Single-mechanical-arm box assembling and sleeving device and using method thereof

Abstract

The invention relates to a single-mechanical-arm box assembling and sleeving device and a using method thereof.The single-mechanical-arm box assembling and sleeving device comprises box sleeving equipment used for sleeving an inner box and an outer box and material taking equipment arranged beside the box sleeving equipment; the material taking device comprises an unfolding mechanism used for taking and unfolding the carton board and a mechanical arm used for driving the unfolding mechanism to move between the material pile and the box sleeving device in a reciprocating mode. The unfolding mechanism comprises two board bodies matched with two adjacent paper boards of the carton board respectively, the two board bodies are hinged to each other and controlled to be opened and closed, each board body is correspondingly matched with one paper board, and suction cups used for sucking the corresponding paper boards are further arranged on the side faces of the board bodies. The two board bodies are further connected with transverse positioning assemblies which abut against the transverse edges of the corresponding paperboards for positioning and longitudinal positioning assemblies which abut against the longitudinal edges of the corresponding paperboards for positioning. Carton boards can be accurately held and unfolded, and the problem that the carton boards are bent and damaged in the unfolding process is solved.

Description

Technical Field

[0001] The present invention relates to the field of carton packaging, and in particular to a single-robot-arm box-in-box assembling device and a use method thereof. Background Art

[0002] In the field of packaging, carton packaging is a common packaging method. Carton unpacking has a wide range of application requirements. In some specific application scenarios, it is necessary to use a set of upper and lower slotted boxes, which include an outer box with a box cover and an inner box with a box bottom. The box cover and the box bottom both include a pair of long sides and a pair of short sides. When using this set box, the inner and outer cartons need to be nested first. When these cartons are heavy and have a large capacity, manual unpacking and nesting will consume a lot of physical strength.

[0003] After the cartons are processed and formed, they are usually stacked and packed in the form of carton boards for easy transportation. In a workshop where cartons are needed for packaging, before packaging operations are carried out, it is first necessary to take out the carton boards of the outer and inner boxes from the stack of packed cartons, and then unfold and fit the outer and inner boxes to form a complete set box, and at the same time close the bottom of the inner box, and then the set box can be used for packaging. At present, the above-mentioned unpacking and boxing processes are basically performed manually. When the cartons are heavy and have a large capacity, a large amount of manpower is required for unpacking and boxing operations, and the labor intensity of the staff is high.

[0004] With the large-scale application of automated equipment in the industrial field, it has become an inevitable demand to use automated equipment to replace manual unpacking and packing. However, in the process of using automated equipment to hold and unfold carton boards, since the carton boards in the carton stack are not stacked neatly, automated equipment often finds it difficult to accurately hold the carton boards, which leads to the carton boards being bent and damaged during the unfolding process, making them unable to be used normally, wasting packaging materials and affecting production progress. Summary of the invention

[0005] The present invention solves the problem that in the process of currently using automated equipment to hold and unfold carton boards, since the carton boards in the carton stack are not stacked neatly, the automated equipment often finds it difficult to accurately hold the carton boards, which further causes the carton boards to be bent and damaged during the unfolding process and cannot be used normally. A single-manipulator box assembling and box-in-box device and a use method thereof are provided to solve the technical problem, and a carton positioning mechanism is used to position the cardboard so that the plate body of the unfolding mechanism can be accurately aligned with the cardboard, thereby accurately holding the carton boards and unfolding the carton boards, reducing the problem of bending and damage during the unfolding process of the carton boards, thereby reducing the waste of packaging materials and reducing the impact on production progress.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0007] A single-arm box-assembling and box-nesting device, comprising a box-nesting device for nesting an inner box with an outer box and a material-retrieving device arranged next to the box-nesting device, wherein the material-retrieving device comprises an unfolding mechanism for taking and unfolding a carton board and a mechanical arm for driving the unfolding mechanism to reciprocate between a material pile and the box-nesting device;

[0008] The unfolding mechanism includes two plate bodies that respectively cooperate with two adjacent cardboards of the carton board, the two plate bodies are hinged to each other, each of the plate bodies respectively cooperates with one cardboard, and the side of the plate body is also provided with a suction cup for adsorbing the corresponding cardboard, the hinge axis between the two plate bodies is parallel to the rotation axis between the two adjacent cardboards of the carton board, and an opening and closing mechanism for driving the two to rotate relative to each other is also provided between the two plate bodies, and the two plate bodies are also connected to a carton positioning mechanism that abuts and positions the corresponding cardboard edge, and the carton positioning mechanism includes a lateral positioning component that abuts and positions the corresponding cardboard lateral edge and a longitudinal positioning component that abuts and positions the corresponding cardboard longitudinal edge.

