is connected with the second linear actuator. The first linear actuator is configured to drive the paper folding piece to ascend or descend in the first direction, and the second linear actuator is configured to drive the paper folding piece to horizontally move in a reciprocating mode in the second direction. The industrial robot can install the pre-folded partition paper on the box blank of the packaging box, so that the production efficiency can be greatly improved, the labor cost can be reduced, the consistency of the quality of products (packaging boxes) can be ensured, and the satisfaction degree of consumers can be improved.

Description

Technical Field

[0001] The present invention generally relates to the technical field of packaging box assembly, and in particular to an industrial robot and assembly equipment. Background Art

[0002] A packaging box is a container used to package goods. It can protect the product and prevent it from being damaged during transportation. It can also attract consumers' attention through the patterns on its surface.

[0003] At present, many packaging boxes are designed with compartments on the inner wall, which can be used to store accessories such as product manuals, warranty cards, brochures, etc., to enhance the functionality of the packaging box and the user experience. These compartments are usually formed by the cooperation of partition paper and the side wall of the packaging box. However, the existing partition paper assembly mainly relies on manual operation, which not only limits production efficiency, but also brings challenges of rising costs and quality control.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0005] In view of one or more deficiencies in the prior art, the present invention provides an industrial robot, comprising:

[0006] Stage;

[0007] A loading robot, configured to grab the separator paper and transfer the separator paper to the loading platform; and

[0008] An origami manipulator comprises an origami piece, a first linear actuator, a second linear actuator and a connecting frame, wherein the connecting frame is connected between the origami piece and an output end of the second linear actuator, the output end of the first linear actuator is connected to the second linear actuator, the first linear actuator is configured to drive the origami piece to rise or fall in a first direction, and the second linear actuator is configured to drive the origami piece to reciprocate in a second direction;

[0009] The first linear actuator is located below the second linear actuator, and the first direction is perpendicular to the second direction.

[0010] According to one aspect of the present invention, the paper folding member is a roller, and the paper folding member is pivotally connected to the connecting frame.

[0011] According to one aspect of the present invention, two origami manipulators are provided, and the two origami manipulators are respectively arranged at two ends of the loading platform.

[0012] According to one aspect of the present invention, the stage is a vacuum adsorption stage.

[0013] According to one aspect of the present invention, the industrial robot further comprises a feeding module, and the feeding module comprises:

[0014] A storage unit, comprising a plurality of storage bins, wherein the top of each storage bin is provided with a discharge port, and the bottom and sides of each storage bin are provided with avoidance ports; and

[0015] A switching mechanism connected to the storage unit, wherein the switching mechanism is configured to drive the storage unit to move so as to move one storage bin in the storage unit to a feeding position and move other storage bins to an idle position;

[0016] A tray, disposed at a feeding position, the tray being configured to pass through the avoidance opening; and

[0017] The first driving module is connected to the tray, and the first driving module is configured to drive the tray to rise and fall along a first direction.

[0018] According to one aspect of the present invention, the industrial robot further includes a first positioning module, and the first positioning module includes:

[0019] Temporary storage station;

[0020] A plurality of positioning plates are arranged at intervals around the temporary storage table; and

[0021] The second driving module is connected to the plurality of positioning plates respectively and is configured to synchronously drive the plurality of positioning plates to approach or move away from the temporary storage table.

[0022] According to one aspect of the present invention, the feeding robot comprises:

[0023] A vacuum suction cup, comprising a first suction unit and a second suction unit;

[0024] a mechanical arm connected to the vacuum suction cup and configured to drive the vacuum suction cup to switch between a first position and a second position;

[0025] Wherein, when the vacuum suction cup is in the first position, the first suction unit is located above the feeding position, and the second suction unit is located above the first positioning module; when the vacuum suction cup is in the second position, the first suction unit is located above the first positioning module, and the second suction unit is located above the stage.

[0026] The present invention also provides an assembly device, comprising:

[0027] The industrial robot according to any one of claims 1 to 7;

[0028] A third driving module is also configured, connected to the loading platform of the industrial robot and the origami manipulator, and the third driving module is configured to drive the loading platform and the origami manipulator to move synchronously so that the loading platform switches between a loading position and an assembly position; and

[0029] The box blank conveying system comprises a conveyor and one or more second positioning modules, wherein the conveyor is configured to convey the box blank, the second positioning module is arranged above the conveyor, and the one or more second positioning modules are configured to position the box blank in an assembly position.

