Carton blank feeding device

Abstract

The invention discloses a carton blank feeding device. The carton blank feeding device comprises a movable control table and a cooperative mechanical arm connected to the movable control table in a liftable mode. The carton blank grabbing mechanism comprises a fixing assembly connected to the cooperative mechanical arm, and a vacuum adsorption assembly, a visual positioning assembly and a line clamping and trimming assembly which are connected to the fixing assembly; the carton blank transferring mechanism comprises a carton blank temporary storage assembly and a conveying assembly. According to the carton blank feeding device provided by the invention, firstly, the vacuum adsorption assembly adsorbs and grabs the carton blank bundled by the binding belt and conveys the carton blank to the carton blank temporary storage assembly under the driving of the cooperative mechanical arm, and then the wire clamping and trimming assembly cuts off the binding belt on the carton blank; and then the conveying assembly conveys the carton blank with the binding belt cut off from the carton blank temporary storage assembly to the carton unpacking machine feeding platform, and therefore the automatic operation that the carton blank bundled by the binding belt is fed to the carton unpacking machine feeding platform from the carton blank raw material bin and the binding belt is cut off is achieved, and the production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automation equipment, and in particular relates to a carton blank feeding device. Background Art

[0002] In industrial production, after the product is produced, in order to facilitate the transportation of the product and protect the product during transportation, the product is generally packaged in cartons. After the carton factory completes the production, the carton is in a folded and flattened plane state, usually called a carton blank. When using cartons to package products, the flat carton blank needs to be unfolded into a three-dimensional state and folded and sealed, so that the product can be placed in the carton to package the product.

[0003] The carton opening machine, also known as the carton forming and bottom sealing machine, is a special packaging equipment that can automatically complete the unpacking, forming, folding of the bottom flaps of the product and sealing with tape before conveying it to the carton packing machine during the production and packaging process. It is an indispensable equipment for automated large-scale production. Patent application CN116873307A discloses a carton opening device, including a carton feeding device, a carton opening device, a carton pushing device and a carton folding and sealing device. When the carton opening device is working, a plurality of cartons to be opened are manually placed upright on the carton feeding device, and the carton feeding device conveys each carton to the carton opening device one by one for subsequent unpacking operations.

[0004] like Figure 1 As shown, after the carton blanks 6 are produced in the carton factory, they are usually stacked and then tied together with a cable tie 5 for easy transportation. For the carton unpacking equipment as described above, when the carton blanks 6 need to be loaded onto the carton feeding device, the cable tie 5 needs to be manually removed first, and then the carton blanks 6 need to be loaded onto the carton feeding device of the unpacking equipment, which is time-consuming and labor-intensive, and not only labor-intensive, but also leads to low production efficiency. Therefore, it is necessary to provide a carton blank loading device for carton unpacking equipment. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a carton blank feeding device to solve the problem of how to automatically feed the carton blank to the feeding platform of a carton opening machine so as to improve the production efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A carton blank feeding device is arranged between a carton blank raw material bin and a feeding platform of a carton opening machine, and the carton blank feeding device comprises:

[0008] A movable control console and a cooperative mechanical arm liftably connected to the movable control console;

[0009] A carton blank grabbing mechanism, comprising a fixing component connected to the collaborative robot arm and a vacuum adsorption component, a visual positioning component and a wire clamping and cutting component connected to the fixing component;

[0010] The carton blank transfer mechanism comprises a carton blank temporary storage component and a conveying component connected between the carton blank temporary storage component and the loading platform; wherein,

[0011] The vacuum adsorption component is used to adsorb and grab the carton blanks tied with cable ties stored in the carton blank raw material warehouse, and transport them to the carton blank temporary storage component under the drive of the collaborative robot arm;

[0012] The visual positioning component is used to position the carton blank and the cable ties on the carton blank;

[0013] The wire clamping and cutting assembly is used to cut the cable ties on the carton blanks stored in the carton blank temporary storage assembly;

[0014] The conveying component is used to convey the carton blanks after the cable ties are cut off from the carton blank temporary storage component to the loading platform.