[0009] Preferably, the lateral positioning assembly includes a side positioning claw hinged to the plate body and a side cylinder driving the side positioning claw to rotate, and the rotation axis of the side positioning claw is parallel to the hinge axis between the two plate bodies. The longitudinal positioning includes a bottom edge positioning claw hinged to the plate body and a bottom edge cylinder driving the bottom edge positioning claw to rotate, and the rotation axis of the bottom edge positioning claw is perpendicular to the hinge axis between the two plate bodies. When the positioning claws of the lateral positioning assembly and the longitudinal positioning assembly are both in contact with the corresponding cardboard edges, the plate body is aligned with the corresponding cardboard.

[0010] Preferably, the opening and closing mechanism includes an opening and closing cylinder and an adjusting rod hinged to the piston rod of the opening and closing cylinder, the adjusting rod is fixedly connected to one plate body of the unfolding mechanism, the cylinder body of the opening and closing cylinder is hinged to the other plate body of the unfolding mechanism, and the hinge axis between the opening and closing cylinder and the adjusting rod is parallel to the hinge axis between the two plate bodies.

[0011] Preferably, the box-housing device comprises a base, the top surface of which is provided with an inner box positioning mechanism for supporting the inner box in the unfolded state, two short side folding mechanisms for closing the short sides of the bottom of the inner box, and two long side folding mechanisms for closing the long sides of the bottom of the outer box, the inner box positioning mechanism comprises two horizontally parallel positioning structures, the top of the positioning structure is provided with a long slot for the long side of the bottom of the inner box to be inserted downward in the horizontal direction, the slot width of the long slot is greater than the slot bottom width, the two short side folding mechanisms are symmetrically arranged on both sides of the center of the inner box positioning mechanism along the length direction of the long slot, and the two long side folding mechanisms are symmetrically arranged on both sides of the center of the inner box positioning mechanism along the horizontal direction and perpendicular to the length direction of the long slot, wherein:

[0012] The short side folding mechanism comprises a mounting seat slidingly arranged on the base along the length direction of the long slot, a sliding driving member driving the mounting seat to slide, and a folding plate rotatably connected to the mounting seat, the mounting seat is also provided with a rotating driving member for driving the folding plate to rotate, the rotation axis of the folding plate is flush with and parallel to the rotation axis of the short side of the bottom of the inner box, the folding plate comprises a folding section and a positioning section located on both sides of its own rotation axis, when the folding plate is in a vertical state and affixed to the inner box, the folding section and the positioning section of the folding plate are respectively in affixed to the short side of the bottom of the inner box and the side of the box body;

[0013] The long side folding mechanism includes a push plate for pushing the long side of the inner box bottom to close, and the push plate is movably matched with the base. When the push plate pushes the long side of the inner box bottom to rotate to a closed state, the plate surface of the push plate fits with the long side of the inner box bottom. The base is connected to a driving structure for driving the push plate to move.

[0014] The base is also connected to an outer box positioning mechanism located above the inner box positioning mechanism and used to hold the outer box in the unfolded state and align the outer box with the inner box in the vertical direction. The outer box positioning mechanism is connected to the base through a lifting device.

[0015] Preferably, the base is also connected to a unloading cylinder for pushing the set box formed by the inner box and the outer box to slide away from the top of the push plate. The unloading cylinder is retracted along the length direction of the long groove, and the piston rod of the unloading cylinder points to the box body above the push plate. A push block is connected to the end of the piston rod of the unloading cylinder pointing to the set box. When the push plate pushes the long side of the inner box to rotate to a closed state, the bottom surface of the inner box is higher than the top surface when the folding plate is in a horizontal state.

[0016] Preferably, the sliding drive member and the rotating drive member are respectively a sliding cylinder and a rotating cylinder, the cylinder body of the sliding cylinder is connected to the base, and the piston rod is connected to the mounting seat, the cylinder body and the piston rod of the rotating cylinder are respectively hinged to the mounting seat and the folding plate, and the hinge axis is parallel to the rotation axis of the folding plate.

[0017] Preferably, the edge of the positioning section of the folding plate away from the folding section is connected with an inclined flange, and when the folding plate is in a vertical state and abuts against the inner box, the distance between the flange and the inner box gradually increases in the direction away from the folding plate.

[0018] Preferably, the long side folding mechanism includes a swing arm rotatably cooperated with the base, one end of the swing arm is a connecting end rotatably connected to the base, and the other end is a free end connected to the push plate, the rotation axis of the swing arm is parallel to the rotation axis of the long side of the bottom of the inner box, when the push plates of the two long side folding mechanisms push the two long sides of the bottom of the inner box to close and fit with the long sides of the bottom of the inner box, the adjacent edges of the two push plates are inner edges, and the edges away from each other are outer edges. In a long side folding mechanism, the distance between the rotation axis of the swing arm and the inner edge of the push plate is smaller than the distance between the rotation axis of the swing arm and the outer edge of the push plate.

[0019] Preferably, the long side folding mechanism also includes a gear rotatably mounted on the base, the swing arm is connected to the gear and rotates synchronously with the gear, the gears of the two long side folding mechanisms are meshed with each other, and the driving structure is a motor that cooperates with one of the gears.

[0020] Preferably, the swing arm passes under the positioning structure, and the free end of the swing arm is connected to the outer edge of the push plate.