[0030] According to one aspect of the present invention, the second positioning module includes a positioning block and a fourth driving module, wherein the positioning block is connected to the output end of the fourth driving module, and the fourth driving module is configured to drive the positioning block to rise or fall along the first direction.

[0031] According to one aspect of the present invention, the blank conveying system further comprises a third positioning module arranged above the conveyor, and the third positioning module comprises:

[0032] a connecting rod configured to rotate about a first axis;

[0033] A clamping wheel connected to one end of the connecting rod;

[0034] The fifth driving module is connected to the connecting rod and is configured to drive the connecting rod to rotate around the first axis.

[0035] According to one aspect of the present invention, the assembly equipment also includes a pressing module, which includes a pressing plate and a sixth driving module. The pressing plate is arranged above the assembly position, and the sixth driving module is configured to drive the pressing plate to rise or fall in the first direction.

[0036] Compared with the prior art, the embodiments of the present invention provide an industrial robot and assembly equipment, through which the pre-folded separator paper can be installed on the box blank of the packaging box, which can greatly improve production efficiency, reduce labor costs, and is also beneficial to ensure the consistency of product (packaging box) quality and improve consumer satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 A schematic diagram showing a pre-folded separator paper according to an embodiment of the present invention is shown;

[0039] Figure 2A schematic diagram of an industrial robot according to an embodiment of the present invention is shown;

[0040] Figure 3 A schematic diagram of a stage and an origami robot according to an embodiment of the present invention is shown;

[0041] Figure 4a A schematic diagram of a feeding module according to an embodiment of the present invention is shown;

[0042] Figure 4b A top view of a feeding module according to an embodiment of the present invention is shown;

[0043] Figure 5 A schematic diagram of a first positioning module according to an embodiment of the present invention is shown;

[0044] Figure 6 A schematic diagram of an assembly device according to an embodiment of the present invention is shown;

[0045] Figure 7 A schematic diagram showing a box blank and a separator paper in an assembly position according to an embodiment of the present invention is shown;

[0046] Figure 8 A schematic diagram of a second positioning module according to an embodiment of the present invention is shown;

[0047] Fig. 9 A schematic diagram of a third positioning module according to an embodiment of the present invention is shown;

[0048] Fig.10 A schematic diagram of a pressing module according to an embodiment of the present invention is shown.

[0049] In the figure: 100, paper separator; 110, main body; 120, wing folding part; 200, industrial robot; 210, loading platform; 220, feeding manipulator; 221, vacuum suction cup; 2211, first suction unit; 2212, second suction unit; 222, robot arm; 230, origami manipulator; 232, origami piece; 2341, first linear actuator; 2342, second linear actuator; 2343, connecting frame; 2344, upper mounting plate; 2345, lower mounting plate; 2346, guide structure; 240, feeding module; 241, storage unit; 2411, storage bin; 242, switching mechanism ; 243, tray; 244, first drive module; 250, first positioning module; 251, temporary storage table; 252, positioning plate; 253, second drive module; 2531, third linear actuator; 260, mounting frame; 300, assembly equipment; 310, third drive module; 320, conveyor; 330, second positioning module; 331, positioning block; 3311, positioning surface; 332, fourth drive module; 340, frame; 350, third positioning module; 351, connecting rod; 352, clamping wheel; 353, fifth drive module; 360, pressing module; 361, pressure plate; 362, sixth drive module. DETAILED DESCRIPTION

[0050] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0055] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0056] At present, many packaging boxes are designed with partitions on the inner walls. The partitions are usually formed by the cooperation of partition paper and the side walls of the packaging box. These partitions can be used to store product manuals, warranty cards, brochures and other accessories to enhance the functionality of the packaging box and the user experience. Figure 1 FIG. 1 shows a schematic diagram of a pre-folded separator paper 100 according to an embodiment of the present invention. Figure 1As shown, the separator 100 includes a main body portion 110 and wing portions 120 arranged at both ends of the main body portion 110, wherein the wing portion 120 is connected to the main body portion 110 by a crease (in some embodiments, the wing portion 120 may also be arranged only at one end of the main body portion 110). In the production process of the packaging box, it is usually necessary to manually assemble the pre-folded separator 100 onto the box blank (the main body portion 110 must first be placed on one side of the box blank (for example, the back), and then the wing portion 120 must be manually folded along the crease to the other side of the box blank and glued), which not only limits the production efficiency, but also brings challenges of rising costs and quality control. To this end, the present invention provides an industrial robot and assembly equipment, which are intended to improve production efficiency, reduce labor costs, and at the same time ensure the consistency of product (packaging box) quality and improve consumer satisfaction.