[0015] Preferably, the fixing assembly includes a first fixing plate connected to the collaborative robot arm, a first mounting plate located relatively below the first fixing plate and connected to the first end of the first fixing plate, and a second mounting plate located relatively below the first fixing plate and connected to the second end of the first fixing plate, the first fixing plate, the first mounting plate and the second mounting plate enclose a accommodating space; the vacuum adsorption assembly includes a first vacuum suction cup and a second vacuum suction cup, the first vacuum suction cup is connected to the bottom of the first mounting plate, the second vacuum suction cup is connected to the bottom of the second mounting plate, the visual positioning assembly is arranged on the side of the second vacuum suction cup and fixedly connected to the second mounting plate, and the wire clamping and wire cutting assembly is assembled in the accommodating space.

[0016] Preferably, the first vacuum suction cup and the second vacuum suction cup respectively include a plurality of vacuum suction nozzles arranged in an array, and the vacuum suction nozzles are vacuum suction nozzles with a one-way non-return function; the visual positioning component includes a positioning camera and a camera light source respectively connected to the second mounting plate.

[0017] Preferably, the wire clamping and cutting assembly comprises a slide cylinder, a pneumatic clamp, a pneumatic scissors and a wire hooking structure, the slide cylinder is fixedly connected in the accommodating space, the output end of the slide cylinder is slidably connected with a third mounting plate, the pneumatic clamp, the pneumatic scissors and the wire hooking structure are respectively connected to the third mounting plate, and the wire hooking structure is located between the pneumatic clamp and the pneumatic scissors;

[0018] Among them, the hook wire structure is used to hook the cable tie on the carton blank stored in the carton blank temporary storage component and pull it toward the accommodating space, the pneumatic clamp is used to clamp the cable tie pulled into the accommodating space by the hook wire structure, and the pneumatic scissors are used to cut the cable tie clamped by the pneumatic clamp.

[0019] Preferably, the wire hooking structure comprises a linear cylinder fixedly connected to the third mounting plate and a wire hook connected to an output end of the linear cylinder.

[0020] Preferably, the first mounting plate and the second mounting plate are respectively arranged in parallel below the first fixing plate, the first mounting plate and the second mounting plate are located on the same horizontal plane and are spaced apart from each other, the first mounting plate is connected to the first end of the first fixing plate through a first connecting vertical plate, the second mounting plate is connected to the second end of the first fixing plate through a second connecting vertical plate, and the first fixing plate, the first mounting plate, the second mounting plate, the first connecting vertical plate and the second connecting vertical plate surround the accommodating space;

[0021] Among them, the first mounting plate is vertically connected to the second fixing plate, the second fixing plate and the first connecting vertical plate are arranged parallel to each other, the slide cylinder is fixedly connected to the second fixing plate, and the third mounting plate slidably connected to the output end of the slide cylinder is arranged parallel to the second fixing plate.

[0022] Preferably, outside the accommodating space, a first reinforcing plate is connected between the first mounting plate and the first connecting vertical plate, and a second reinforcing plate is connected between the second mounting plate and the second connecting vertical plate; inside the accommodating space, a third reinforcing plate is connected between the first mounting plate and the second mounting plate.

[0023] Preferably, the carton blank transfer mechanism further comprises a support base, the conveying assembly is arranged on the support base, the carton blank temporary storage assembly is rotatably connected to the side of the support base and is located at the first end of the conveying assembly, and the second end of the conveying assembly is connected to the loading platform;

[0024] Wherein, when the carton blank temporary storage assembly rotates relative to the support base, the angle between the carton blank temporary storage assembly and the plane where the conveying assembly is located is in the range of 90° to 135°.

[0025] Preferably, a third fixed plate is connected to the side of the support base, and the carton blank temporary storage assembly includes a first rotating shaft, a longitudinal support arm, a lateral baffle and a cross beam, the first rotating shaft is rotatably connected to the third fixed plate through a bearing, the two ends of the first rotating shaft are respectively connected to the first end of the longitudinal support arm, the second ends of the two longitudinal support arms are respectively connected to the lateral baffle, the lateral baffles extend toward the direction of the conveying assembly, the cross beam is connected between the two longitudinal support arms at a position close to the first rotating shaft, and a support beam extending toward the direction of the conveying assembly is connected to the cross beam; the longitudinal support arm is driven to rotate relative to the third fixed plate by the first rotating shaft, so that the carton blank temporary storage assembly can rotate relative to the support base;

[0026] Wherein, limit blocks are respectively arranged on the third fixing plate at positions corresponding to the two longitudinal support arms, and the limit blocks are used to limit the rotation angle of the longitudinal support arm relative to the third fixing plate.