[0021] Preferably, the outer box positioning mechanism includes a horizontal annular fixing frame, the fixing frame is connected to four outer box pallets which respectively support the four corners of the bottom of the outer box, each end of the outer box pallet close to the center of the fixing frame extends to the inner side of the fixing frame, and is connected to a guide piece which fits with the inner wall of the outer box, when the outer box positioning mechanism falls through the inner box, the side of the guide piece facing the center of the fixing frame fits with the outer side surface of the inner box, and the bottom end of the guide piece is also formed with a guide plate which extends toward the outside of the fixing frame in an oblique downward direction, the top surface of the base is provided with a vertical guide rail, the fixing frame is slidably matched with the base through the guide rail, and the lifting device is a lifting cylinder installed in the vertical direction.

[0022] Preferably, the guide plate includes two parts perpendicular to each other. When the guide plate is in contact with the inner wall of the outer box, the two parts of the guide plate are respectively in contact with two adjacent inner walls of the outer box. When the guide plate is in contact with the outer side of the inner box, the two parts of the guide plate are respectively in contact with two adjacent cardboards of the inner box.

[0023] Preferably, the fixed frame is provided with slide rails corresponding to the four outer box pallets one by one, the slide rails are arranged in the horizontal direction, and one end of the slide rails points to the center of the fixed frame, the outer box pallets corresponding to the slide rails are slidably arranged on the slide rails, and the fixed frame is also provided with a reciprocating cylinder for driving the outer box pallet to slide.

[0024] Preferably, the four corners of the fixing frame are also connected with an angle adjustment mechanism, the angle adjustment mechanism comprises a base plate bolted to the fixing frame and an adjustment plate bolted to the base plate, the slide rail and the reciprocating cylinder are both mounted on the adjustment plate, the base plate is provided with at least two oblong holes penetrating the base plate in the vertical direction, positioning bolts are passed through the oblong holes of the base plate, the threaded ends of the positioning bolts are matched with the threads of the fixing frame, and the length direction of the oblong holes points to the center of the fixing frame;

[0025] The adjustment plate is provided with a plurality of through slots which penetrate the adjustment plate vertically. A locking bolt is passed through the through slots of the adjustment plate. The threaded end of the locking bolt cooperates with the thread of the base plate. The plurality of through slots are evenly arranged around a vertical axis. The side walls on both sides of the through slots are arc-shaped walls. The axes of the arc surfaces of the two arc-shaped walls of each through slot coincide with the vertical axis.

[0026] Preferably, the inner box positioning mechanism also includes an adjusting cylinder installed on the top surface of the base in a vertical direction, the cylinder body of the adjusting cylinder is connected to the base, the piston rod is connected to the positioning structure, and the positioning structure is connected to the base through the adjusting cylinder.

[0027] Preferably, the cross section of the long groove of the positioning structure that is perpendicular to its own length direction has a corner with a tip pointing downward, and the angle of the corner is greater than 60 degrees.

[0028] Preferably, the two plate bodies are respectively a first plate body and a second plate body, the two plate bodies are flush with each other and the two edges perpendicular to the hinge axis between the plate bodies are hinged with bottom edge positioning claws, the rotation axes of the two bottom edge positioning claws coincide and are perpendicular to the hinge axis between the two plate bodies, the edge of the second plate body away from the hinge axis between the plate bodies is also hinged with a side positioning claw, the rotation axis of the side positioning claw is parallel to the hinge axis between the two plate bodies, the plate body is also connected with a bottom cylinder for driving the bottom edge positioning claw to rotate and a side cylinder for driving the side positioning claw to rotate, when the side positioning claw rotates to protrude from the side of the second plate body where the suction cup is provided, the distance between the part of the side positioning claw protruding from the second plate body and the hinge axis between the two plate bodies is adapted to the length or width of the corresponding carton board.

[0029] Preferably, the transverse positioning assembly and the longitudinal positioning assembly are both connected to the plate body of the unfolding mechanism in a detachable connection.

[0030] A method for using the above-mentioned single-arm box-in-box assembly device comprises the following steps:

[0031] S1. Control the material taking device to take the carton board:

[0032] S1-1. Control the unfolding mechanism of the two plates close to the corresponding cardboard of the carton board;

[0033] S1-2. Use the plate to flatten the carton board, and use the carton positioning mechanism to press against the transverse and longitudinal edges of the cardboard, so that the plate of the unfolding mechanism is aligned with the corresponding cardboard;

[0034] S1-3. Open the suction cup of the unfolding structure and adsorb the carton board onto the unfolding mechanism;

[0035] S2. Control the opening and closing mechanism to drive the two plates of the unfolding mechanism to rotate relative to each other, unfold the carton board adsorbed by the unfolding mechanism, and form an unfolded outer box or an unfolded inner box;

[0036] S3. Control the material taking device to transfer the unfolded outer box and inner box to the box-covering device one by one, and the box-covering device covers the unfolded inner box and outer box.