[0057] Figure 2 A schematic diagram of an industrial robot 200 according to an embodiment of the present invention is shown below. Figure 2 Describe in detail.

[0058] like Figure 2 As shown, the industrial robot 200 includes a loading platform 210, a loading robot 220 and an origami robot 230 ( Figure 2 Only part of the structure of the origami robot 230 is shown in the figure). The top surface of the stage 210 can be designed as a plane or a curved surface to accommodate packaging boxes of different shapes. The length of the stage 210 is smaller than the separator 100, so that after the separator 100 is placed on the stage 210, a part of the folded wing portion 120 of the separator 100 extends out of the stage 210. The loading robot 220 is disposed on one side of the stage 210, and is configured to grab the separator 100 and transfer the separator 100 to the stage 210. The origami robot 230 is disposed at one end of the stage 210, and is used to fold the folded wing portion 120 of the separator 100 in half. Optionally, as Figure 2 As shown, two paper folding robots 230 are provided, and the two paper folding robots 230 are respectively arranged at two ends of the stage 210 . Figure 3 FIG. 2 shows a schematic diagram of a stage 210 and a paper folding robot 230 according to an embodiment of the present invention. Figure 3As shown, the origami robot 230 includes an origami piece 232, a first linear actuator 2341, a second linear actuator 2342 and a connecting frame 2343. The first linear actuator 2341 and the second linear actuator 2342 can be linear actuators such as a cylinder, a hydraulic cylinder, and an electric push rod. The first linear actuator 2341 is arranged along the first direction, and the second linear actuator 2342 is arranged along the second direction. The second linear actuator 2342 is located above the first linear actuator 2341 and is connected to the output end of the first linear actuator 2341. The connecting frame 2343 is connected between the origami piece 232 and the output end of the second linear actuator 2342. Among them, the origami piece 232 has an avoidance position, a first origami position, and a second origami position. Among them, when the origami piece 232 is in the avoidance position ( Figure 3 When the folding piece 232 is in the avoidance position, the folding piece 232 can be lifted to the first folding position (in the first folding position, the folding piece 232 is higher than the stage 210) by controlling the first linear actuator 2341 to extend in the first direction. During this process, the folding piece 232 can lift the folding wing portion 120 of the folding paper 100 upward, so that the folding wing portion 120 of the folding paper 100 is folded along the crease at a preset angle. Afterwards, by controlling the second linear actuator 2342 to extend along the second direction, the origami piece 232 can be translated from the first origami position to the second origami position (in the second origami position, the origami piece 232 is located directly above the stage 210). During this process, the origami piece 232 can push the folding wing portion 120 of the separator paper 100 to continue to fold along the crease at a preset angle, thereby achieving the folding of the folding wing portion 120 in half.

[0059] During the production process of the packaging box, the loading robot 220 can accurately place the separator 100 on the stage 210; then, a part of the box blank (the part pre-coated with glue) is placed on the stage 210 (separator 100) by manual or other mechanical equipment; then, the folding wing part 120 can be folded in half by the paper folding robot 230, and the box blank and the folding wing part 120 are fixed by pre-coated glue.

[0060] According to one embodiment of the present invention, Figure 2 and Figure 3As shown, the origami member 232 is a roller shaft, and the connecting frame 2343 is a roughly U-shaped member, and the roller shaft can be pivotally connected to the connecting frame 2343. By setting the origami member 232 as a roller shaft and rotatably connecting it to the connecting frame 2343, the possibility of causing damage to the folding wing portion 120 of the separator 100 can be reduced. Optionally, the second manipulator 230 also includes an upper mounting plate 2344, a lower mounting plate 2345 and a guide structure 2346 (for example, the guide structure 2346 includes one or more guide columns). Among them, the upper mounting plate 2344 is located above the lower mounting plate 2345, and the lower mounting plate 2345 is connected to the mounting frame 260. The second linear actuator 2342 is mounted on the upper mounting plate 2344. The first linear actuator 2341 is mounted on the lower side of the lower mounting plate 2345, and the output end of the first linear actuator 2341 passes through the lower mounting plate 2345 and is fixedly connected to the upper mounting plate 2344. The guide structure 2346 is connected between the upper mounting plate 2344 and the lower mounting plate 2345 to limit the upper mounting plate 2344 to only rise and fall along a first direction relative to the lower mounting plate 2345 .