[0027] Preferably, a stop structure is provided on the side baffle for preventing the temporarily stored carton blanks from tipping over, the stop structure includes a fixed seat connected to the outer side of the side baffle, an elastic telescopic rod is connected in the fixed seat, a second rotating shaft is connected to the elastic telescopic rod, rollers are connected at both ends of the second rotating shaft, avoidance holes corresponding to the rollers are provided on the side baffle, and the elastic telescopic rod pushes the rollers toward the inner side of the side baffle.

[0028] The carton blank feeding device provided in the embodiment of the present invention comprises a movable control console, a cooperative robot arm, a carton blank grasping mechanism and a carton blank transferring mechanism, and the carton blank grasping mechanism is provided with a vacuum adsorption component, a visual positioning component and a clamping and cutting component, and the carton blank transferring mechanism is provided with a carton blank temporary storage component and a conveying component. Firstly, the vacuum adsorption component adsorbs and grasps the carton blanks tied with cable ties and transports them to the carton blank temporary storage component under the drive of the cooperative robot arm, and then the clamping and cutting component cuts off the cable ties on the carton blanks, and then the conveying component conveys the carton blanks with the cable ties cut off from the carton blank temporary storage component to the loading platform of the carton opener, thereby realizing the automated operation of loading the carton blanks tied with cable ties from the carton blank raw material bin to the loading platform of the carton opener and cutting off the cable ties, thereby reducing labor costs and labor intensity and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural diagram of a carton blank tied with a tie band in an embodiment of the present invention;

[0030] Figure 2 is a structural schematic diagram of a carton blank feeding device in an embodiment of the present invention;

[0031] Figure 3 Schematic diagram of the structure of the carton blank grabbing mechanism in an embodiment of the present invention;

[0032] Figure 4 is a schematic structural diagram of a fixing assembly in an embodiment of the present invention;

[0033] Figure 5 is a schematic structural diagram of a vacuum adsorption assembly in an embodiment of the present invention;

[0034] Figure 6 is a schematic diagram of the structure of a visual positioning component in an embodiment of the present invention;

[0035] Figure 7 is a structural schematic diagram of a thread clamping and cutting assembly in an embodiment of the present invention;

[0036] Figure 8 and Fig. 9 is a diagram of the thread clamping and thread trimming assembly in the embodiment of the present invention performing a thread clamping and thread trimming action;

[0037] Fig.10 Schematic diagram of the structure of the carton blank transfer mechanism in an embodiment of the present invention;

[0038] Fig.11 Schematic diagram of the structure of the carton blank temporary storage assembly in an embodiment of the present invention;

[0039] Fig.12 is an enlarged diagram of the rotating connection structure of the carton blank temporary storage assembly in an embodiment of the present invention;

[0040] Fig.13 Schematic diagram of the structure of the stop structure in the embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present invention clearer, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the present invention shown in the accompanying drawings and described according to the accompanying drawings are merely exemplary, and the present invention is not limited to these embodiments.

[0042] It should be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is 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 direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0043] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0044] The embodiment of the present invention provides a carton blank feeding device, such as Figure 2 As shown, the carton blank feeding device 100 is arranged between the carton blank raw material bin 200 and the feeding platform 300 of the carton unpacking machine, and is used to feed the carton blanks 6 tied with the tie bands 5 from the carton blank raw material bin 200 to the feeding platform 300 of the unpacking machine, and the unpacking machine automatically unpacks the carton blanks 6. In this embodiment, the carton blank raw material bin 200 is specifically a pallet arranged near the carton blank feeding device 100, and a plurality of groups of carton blanks 6 tied with the tie bands 5 waiting to be fed are stacked on the pallet.

[0045] In this embodiment, the carton blank feeding device 100 mainly includes a movable control console 1, a collaborative robot arm 2, a carton blank grasping mechanism 3 and a carton blank transferring mechanism 4.