[0037] Beneficial technical effects of the technical solution of the present invention:

[0038] (a) The unfolding mechanism of the single-arm box-in-box assembly device includes a plate body that cooperates with two adjacent plate bodies of the carton board, and the two plate bodies absorb the corresponding plate bodies through suction cups. When taking the carton board to be unfolded, the plate body can be pressed on the corresponding cardboard to flatten the carton board, and then the carton positioning mechanism connected to the plate body can be used to position the two adjacent cardboards of the carton board in the horizontal and vertical directions, so that the carton board is aligned with the two plates of the unfolding mechanism. Then, the two plate bodies are used to absorb the two adjacent cardboards of the carton board, and the rotation axis between the two cardboards is close to and parallel to the rotation axis between the two plate bodies. At this time, the carton board can be accurately unfolded by controlling the rotation of the plate body to avoid the cardboard being bent due to the misalignment of the cardboard absorbed by the plate body during the unfolding process of the carton board.

[0039] (ii) The two positioning structures of the inner box positioning mechanism support the two long sides of the bottom of the inner box respectively. The long groove of the positioning structure can position the inner box along the direction of the rotation axis of the short side of the inner box. The mounting seats of the two short side folding mechanisms can slide back and forth relative to the inner box positioning mechanism, approaching or moving away from the inner box. When the folding plates rotatably connected to the mounting seats are in a vertical state, the folding plates of the two short side folding mechanisms can fit with the side of the inner box and cooperate with the long groove of the positioning structure to lock the position of the inner box in the horizontal direction. The outer box positioning mechanism aligns the outer box with the inner box in the vertical direction and can accurately move the outer box down to partially fit with the inner box. At this time, the outer box positioning mechanism simultaneously locks the positions of the outer box and the inner box in the horizontal direction. The folding plates of the short side folding mechanism can rotate relative to the mounting seat and can automatically close the short sides of the bottom of the inner box. The push plate of the long side folding mechanism moves to close the long sides of the bottom of the inner box. At the same time, the folding plates of the short side folding structure can be pulled out by the sliding mounting seat. By utilizing the inner box positioning mechanism, the outer box positioning mechanism, the short side folding mechanism and the long side folding mechanism to assist each other in positioning, the outer box and the inner box can be accurately put on. After the outer box and the inner box are put on and locked, the short side of the box bottom and the long side of the box bottom are closed, and the short side and the long side of the box bottom of the inner box can also be accurately closed. The outer box and the inner box can be automatically and accurately positioned and put on, and the short side and the long side of the box bottom of the inner box can be automatically closed, which can save a lot of manpower and reduce the labor intensity of the staff.

[0040] (III) When the push plate rotates the long side of the inner box to a closed state, the top surface of the push plate is higher than the top surface of the folding plate when it is in a horizontal state, that is, the bottom surface of the inner box after the long side is closed is higher than the top surface of the folding plate. At this time, the folding plate remains horizontal, which can form a relay lifting structure for the set box to slide through. The top surface of the push plate is higher than the top surface of the folding plate, which can prevent the long side of the bottom of the set box from being blocked by the folding plate when the set box slides over the folding plate, ensuring that the set box can smoothly fall on the folding plate. The base is also equipped with a discharge cylinder for pushing the set box to slide. The discharge cylinder can be used to push the set box through the folding plate, slide out of the single-arm box-in-box device, and enter the subsequent assembly line or temporary storage area, which can further improve the degree of automation and facilitate use.

[0041] (iv) The distance between the swing arm rotation axis and the inner edge of the push plate is smaller than the distance between the swing arm rotation axis and the outer edge of the push plate, which can ensure that the inner edge of the push plate will not collide with the outer side surface of the inner box when rotating with the swing arm.

[0042] (V) The long side folding mechanism includes a gear rotatably connected to the base, the two gears are meshed with each other, and the driving structure includes a motor transmission connected to one of the gears. When the motor is working, it can drive the two gears to rotate synchronously in opposite directions, thereby driving the swing arms and push plates of the two long side folding mechanisms to rotate synchronously.

[0043] (VI) The fixing frame of the outer box positioning mechanism is connected to four outer box pallets, and the outer box pallets are also formed with guide pieces that fit the inner wall of the outer box, and the bottom end of the guide piece is also formed with a guide plate extending toward the outer side of the fixing frame in an oblique downward direction. When the outer box positioning mechanism falls, the guide plate can guide the guide piece to slide smoothly to the outside of the inner box, ensuring that the outer box and the inner box are correctly fitted, and preventing the guide piece from sliding into the inside of the inner box;

[0044] (VII) Angle adjustment mechanisms are installed at the four corners of the fixing frame of the outer box positioning mechanism. An oblong hole is opened on the base plate with the length direction pointing to the center of the fixing frame, so that the position of the base plate can be easily adjusted along the length direction of the oblong hole. The adjustment plate is opened with a number of through slots evenly arranged around a vertical axis. The side walls on both sides of the through slots are arc-shaped walls. The axis of the arc surface where the arc-shaped wall is located coincides with the vertical axis. The adjustment plate can be deflected around the above-mentioned vertical axis and re-locked to change the angle of the adjustment plate, thereby achieving fine-tuning of the position and angle of the outer box pallet, adapting to the production errors of different batches of cartons, ensuring that the guide plate of the outer box positioning mechanism can accurately align the outer box with the inner box, and lock the outer box just above the inner box, so that the outer box can be smoothly mounted on the outside of the inner box.