[0061] According to one embodiment of the present invention, Figure 2 and Figure 3 As shown, the loading platform 210 can be a vacuum adsorption platform to fix the separator 100 and ensure that the separator 100 does not move during the folding process, thereby ensuring the consistency of product (packaging box) quality and improving consumer satisfaction.

[0062] According to one embodiment of the present invention, Figure 2 As shown, the industrial robot 200 further includes a feeding module 240, which can be used to store pre-folded separator paper 100, and the loading robot 220 can grab the separator paper 100 from the feeding module 240. Specifically, Figure 4a FIG. 2 shows a schematic diagram of a feeding module 240 according to an embodiment of the present invention. Figure 4b FIG. 2 shows a top view of a feeding module 240 according to an embodiment of the present invention. Figure 4a and Figure 4bAs shown, the feeding module 240 includes a storage unit 241, a switching mechanism 242, a tray 243 and a first driving module 244. The storage unit 241 includes a plurality of storage bins 2411 for storing the separation paper 100, and the storage bins 2411 have a feeding position and an idle position, wherein when the storage bins 2411 are in the feeding position, the storage bins 2411 provide the separation paper 100 to the feeding robot 220; when the storage bins 2411 are in the idle position, the storage bins 2411 are idle, and the separation paper 100 can be added to the storage bins 2411 at this time. A discharge port is provided at the top of the storage bin 2411, so that the feeding robot 220 can take the separation paper 100 from the top of the storage bin 2411. The switching mechanism 242 is connected to the storage unit 241. The switching mechanism 242 can drive the storage unit 241 to move (e.g., translate or rotate) so as to move one storage bin 2411 in the storage unit 241 to the feeding position and move the other storage bins 2411 to the idle position. The tray 243 is arranged at the feeding position. The first driving module 244 is connected to the tray 243 and can drive the tray 243 to rise and fall along the first direction. Figure 4a A clearance opening is provided on one side of the storage bin 2411 close to the first drive module 244. When the storage bin 2411 is located at the feeding position, the tray 243 can move upwards driven by the first drive module 244 and enter the storage bin 2411 through the clearance opening, and can lift up the spacer paper 100 in the storage bin 2411 to continuously feed the upper feeding robot 220. When all the spacer paper 100 in the storage bin 2411 are taken away, the tray 243 can move downwards driven by the first drive module 244 and leave the storage bin 2411 through the clearance opening. Among them, by arranging multiple storage bins 2411 in the storage unit 241, and moving the storage bins 2411 in the storage unit 241 to the feeding position or the idle position by the switching mechanism 242, multiple storage bins 2411 can be alternately fed, and the feeding can be completed without stopping the machine, which helps to improve production efficiency. Optionally, the first drive module 244 is a vertically arranged linear slide. Optionally, a support plate is movably provided in the storage bin 2411 , and the support plate is used to support the separation paper 100 .

[0063] According to one embodiment of the present invention, Figure 2 and Figure 4aAs shown, the switching mechanism 242 can be a linear slide (linear module), and the multiple storage bins 2411 of the storage unit 241 can be arranged at intervals along the second direction. The multiple storage bins 2411 of the storage unit 241 are arranged on the output module (e.g., slide) of the linear slide. The linear slide drives the storage unit 241 to move along the second direction, so that the storage bins 2411 can be switched between the feeding position and the idle position. In some embodiments, the switching mechanism 242 can also be a rotating table. The multiple storage bins 2411 are arranged at intervals around the rotation center of the rotating table and are respectively fixed on the output module of the rotating table. The rotating table drives the storage unit 241 to rotate, so that the storage bins 2411 can be switched between the feeding position and the idle position.

[0064] According to one embodiment of the present invention, Figure 2 As shown, the industrial robot 200 may further include a first positioning module 250, which may position the spacer paper 100. During the operation of the industrial robot 200, the loading robot 220 may first transfer the spacer paper 100 from the storage bin 2411 to the first positioning module 250 for positioning, and then transfer the positioned spacer paper 100 to the stage 210, thereby improving the loading accuracy of the spacer paper 100 and ensuring the consistency of product (packaging box) quality.