[0046] Among them, Figure 2 As shown, the collaborative robot arm 2 is liftably connected to the movable control console 1. Specifically, a lifting component 11 is provided in the movable control console 1, and the collaborative robot arm 2 is connected to the lifting component 11. The collaborative robot arm 2 is a multi-axis robot arm and cooperates with the lifting component 11, so that the collaborative robot arm 2 has a greater control freedom.

[0047] Among them, Figure 3 As shown, the carton blank grabbing mechanism 3 mainly includes a fixing component 31, a vacuum adsorption component 32, a visual positioning component 33 and a clamping and cutting component 34. The fixing component 31 is used to be connected to the collaborative robot arm 2, and the vacuum adsorption component 32, the visual positioning component 33 and the clamping and cutting component 34 are respectively connected to the fixing component 31.

[0048] Among them, Fig.10 As shown, the carton blank transfer mechanism 4 mainly includes a carton blank temporary storage component 41 and a conveying component 42 connected between the carton blank temporary storage component 41 and the loading platform 300 .

[0049] In the above-mentioned carton blank feeding device 100, the vacuum adsorption component 32 is used to adsorb and grasp the carton blank 6 tied with the cable tie 5 stored in the carton blank raw material warehouse 100, and transport it to the carton blank temporary storage component 41 under the drive of the collaborative robot arm 2. The visual positioning component 33 is used to locate the carton blank 6 and the cable tie 5 on the carton blank 6. The wire clamping and cutting component 34 is used to cut off the cable tie 5 on the carton blank 6 stored in the carton blank temporary storage component 41. The conveying component 42 is used to convey the carton blank 6 after the cable tie 5 is cut off from the carton blank temporary storage component 41 to the feeding platform 300.

[0050] As a specific solution, in this embodiment, refer to Figures 3 to 9 The fixing assembly 31 includes a first fixing plate 311 connected to the collaborative robot arm 2, a first mounting plate 312 located relatively below the first fixing plate 311 and connected to the first end of the first fixing plate 311, and a second mounting plate 313 located relatively below the first fixing plate 311 and connected to the second end of the first fixing plate 311. The first fixing plate 311, the first mounting plate 312 and the second mounting plate 313 surround an accommodating space 30.

[0051] The vacuum adsorption assembly 32 includes a first vacuum suction cup 32a and a second vacuum suction cup 32b, wherein the first vacuum suction cup 32a is connected to the bottom of the first mounting plate 312, and the second vacuum suction cup 32b is connected to the bottom of the second mounting plate 313. The visual positioning assembly 33 is arranged on the side of the second vacuum suction cup 32b and fixedly connected to the second mounting plate 313, and the wire clamping and cutting assembly 34 is assembled in the accommodating space 30. A connecting flange 311a is arranged on the first fixing plate 311, and the first fixing plate 311 is connected to the collaborative robot arm 2 through the connecting flange 311a.

[0052] Specifically, Figure 4As shown, preferably, the first mounting plate 312 and the second mounting plate 313 are respectively arranged in parallel below the first fixed plate 311, the first mounting plate 312 and the second mounting plate 313 are located on the same horizontal plane and are spaced apart from each other, the first mounting plate 312 is connected to the first end of the first fixed plate 311 through the first connecting vertical plate 314, the second mounting plate 313 is connected to the second end of the first fixed plate 311 through the second connecting vertical plate 315, and the first fixed plate 311, the first mounting plate 312, the second mounting plate 313, the first connecting vertical plate 314 and the second connecting vertical plate 315 surround the accommodating space 30.

[0053] Furthermore, outside the accommodation space 30, a first reinforcing plate 316 is connected between the first mounting plate 312 and the first connecting vertical plate 314, and a second reinforcing plate 317 is connected between the second mounting plate 313 and the second connecting vertical plate 315. Inside the accommodation space 30, a third reinforcing plate 318 is connected between the first mounting plate 312 and the second mounting plate 313.

[0054] Furthermore, combined with Figure 2 and Figure 3 The fixing assembly 31 is also covered with an upper cover (not marked in the drawings), wherein: Figure 3 In order to show the internal structure, the upper cover structure is removed.