[0045] (VII) The inner box positioning mechanism also includes an adjusting cylinder connected to the base. The adjusting cylinder can be extended and retracted to adjust the height of the positioning structure and the height of the inner box supported by the positioning structure to ensure that the height position of the bottom of the inner box cooperates smoothly with the short side folding mechanism and the long side folding mechanism.

[0046] (8) The top long groove section of the positioning structure has a corner with the tip pointing downward. When the inner box is placed on the inner box positioning mechanism, the long side of the bottom of the inner box will slide to the tip of the long groove corner. The long groove corner is used to position the edge of the long side of the bottom of the inner box, so that the position of the inner box in a direction parallel to the rotation axis of the short side of the bottom of the inner box is accurately locked. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It shows a schematic structural diagram of a single mechanical arm box-in-box assembly device in an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the structure of a material taking device in an embodiment of the present invention is shown;

[0049] Figure 3 A schematic diagram of the structure of the deployment mechanism in an embodiment of the present invention is shown;

[0050] Figure 4 A schematic diagram showing the structure of a housing device in an embodiment of the present invention is shown;

[0051] Figure 5 A schematic diagram showing the cooperation between the angle adjustment mechanism and the outer box support plate in an embodiment of the present invention is shown;

[0052] Figure 6 A schematic diagram showing the positions of the inner box positioning mechanism, the short side folding mechanism and the long side folding mechanism in an embodiment of the present invention is shown;

[0053] Figure 7 A schematic diagram showing the connection between the inner box positioning mechanism and the base in an embodiment of the present invention is shown;

[0054] Figure 8 A schematic diagram showing the connection between the short edge folding mechanism and the base in an embodiment of the present invention is shown;

[0055] Fig. 9 A schematic diagram showing the connection between the long side folding mechanism and the base in an embodiment of the present invention is shown;

[0056] Fig.10 A schematic diagram showing the cooperation between the outer box positioning mechanism and the lifting cylinder in an embodiment of the present invention is shown;

[0057] Fig.11 The schematic diagram of the structure of the unloading mechanism in the embodiment of the present invention is shown.

[0058] Markings in the accompanying drawings:

[0059] 1- material taking device; 2- material pile; 3- box set device; 4- unfolding mechanism; 5- mechanical arm; 6- first plate; 7- mounting flange; 8- opening and closing cylinder; 81- adjusting rod; 9- second plate; 10- side cylinder; 11- side positioning claw; 12- suction cup; 13- second bottom cylinder; 14- second bottom positioning claw; 15- connecting plate; 16- first bottom positioning claw; 17- first bottom cylinder; 18- outer box positioning mechanism; 19- inner box positioning mechanism; 20- Short side folding mechanism; 21-long side folding mechanism; 22-lifting cylinder; 23-unloading mechanism; 24-fixed frame; 25-angle adjustment mechanism; 26-base plate; 27-adjusting plate; 28-reciprocating cylinder; 29-slide rail; 30-outer box pallet; 301-guide plate; 31-positioning structure; 32-base; 33-sliding cylinder; 34-rotating cylinder; 35-folding plate; 36-motor; 37-push plate; 38-gear; 39-push block; 40-unloading cylinder. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following is a further detailed description of a single-arm box-in-box device and its use method proposed by the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any modification of the structure, change in the proportional relationship or adjustment of the size, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0061] Example

[0062] The following will be combined with the attached Figures 1 to 11 The technical solution of a single-manipulator box-in-box device and a method of using the same are described in detail with specific embodiments.

[0063] like Figures 1 to 11 As shown, a single-arm box-assembling and box-enclosing device of this embodiment includes a box-enclosing device 3, which includes a horizontal base 32. The top surface of the base 32 is equipped with an inner box positioning mechanism 19 for supporting the inner box in the unfolded state. The inner box positioning mechanism 19 includes two horizontally parallel positioning structures 31. The top of the positioning structure 31 is provided with a long groove extending in the horizontal direction for the long side of the bottom of the inner box to be inserted downward, and the groove width of the long groove is greater than the groove bottom width. Along the length direction of the long groove, two short side folding mechanisms 20 for closing the short sides are symmetrically arranged on both sides of the center of the inner box positioning mechanism 19. Along the direction perpendicular to the length direction of the long groove, two long side folding mechanisms 21 for closing the long sides are symmetrically arranged on both sides of the center of the inner box positioning mechanism 19, wherein:

[0064] The short side folding mechanism 20 includes a mounting seat that slides along the length direction of the long slot, a sliding driving member that drives the mounting seat to slide, and a folding plate 35 that is rotatably connected to the mounting seat. The mounting seat is slidably mounted on the upper surface of the base 32, the folding plate 35 is rotatably connected to the mounting seat, and the mounting seat is also provided with a rotating driving member for driving the folding plate 35 to rotate. The rotation axis of the folding plate 35 is flush and parallel to the rotation axis of the short side of the bottom of the inner box. The folding plate 35 includes a folding section and a positioning section located on both sides of its own rotation axis. When the mounting seat slides close to the inner box, so that the folding plate 35 is in a vertical state and fits with the unfolded inner box, the folding section of the folding plate 35 is located below the positioning section, and the folding section and positioning section of the folding plate 35 fit with the short side of the bottom of the inner box and the side of the box body, respectively.