[0065] Figure 5 FIG. 2 shows a schematic diagram of a first positioning module 250 according to an embodiment of the present invention. Figure 5 As shown, the first positioning module 250 may include a temporary storage table 251, a plurality of positioning plates 252 and a second driving module 253, wherein the temporary storage table 251 is used to carry the separator 100, and the shape of the temporary storage table 251 can be designed according to the shape of the separator 100 to ensure that it can provide good support for the separator 100, and after the separator 100 is placed on the temporary storage table 251, the edge (or part of the edge) of the separator 100 is located outside the temporary storage table 251. The plurality of positioning plates 252 are arranged at intervals around the temporary storage table 251, for example Figure 5In the illustrated embodiment, four positioning plates 252 are respectively arranged at the front side, the rear side, the left side and the right side of the temporary storage table 251. The second driving module 253 is installed below the temporary storage table 251, and the second driving module 253 is respectively connected to the plurality of positioning plates 252, and synchronously drives the plurality of positioning plates 252 to approach or move away from the temporary storage table 251. Among them, when the plurality of positioning plates 252 are away from the temporary storage table 251, the loading robot 220 can place the spacer 100 on the temporary storage table 251; then, the second driving module 253 drives the plurality of positioning plates 252 to synchronously move to a position close to the temporary storage table 251, at which time, the positioning plate 252 can adjust the position of the spacer 100 to realize the positioning of the spacer 100. Optionally, the second driving module 253 may include a plurality of third linear actuators 2531, and the third linear actuators 2531 may be linear actuators such as cylinders, hydraulic cylinders, and electric push rods. Multiple third linear actuators 2531 correspond one-to-one to multiple positioning plates 252, and the positioning plates 252 are installed at the output ends of the corresponding third linear actuators 2531. When multiple third linear actuators 2531 work simultaneously (for example, extend or shorten), the multiple positioning plates 252 can be synchronously driven to approach or move away from the temporary storage table 251.

[0066] According to one embodiment of the present invention, Figure 2 As shown, the loading robot 220 may include a vacuum suction cup 221 and a robot arm 222. The robot arm 222 is connected to the vacuum suction cup 221, and can drive the vacuum suction cup 221 to switch between the first position and the second position. The vacuum suction cup 221 includes a first suction unit 2211 and a second suction unit 2212. When the vacuum suction cup 221 is in the first position, the first suction unit 2211 is located above the feeding device and can suck the separation paper 100 from the storage bin 2411; the second suction unit 2212 is located above the first positioning module 250 and can suck the separation paper 100 from the temporary storage table 251. When the vacuum suction cup 221 is in the second position, the first suction unit 2211 is located above the first positioning module 250 and can place the separation paper 100 on the temporary storage table 251; the second suction unit 2212 is located above the stage 210 and can place the separation paper 100 on the temporary storage table 251. Through this robot, the spacer paper 100 in the storage bin 2411 can be transferred to the first positioning module 250 (temporary storage table 251) and the spacer paper 100 in the first positioning module 250 (temporary storage table 251) can be transferred to the second positioning module 330 simultaneously, which can significantly improve production efficiency.

[0067] The above describes in detail an industrial robot 200 of an embodiment of the present invention. The industrial robot 200 can cooperate with staff or other mechanical equipment to install the pre-folded separator paper 100 on the box blank of the packaging box, which can greatly improve production efficiency, reduce labor costs, and help ensure the consistency of product (packaging box) quality and improve consumer satisfaction. Next, an embodiment of the present invention provides an assembly device 300, which can realize the assembly of the separator paper 100 without human participation, which can further improve production efficiency and reduce labor costs.

[0068] Figure 6 A schematic diagram of an assembly device 300 according to an embodiment of the present invention is shown. Figure 6 As shown, the assembly device 300 includes a box blank conveying system, a third driving module 310 (see Figure 2 ) and the industrial robot 200 as described above. The loading platform 210 and the origami manipulator 230 of the industrial robot 200 are installed on the output module of the third driving module 310, and the third driving module 310 can drive the loading platform 210 and the origami manipulator 230 to move synchronously so that the loading platform 210 switches between the loading position and the assembly position. The box blank conveying system includes a conveyor 320 and one or more second positioning modules 330, wherein the conveyor 320 can be a belt conveyor 320, which can convey the box blank along the second direction. The second positioning module 330 is arranged above the conveyor 320, and the one or more positioning modules can position the box blank conveyed by the conveyor 320 at the assembly position. Optionally, the assembly equipment 300 also includes a frame 340, and the second positioning module 330 is installed on the frame 340.