[0055] In this embodiment, Figure 5 As shown, the first vacuum suction cup 32a and the second vacuum suction cup 32b respectively include a plurality of vacuum suction nozzles 321 arranged in an array, and the vacuum suction nozzles 321 are wavy suction nozzles and are vacuum suction nozzles with a one-way non-return function. Therefore, if one of the vacuum suction nozzles 321 leaks and fails to adsorb, it will not affect the adsorption performance of other vacuum suction nozzles 321.

[0056] In this embodiment, Figure 6 As shown, the visual positioning component 33 includes a positioning camera 331 and a camera light source 332 respectively connected to the second mounting plate 313. The positioning camera 331 obtains position information by shooting images, preferably using a CCD camera; the camera light source 332 is mainly used to supplement light, preferably using an LED white light source.

[0057] In this embodiment, Figures 7 to 9As shown, the wire clamping and cutting assembly 34 mainly includes a slide cylinder 341, a pneumatic clamp 342, a pneumatic scissors 343 and a wire hooking structure 344. The slide cylinder 341 is fixedly connected in the accommodating space 30, and the output end of the slide cylinder 341 is slidably connected to a third mounting plate 345, the pneumatic clamp 342, the pneumatic scissors 343 and the wire hooking structure 344 are respectively connected to the third mounting plate 345, and the wire hooking structure 344 is located between the pneumatic clamp 342 and the pneumatic scissors 343. Figure 8 As shown, the hook wire structure 344 is used to hook the tie 5 on the carton blank 6 stored in the carton blank temporary storage component 41 and pull it toward the accommodating space 30. Fig. 9 As shown, the pneumatic clamp 342 is used to clamp the cable tie 5 pulled into the accommodating space 30 by the hook wire structure 344 , and the pneumatic scissors 343 are used to cut the cable tie 5 clamped by the pneumatic clamp 342 .

[0058] Specifically, the first mounting plate 312 is vertically connected to a second fixing plate 346, the second fixing plate 346 and the first connecting vertical plate 314 are arranged parallel to each other, the slide cylinder 341 is fixedly connected to the second fixing plate 346, and the third mounting plate 345 slidably connected to the output end of the slide cylinder 341 is arranged parallel to the second fixing plate 346. The slide cylinder 341 drives the third mounting plate 345, thereby driving the pneumatic clamp 342, the pneumatic scissors 343 and the hooking wire structure 344 connected to the third mounting plate 345 to move, so as to adjust the specific positions of the pneumatic clamp 342, the pneumatic scissors 343 and the hooking wire structure 344.

[0059] Specifically, see Figure 8 The wire hook structure 344 includes a linear cylinder 344a fixedly connected to the third mounting plate 345 and a wire hook 344b connected to the output end of the linear cylinder 344a.

[0060] Furthermore, if Figure 7 As shown, a protective shell 347 is provided on the third mounting plate 345, and the pneumatic clamp 342, the pneumatic scissors 343 and the hook wire structure 344 are accommodated in the protective shell 347, and the protective shell 347 is provided with a window exposing the pneumatic clamp 342, the pneumatic scissors 343 and the hook wire structure 344.

[0061] In this embodiment, combined with Figure 2 and Fig.10As shown, the carton blank transfer mechanism 4 includes a carton blank temporary storage component 41, a conveying component 42 and a support base 43. The conveying component 42 is arranged on the support base 43, the carton blank temporary storage component 41 is rotatably connected to the side of the support base 43 and is located at the first end of the conveying component 42, and the second end of the conveying component 42 is connected to the loading platform 300. Among them, when the carton blank temporary storage component 41 rotates relative to the support base 43, the angle between the carton blank temporary storage component 41 and the plane where the conveying component 42 is located is in the range of 90° to 135°.