[0065] The long side folding mechanism 21 includes a push plate 37 for pushing the long side of the inner box bottom to close. The push plate 37 is rotatably matched with the base 32, but a sliding match or other active match can also be selected. In addition, the base 32 is also connected to a driving structure for driving the push plate 37 to move. When the push plate 37 pushes the long side of the inner box bottom to rotate to a closed state, the plate surface of the push plate 37 remains in contact with the long side of the inner box bottom.

[0066] In addition, the base 32 is also connected to an outer box positioning mechanism 18 located above the inner box positioning mechanism 19 for holding the outer box in the unfolded state and aligning the outer box with the inner box in the vertical direction. The outer box positioning mechanism 18 is connected to the base 32 via a lifting device.

[0067] In this solution, the long groove on the top of the positioning structure 31 can be inserted into the two long sides of the bottom of the inner box, and the position of the inner box along the rotation axis of its own short side can be positioned by constraining the long sides of the bottom of the inner box; the mounting seat of the short side folding mechanism 20 slides close to the inner box, and the folding plate 35 connected to the mounting seat is rotated to a vertical state, and the folding plates 35 of the two short side folding mechanisms 20 fit the side of the inner box, which can locate the position of the inner box along the rotation axis of its own long side. The outer box positioning mechanism 18 holds the unfolded outer box and aligns the outer box with the inner box in the vertical direction, so that the set work can be performed accurately. After the outer box is moved down and partially fit with the inner box, the outer box positioning mechanism 18 can be used to lock the positions of the outer box and the inner box at the same time. At this time, the folding plate 35 of the short side folding mechanism 20 is controlled to rotate to close the short side of the bottom of the inner box; then the push plate 37 of the long side folding mechanism 21 is rotated to push the long side of the bottom of the inner box out of the long groove and rotate until it is closed, so that the bottom of the inner box can be closed. Finally, the outer box is moved down again to completely fit with the inner box to form a set box.

[0068] In this solution, the inner box positioning mechanism 19, the outer box positioning mechanism 18, the short side folding mechanism 20 and the long side folding mechanism 21 are used to assist each other in positioning, so that the inner box and the outer box can be aligned and put together, and the outer box and the inner box are partially put together, and then the short side of the bottom of the box and the long side of the bottom of the box are closed, which is also helpful to accurately close the short side and the long side of the bottom of the inner box. In summary, the single-arm box-in-box assembly device in this solution can accurately position and fit the outer box and the inner box, and automatically close the short side and the long side of the bottom of the inner box, which can save a lot of manpower and reduce the labor intensity of the staff.

[0069] Specifically, the inner box positioning mechanism 19 also includes an adjusting cylinder installed on the top surface of the base 32 in the vertical direction. There are two adjusting cylinders installed in total, and the two adjusting cylinders are respectively connected to the two positioning structures 31. The cylinder body of the adjusting cylinder in this embodiment is bolted to the base 32, and the piston rod of the adjusting cylinder is bolted to the positioning structure 31, that is, the positioning structure 31 is connected to the base 32 through the adjusting cylinder. The operation of the adjusting cylinder can control the lifting and lowering of the positioning structure 31, and adjust the height position of the inner box supported by the inner box positioning mechanism 19, so that the rotation position of the short side of the bottom of the inner box and the long side of the bottom of the box correspond to the folding plate 35 of the short side folding mechanism 20 and the push plate 37 of the long side folding mechanism 21 respectively, so that the short side folding mechanism 20 and the long side folding mechanism 21 can smoothly close the short side of the bottom of the inner box and the long side of the bottom of the box during the production debugging process, so as to avoid collision or extrusion with the inner box in the process of closing the long side and short side of the bottom of the inner box by the single robot arm box-in-box device. In addition, two vertical angle steels are installed under each adjustment structure in this embodiment, and guide rails are installed on the side surfaces of the angle steels along the vertical direction. Slide blocks that slide in cooperation with the guide rails are installed on the bottom surface of the adjustment structure. The adjustment structure can be constrained by cooperating with the guide rails to prevent the adjustment structure from shifting in the horizontal direction.