[0069] During the production process of the packaging box, the feeding robot 220 can accurately place the separator 100 on the stage 210, and the third driving module 310 can move the stage 210 and the folding robot 230 to the assembly position; then, the box blank conveying system conveys the separator 100 to the assembly position. At this time, the separator 100 is at least partially located on the stage 210 and the separator 100 (such as Figure 7 Afterwards, the folding wing portion 120 of the separator paper 100 is folded in half by the paper folding robot 230, and the box blank and the folding wing portion 120 are fixed by pre-applied glue.

[0070] Figure 8 FIG. 4 shows a schematic diagram of a second positioning module 330 according to an embodiment of the present invention. Figure 6 and Figure 8As shown, the second positioning module 330 includes a positioning block 331 and a fourth drive module 332. The fourth drive module 332 can be a linear actuator such as a cylinder, a hydraulic cylinder, an electric push rod, etc., and the fourth drive module 332 is installed on the frame 340. The positioning block 331 is installed at the output end of the fourth drive module 332, and the fourth drive module 332 can drive the positioning block 331 to rise or fall along the first direction. Optionally, the positioning block 331 has a positioning surface 3311, and the positioning surface 3311 coincides with a partial contour of the box blank. Optionally, four second positioning modules 330 are provided, wherein two second positioning modules 330 are located downstream of the assembly position, and two second positioning modules 330 are located upstream of the assembly position (the upstream and downstream are determined according to the conveying direction of the conveyor 320). When positioning the box blank, the two second positioning modules 330 located downstream of the assembly position can first block the movement of the box blank, that is, the corresponding fourth driving module 332 drives the positioning block 331 to descend, so that the positioning block 331 blocks the movement path of the box blank; then the two second positioning modules 330 located upstream of the assembly position cooperate with the two second positioning modules 330 located downstream of the assembly position to position the box blank. Optionally, the positioning surfaces 3311 of the positioning blocks 331 in each second positioning module 330 can be the same or different, which can be determined according to the shape of the box blank.

[0071] According to one embodiment of the present invention, Figure 6 As shown, the blank conveying system may further include a third positioning module 350, which is disposed above the conveyor 320 and is used to cooperate with the second positioning module 330 to position the blank. Specifically, Fig. 9 FIG. 4 shows a schematic diagram of a third positioning module 350 according to an embodiment of the present invention. Figure 6 and Fig. 9 As shown, the third positioning module 350 may include a connecting rod 351, a clamping wheel 352 and a fifth driving module 353. The connecting rod 351 is configured to rotate around a first axis. Specifically, the middle portion of the connecting rod 351 is rotatably connected to the frame 340 through a pivot, and the pivot is arranged along the first axis. The clamping wheel 352 is rotatably mounted on the lower end of the connecting rod 351. The fifth driving module 353 is configured to drive the connecting rod 351 to rotate around the first axis. Optionally, the fifth driving module 353 is a linear actuator such as a cylinder, a hydraulic cylinder or an electric push rod, and one end of the fifth driving module 353 is hinged to the frame 340, and the other end is hinged to the upper end of the connecting rod 351. After the one or more second positioning modules 330 position the box blank at the assembly position, the fifth driving module 353 can drive the connecting rod 351 to rotate, so that the clamping wheel 352 presses the box blank onto the conveyor 320 (the conveyor 320 can stop working at this time), ensuring that the box blank will not move during the assembly process, thereby ensuring the consistency of product (packaging box) quality.

[0072] According to one embodiment of the present invention, Figure 6 As shown, the box blank conveying system may further include a pressing module 360 ​​, which is used to press the separator paper 100 and the box blank to ensure that the box blank and the folded wing portion of the separator paper 100 are stably bonded. Fig.10 FIG. 4 shows a schematic diagram of a pressing module 360 ​​according to an embodiment of the present invention. Figure 6 and Fig.10 As shown, the pressing module 360 ​​may include a pressing plate 361 and a sixth driving module 362. The sixth driving module 362 is mounted on the frame 340, and may use a linear actuator such as a cylinder, a hydraulic cylinder or an electric push rod. The pressing plate 361 is arranged above the assembly position and connected to the output end of the sixth driving module 362. The sixth driving module 362 may drive the pressing plate 361 to descend or ascend along the first direction to achieve the pressing and releasing of the separator 100 and the box blank.