[0062] Specifically, see Figures 10 to 12 The side of the support base 43 is connected with a third fixed plate 44, and the carton blank temporary storage assembly 41 includes a first rotating shaft 411, a longitudinal support arm 412, a lateral baffle 413 and a crossbeam 414. The first rotating shaft 411 is rotatably connected to the third fixed plate 44 through a bearing 415, the two ends of the first rotating shaft 411 are respectively connected to the first end of a longitudinal support arm 412, the second ends of the two longitudinal support arms 412 are respectively connected to a lateral baffle 413, and the lateral baffle 413 extends toward the direction of the conveying assembly 42, the crossbeam 414 is connected between the two longitudinal support arms 412 at a position close to the first rotating shaft 411, and a support beam 416 extending toward the direction of the conveying assembly 42 is connected to the crossbeam 414; the longitudinal support arm 412 is driven to rotate relative to the third fixed plate 44 by the first rotating shaft 411, so that the carton blank temporary storage assembly 41 can rotate relative to the support base 43.

[0063] Wherein, the third fixed plate 44 is provided with limit blocks 45 at positions corresponding to the two longitudinal support arms 412, and the limit blocks 45 are used to limit the rotation angle of the longitudinal support arms 412 relative to the third fixed plate 44. In a natural state, the longitudinal support arms 412 press against the limit blocks 45, so that the angle between the carton blank temporary storage component 41 and the plane where the conveying component 42 is located is the largest, and the carton blank temporary storage component 41 is inclined relatively gently, which is convenient for placing the carton blank 6 tied by the cable tie 5 into the carton blank temporary storage component 41, and also convenient for the clamping and cutting component 34 to cut the cable tie 5. After cutting off the cable tie 5, the carton blank grabbing mechanism 3 driven by the cooperative robot arm 2 pushes the carton blank temporary storage component 41 to rotate toward the conveying component 42, and when the angle between the two is the smallest, the carton blank 6 is further pushed into the conveying component 42, and the conveying component 42 transmits it to the loading platform 300 of the carton unpacking machine.

[0064] Furthermore, in this embodiment, if Fig.11 and Fig.13As shown, the lateral baffle 413 is provided with a stopper structure 46 for preventing the temporarily stored carton blank 6 from tipping over, and the stopper structure 46 comprises a fixing seat 461 connected to the outer side of the lateral baffle 413, an elastic telescopic rod 462 is connected to the fixing seat 461, a second rotating shaft 463 is connected to the elastic telescopic rod 462, and rollers 464 are connected to both ends of the second rotating shaft 463, and avoidance holes 465 corresponding to the rollers 464 are provided on the lateral baffle 413, and the elastic telescopic rod 463 pushes the rollers 464 toward the inner side of the lateral baffle 423. The fixing seat 461 is connected to the outer side of the lateral baffle 413 through a connecting piece 466.

[0065] In a natural state, the elastic telescopic rod 463 pushes the roller 464 toward the inner side of the lateral baffle 423, limits the carton blank 6, and prevents the carton blank 6 from tipping toward the conveying assembly 42. After the cable tie 5 is cut off, the collaborative robot arm 2 pushes the carton blank 6 toward the conveying assembly 42, the roller 464 receives an external force, the elastic telescopic rod 463 is compressed into the fixing seat 461, and the roller 464 moves toward the outer side of the lateral baffle 423, so that the carton blank 6 can pass smoothly and be pushed into the conveying assembly 42.

[0066] The working process of the carton blank feeding device 100 as described above is as follows:

[0067] (1) The collaborative robot arm 2 drives the carton blank grasping mechanism 3 to move above the carton blank raw material bin 200, and the visual positioning component 33 positions the carton blank 6 tied by the cable tie 5 in the carton blank raw material bin 200 to determine the grasping direction;

[0068] (2) The vacuum adsorption component 32 adsorbs and grabs the carton blank 6 tied with the cable tie 5, and transports it to the carton blank temporary storage component 41 under the drive of the collaborative robot arm 2;

[0069] (3) The visual positioning component 33 positions the cable tie 5 on the carton blank 6 stored in the carton blank temporary storage component 41 to determine the position of the clamping and cutting wires;

[0070] (4) Based on the coordinated action of the collaborative robot arm 2 and the linear cylinder 344a in the hook wire structure 344, the hook wire structure 344 hooks the cable tie 5 on the carton blank 6 and pulls it toward the accommodating space 30;