[0070] In addition, the cross section of the long groove of the positioning structure 31 perpendicular to its own length direction has a corner with a tip pointing downward, and the angle of the corner is greater than 60 degrees. After the long groove is set in the above manner, the long side of the bottom of the inner box in the unfolded state is inserted into the long groove in the vertical direction, and the edge of the long side of the bottom of the inner box will slide to the tip of the bottom of the long groove. The long groove is used to accurately locate the position of the long side of the bottom of the inner box, and then lock the position of the inner box along the direction of the rotation axis of the short side of the bottom of the inner box. The angle of the corner is greater than 60 degrees, in order to facilitate the push plate 37 of the long side folding mechanism 21 to push the long side of the bottom of the inner box to slide out of the long groove. The long groove in this embodiment is a right triangle with a tip pointing downward along the cross section perpendicular to its own length direction, and the angle of the corner is 90 degrees. In addition, the long groove in this embodiment passes through the positioning structure 31 along the length direction of the long groove. The positioning structure 31 in this embodiment is similar to the shape of the angle steel and can be matched with the long sides of the bottom of the box of different lengths.

[0071] Furthermore, the base 32 is also connected to a discharge mechanism 23 for pushing the set box formed by the inner box and the outer box to slide away from the top of the push plate 37. The discharge mechanism 23 includes a discharge cylinder 40 that is telescopic along the length direction of the long groove, and the piston rod of the discharge cylinder 40 points to the box body above the push plate 37. The end of the piston rod of the discharge cylinder 40 is also connected to a push block 39. The piston rod of the discharge cylinder 40 pushes the set box to move through the push block 39. In addition, when the push plate 37 pushes the long side of the inner box to rotate to a closed state, the top surface of the push plate 37 and the bottom surface of the inner box are both higher than the top surface of the folding plate 35 when it is in a horizontal state. In this embodiment, the height difference between the top surface of the push plate 37 when the push plate 37 pushes the long side of the bottom of the inner box to close and the top surface of the folding plate 35 when it is in a horizontal state can be selected between 4mm and 7mm. The folding plate 35 is used as a supporting structure for the sliding of the set box. The unloading cylinder 40 pushes the set box to slide through the horizontal folding plate 35, and finally it can smoothly leave the single robot arm box assembling device and fall into the assembly line or storage area of ​​the set box, further improving the degree of automation, and there is no need for staff to transfer the set box.

[0072] Specifically, the mounting seat of the short side folding mechanism 20 is slidably mounted on the upper surface of the base 32, and the sliding direction of the mounting seat is parallel to the length direction of the long groove. The sliding driving member used to drive the mounting seat to slide is a sliding cylinder 33. The cylinder body of the sliding cylinder 33 is connected to the base 32, and the piston rod is connected to the mounting seat. The mounting seat includes a bottom plate that is slidably matched with the base 32 and a column welded and fixed on the upper surface of the bottom plate in the vertical direction. The folding plate 35 is rotatably connected to the top of the column. The folding plate 35 is welded and fixed with an ear plate on the plate surface facing the column. A rotating shaft is installed between the ear plate and the column to realize the rotational match between the folding plate 35 and the column. The rotating driving member uses a rotating cylinder 34. The cylinder body of the rotating cylinder 34 is hinged with the top surface of the bottom plate. The piston rod of the rotating cylinder 34 is hinged with the plate surface of the folding plate 35 facing the column. The rotation axis between the rotating cylinder 34 and the bottom plate, the folding plate 35, and the axis of rotation of the folding plate 35 around the column are all parallel to the rotation axis of the short side of the inner box. When the folding plate 35 contacts the inner box, the side of the folding plate 35 facing away from the column is in contact with the inner box.

[0073] In addition, the edge of the positioning section of the folding plate 35 away from the folding section is formed with an inclined flange. When the folding plate 35 is in a vertical state and abuts against the inner box in the unfolded state, the distance between the flange and the inner box gradually increases along the direction away from the folding plate 35. The flange has two main functions: first, when the folding plate 35 is in a vertical state, it is also convenient to place the inner box and accurately place the inner box between the two short-side folding mechanisms 20; second, when the outer box is moved downward to partially fit the outer box and the inner box, the flange can guide the bottom edge of the outer box to slide between the folding plate 35 and the side of the inner box to prevent the folding plate 35 from being also put on the inner side of the outer box, otherwise the outer box will be torn when the folding plate 35 rotates to close the short side of the bottom of the inner box.

[0074] Specifically, the two supporting steel structures on the top surface of the base 32, the long side folding mechanism 21 includes a gear shaft rotatably connected between the two supporting steel structures, the axis of the gear shaft is parallel to the rotation axis of the long side of the inner box bottom and the length direction of the long slot, a swing arm is fixedly connected to the side of the gear shaft, and the push plate 37 used to close the long side of the inner box bottom is connected through the swing arm, and the swing arm, the push plate 37 and the gear shaft and the gear 38 on the gear shaft rotate synchronously. The gear shafts of the two long side folding mechanisms 21 are parallel to each other, and the sides of the two gear shafts are each equipped with a gear 38, and the two gears 38 mesh with each other to form a gear set. Due to the meshing relationship between the two gears 38, it can be ensured that the two gear shafts rotate synchronously in opposite directions. In addition, the driving structure for driving the push plate 37 to move is a motor 36 installed on the upper surface of the base 32. The output shaft of the motor 36 is equipped with a transmission gear, and the transmission gear is used to cooperate with a gear 38 installed on the side of a gear shaft. The motor 36 is used to drive the two gear shafts to rotate synchronously in opposite directions, so that the two push plates 37 can be driven to synchronously approach or move away from the long side of the bottom of the inner box, thereby closing the long side of the bottom of the inner box.