[0073] Compared with the prior art, the embodiments of the present invention provide an industrial robot and assembly equipment, which can greatly improve the assembly efficiency of separator paper and box blanks, reduce labor costs, and help ensure the consistency of product (packaging box) quality and improve consumer satisfaction.

[0074] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An industrial robot comprising: Stage; A loading robot, configured to grab the separator paper and transfer the separator paper to the loading platform; and An origami manipulator comprises an origami piece, a first linear actuator, a second linear actuator and a connecting frame, wherein the connecting frame is connected between the origami piece and an output end of the second linear actuator, the output end of the first linear actuator is connected to the second linear actuator, the first linear actuator is configured to drive the origami piece to rise or fall in a first direction, and the second linear actuator is configured to drive the origami piece to reciprocate in a second direction; The first linear actuator is located below the second linear actuator, and the first direction is perpendicular to the second direction.

2. The industrial robot according to claim 1, wherein: The folding paper piece is a roller shaft, and the folding paper piece is pivotally connected to the connecting frame.

3. The industrial robot according to claim 1, wherein: There are two origami manipulators, which are respectively arranged at two ends of the loading platform.

4. The industrial robot according to claim 1, wherein: The loading platform is a vacuum adsorption platform.

5. The industrial robot according to any one of claims 1 to 4, wherein: The industrial robot further comprises a feeding module, wherein the feeding module comprises: A storage unit, comprising a plurality of storage bins, wherein the top of each storage bin is provided with a discharge port, and the bottom and sides of each storage bin are provided with avoidance ports; and A switching mechanism connected to the storage unit, wherein the switching mechanism is configured to drive the storage unit to move so as to move one storage bin in the storage unit to a feeding position and move other storage bins to an idle position; A tray, disposed at a feeding position, the tray being configured to pass through the avoidance opening; and The first driving module is connected to the tray, and the first driving module is configured to drive the tray to rise and fall along a first direction.

6. The industrial robot according to claim 5, wherein: The industrial robot further includes a first positioning module, and the first positioning module includes: Temporary storage station; A plurality of positioning plates are arranged at intervals around the temporary storage table; and The second driving module is connected to the plurality of positioning plates respectively and is configured to synchronously drive the plurality of positioning plates to approach or move away from the temporary storage table.

7. The industrial robot according to claim 6, wherein: The feeding robot comprises: A vacuum suction cup, comprising a first suction unit and a second suction unit; a mechanical arm connected to the vacuum suction cup and configured to drive the vacuum suction cup to switch between a first position and a second position; Wherein, when the vacuum suction cup is in the first position, the first suction unit is located above the feeding position, and the second suction unit is located above the first positioning module; when the vacuum suction cup is in the second position, the first suction unit is located above the first positioning module, and the second suction unit is located above the stage.

8. An assembly device comprising: The industrial robot according to any one of claims 1 to 7; A third driving module is also configured, connected to the loading platform of the industrial robot and the origami manipulator, and the third driving module is configured to drive the loading platform and the origami manipulator to move synchronously, so that the loading platform switches between a loading position and an assembly position; and The box blank conveying system comprises a conveyor and one or more second positioning modules, wherein the conveyor is configured to convey the box blank, the second positioning module is arranged above the conveyor, and the one or more second positioning modules are configured to position the box blank in an assembly position.

9. The assembly apparatus according to claim 8, wherein: The second positioning module includes a positioning block and a fourth driving module, wherein the positioning block is connected to an output end of the fourth driving module, and the fourth driving module is configured to drive the positioning block to rise or fall along a first direction.

10. The assembly apparatus according to claim 8, wherein: The blank conveying system further comprises a third positioning module arranged above the conveyor, and the third positioning module comprises: a connecting rod configured to rotate about a first axis; A clamping wheel connected to one end of the connecting rod; The fifth driving module is connected to the connecting rod and is configured to drive the connecting rod to rotate around the first axis.

11. The assembly apparatus according to claim 8, wherein: The assembly device further includes a pressing module, which includes a pressing plate and a sixth driving module. The pressing plate is arranged above the assembly position, and the sixth driving module is configured to drive the pressing plate to rise or fall along a first direction.

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