[0071] (5) The pneumatic clamp 342 clamps the cable tie 5 pulled by the hook wire structure 344 into the accommodating space 30, and the pneumatic scissors 343 shear the cable tie 5 clamped by the pneumatic clamp 342. After shearing, the pneumatic clamp 342 continues to clamp the cable tie 5;

[0072] (6) The collaborative robot arm 2 drives the carton blank grasping mechanism 3 to move, driving the pneumatic clamp 342 to clamp and extract the sheared tie 5, and then moves to the waste frame and releases the tie 5 to make it fall into the waste frame;

[0073] (7) The collaborative robot arm 2 drives the carton blank grabbing mechanism 3 to push the carton blank temporary storage component 41 to rotate toward the conveying component 42. When the angle between the two is minimized, the carton blank 6 after the cable tie 5 is cut off is further pushed into the conveying component 42;

[0074] (8) The conveying component 42 transfers the carton blank 6 to the loading platform 300 of the carton opening machine.

[0075] To summarize, the carton blank loading device provided by the embodiment of the present invention includes a movable control console, a collaborative robotic arm, a carton blank grabbing mechanism and a carton blank transferring mechanism, and the carton blank grabbing mechanism is provided with a vacuum adsorption component, a visual positioning component and a wire clamping and cutting component, and the carton blank transferring mechanism is provided with a carton blank temporary storage component and a conveying component. First, the vacuum adsorption component adsorbs and grabs the carton blanks tied with cable ties and transports them to the carton blank temporary storage component under the drive of the collaborative robotic arm, and then the wire clamping and cutting component cuts off the cable ties on the carton blanks, and then the conveying component conveys the carton blanks with the cable ties cut off from the carton blank temporary storage component to the loading platform of the carton opener, thereby realizing the automated operation of loading the carton blanks tied with cable ties from the carton blank raw material bin to the loading platform of the carton opener and cutting off the cable ties, thereby reducing labor costs and labor intensity and improving production efficiency.

[0076] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A carton blank feeding device, arranged between a carton blank raw material bin and a feeding platform of a carton unpacking machine, characterized in that: The carton blank feeding device comprises: A movable control console and a cooperative mechanical arm liftably connected to the movable control console; A carton blank grabbing mechanism, comprising a fixing component connected to the collaborative robot arm and a vacuum adsorption component, a visual positioning component and a wire clamping and cutting component connected to the fixing component; The carton blank transfer mechanism comprises a carton blank temporary storage component and a conveying component connected between the carton blank temporary storage component and the loading platform; wherein, The vacuum adsorption component is used to adsorb and grab the carton blanks tied with cable ties stored in the carton blank raw material warehouse, and transport them to the carton blank temporary storage component under the drive of the collaborative robot arm; The visual positioning component is used to position the carton blank and the cable ties on the carton blank; The wire clamping and cutting assembly is used to cut the cable ties on the carton blanks stored in the carton blank temporary storage assembly; The conveying component is used to convey the carton blanks after the cable ties are cut off from the carton blank temporary storage component to the loading platform.

2. The carton blank feeding device according to claim 1, characterized in that: The fixing assembly includes a first fixing plate connected to the collaborative robot arm, a first mounting plate located relatively below the first fixing plate and connected to the first end of the first fixing plate, and a second mounting plate located relatively below the first fixing plate and connected to the second end of the first fixing plate, the first fixing plate, the first mounting plate and the second mounting plate surround an accommodating space; the vacuum adsorption assembly includes a first vacuum suction cup and a second vacuum suction cup, the first vacuum suction cup is connected to the bottom of the first mounting plate, the second vacuum suction cup is connected to the bottom of the second mounting plate, the visual positioning assembly is arranged on the side of the second vacuum suction cup and is fixedly connected to the second mounting plate, and the wire clamping and wire cutting assembly is assembled in the accommodating space.

3. The carton blank feeding device according to claim 2, characterized in that: The first vacuum suction cup and the second vacuum suction cup respectively include a plurality of vacuum suction nozzles arranged in an array, and the vacuum suction nozzles are vacuum suction nozzles with a one-way non-return function; the visual positioning component includes a positioning camera and a camera light source respectively connected to the second mounting plate.

4. The carton blank feeding device according to claim 2, characterized in that: The wire clamping and cutting assembly includes a slide cylinder, a pneumatic clamp, a pneumatic scissors and a wire hooking structure. The slide cylinder is fixedly connected in the accommodating space, and the output end of the slide cylinder is slidably connected to a third mounting plate. The pneumatic clamp, the pneumatic scissors and the wire hooking structure are respectively connected to the third mounting plate, and the wire hooking structure is located between the pneumatic clamp and the pneumatic scissors; wherein, The hook wire structure is used to hook the cable tie on the carton blank stored in the carton blank temporary storage component and pull it toward the accommodating space, the pneumatic clamp is used to clamp the cable tie pulled into the accommodating space by the hook wire structure, and the pneumatic scissors are used to cut the cable tie clamped by the pneumatic clamp.

5. The carton blank feeding device according to claim 4, characterized in that: The wire hooking structure comprises a linear cylinder fixedly connected to the third mounting plate and a wire hook connected to an output end of the linear cylinder.

6. The carton blank feeding device according to claim 4, characterized in that: The first mounting plate and the second mounting plate are respectively arranged in parallel below the first fixing plate, the first mounting plate and the second mounting plate are located on the same horizontal plane and are spaced apart from each other, the first mounting plate is connected to the first end of the first fixing plate through a first connecting vertical plate, the second mounting plate is connected to the second end of the first fixing plate through a second connecting vertical plate, and the first fixing plate, the first mounting plate, the second mounting plate, the first connecting vertical plate and the second connecting vertical plate surround the accommodating space; Among them, the first mounting plate is vertically connected to the second fixing plate, the second fixing plate and the first connecting vertical plate are arranged parallel to each other, the slide cylinder is fixedly connected to the second fixing plate, and the third mounting plate slidably connected to the output end of the slide cylinder is arranged parallel to the second fixing plate.

7. The carton blank feeding device according to claim 6, characterized in that: Outside the accommodating space, a first reinforcing plate is connected between the first mounting plate and the first connecting vertical plate, and a second reinforcing plate is connected between the second mounting plate and the second connecting vertical plate; inside the accommodating space, a third reinforcing plate is connected between the first mounting plate and the second mounting plate.

8. The carton blank feeding device according to any one of claims 1 to 7, characterized in that: The carton blank transfer mechanism also includes a support base, the conveying assembly is arranged on the support base, the carton blank temporary storage assembly is rotatably connected to the side of the support base and is located at the first end of the conveying assembly, and the second end of the conveying assembly is connected to the loading platform; Wherein, when the carton blank temporary storage assembly rotates relative to the support base, the angle between the carton blank temporary storage assembly and the plane where the conveying assembly is located is in the range of 90° to 135°.

9. The carton blank feeding device according to claim 8, characterized in that: A third fixed plate is connected to the side of the support base, and the carton blank temporary storage assembly includes a first rotating shaft, a longitudinal support arm, a lateral baffle and a cross beam, the first rotating shaft is rotatably connected to the third fixed plate through a bearing, the two ends of the first rotating shaft are respectively connected to the first end of the longitudinal support arm, the second ends of the two longitudinal support arms are respectively connected to the lateral baffle, the lateral baffles extend toward the direction of the conveying assembly, the cross beam is connected between the two longitudinal support arms at a position close to the first rotating shaft, and a support beam extending toward the direction of the conveying assembly is connected to the cross beam; the longitudinal support arm is driven to rotate relative to the third fixed plate by the first rotating shaft, so that the carton blank temporary storage assembly can rotate relative to the support base; Wherein, limit blocks are respectively arranged on the third fixing plate at positions corresponding to the two longitudinal support arms, and the limit blocks are used to limit the rotation angle of the longitudinal support arm relative to the third fixing plate.

10. The carton blank feeding device according to claim 9, characterized in that: The side baffle is provided with a stop structure for preventing the temporarily stored carton blanks from tipping over, the stop structure includes a fixed seat connected to the outer side of the side baffle, an elastic telescopic rod is connected in the fixed seat, a second rotating shaft is connected to the elastic telescopic rod, rollers are connected at both ends of the second rotating shaft, avoidance holes corresponding to the rollers are provided on the side baffle, and the elastic telescopic rod pushes the rollers toward the inner side of the side baffle.

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