[0075] It should be noted that the two gear shafts in this embodiment are located below the positioning structure 31, and the swing arm passes through the gap between the positioning structure 31 and the base plate 26, and then is connected to the push plate 37. Therefore, it is necessary to avoid the swing arm from colliding with the positioning structure 31 when rotating. In this embodiment, each gear shaft is connected to two swing arms, and the two swing arms pass through the two sides of the adjustment cylinder respectively. One end of the swing arm that is rotatably connected to the base 32 is the connection end, and the other end is the free end. The free end of the swing arm is connected to the push plate 37.

[0076] In addition, when controlling the push plate 37 to rotate toward the long side of the inner box bottom to close the long side of the inner box bottom, it is necessary to avoid the push plate 37 from hitting the side of the inner box, so that the push plate 37 can accurately contact the long side of the inner box bottom and push the long side of the box bottom to close. When the push plates 37 of the two long side folding mechanisms 21 push the two long sides of the inner box bottom to close and fit with the long side of the inner box bottom, the edges adjacent to the two push plates 37 are the inner edges, and the edges away from each other are the outer edges. In one long side folding mechanism 21, the distance between the axis of the gear shaft and the inner edge of the push plate 37 is smaller than the distance between the axis of the gear shaft and the outer edge of the push plate 37, so that the inner edge of the push plate 37 can accurately contact the long side of the inner box bottom during the process of the push plate 37 rotating toward the long side of the inner box bottom. The free end of the swing arm in this embodiment is connected to the outer edge of the push plate 37, so that when the long side of the inner box bottom is completely closed, the distance between the swing arms of the two long side folding mechanisms 21 can be increased as much as possible to avoid collision between the swing arm and the positioning structure 31 between the two swing arms.

[0077] Specifically, two parallel and vertical square tubes are installed on the top surface of the base 32, and the square tubes are fixedly connected by at least two rod structures. A vertical guide rail is installed on the side of the square tube, and the outer box positioning mechanism 18 is slidably installed on the guide rail. The outer box positioning mechanism 18 includes a horizontal rectangular ring-shaped fixed frame 24, and the lifting device is a lifting cylinder 22 connected to the fixed frame 24 in the vertical direction. The piston rod of the lifting cylinder 22 is connected to the fixed frame 24, and the cylinder body of the lifting cylinder 22 is bolted to the rod structure between the square tubes. The lifting cylinder 22 can drive the fixed frame 24 to rise and fall in the vertical direction by telescoping. In addition, the unloading mechanism 23 is also installed on a rod structure between the two square tubes.

[0078] An outer box support plate 30 is respectively installed at the four corners of the fixing frame 24, and the four outer box support plates 30 respectively support the four corners of the bottom of the outer box. The end of the outer box support plate 30 close to the center of the fixing frame 24 extends to the inner side of the fixing frame 24 and is connected to a guide piece 301 that fits with the inner wall of the outer box. When the outer box is placed on the fixing frame 24, the four outer box support plates 30 respectively support the four corners of the bottom of the outer box, and the side of the guide piece 301 facing the outside of the fixing frame 24 fits tightly against the inner wall of the outer box to lock the position of the outer box in the horizontal direction. When the outer box positioning mechanism 18 falls and passes through the inner box, the fixing frame 24 is entirely sleeved on the outside of the inner box, and the side of the guide piece 301 facing the center of the fixing frame 24 fits with the outer side of the inner box. The bottom end of the guide piece 301 extends downward to the bottom of the outer box support plate 30, and is formed with a guide plate extending toward the outside of the fixing frame 24 in an oblique downward direction. When the outer box positioning mechanism 18 falls, the guide plate can guide the guide piece 301 to slide smoothly to the outside of the inner box to prevent the guide piece 301 from sliding into the inside of the inner box. The guide piece 301 is between the outer box and the inner box, which can ensure that the outer box and the inner box are correctly fitted.

[0079] Specifically, the guide piece 301 includes two parts perpendicular to each other, so that the cross section of the guide piece 301 is L-shaped. When the guide piece 301 is in contact with the inner wall of the outer box, the two parts of the guide piece 301 are respectively in contact with two adjacent inner walls of the outer box; when the guide piece 301 is in contact with the outer side surface of the inner box, the two parts of the guide piece 301 are respectively in contact with two adjacent paperboards of the inner box, that is, the guide piece 301 can accurately locate the side edge positions of the outer box and the inner box, which helps to accurately fit the outer box and the inner box.

[0080] Furthermore, since cartons from different batches may have different sizes, the position of the guide piece 301 needs to be adjusted so that the guide piece 301 can be used to lock the position of the outer box in the horizontal direction and ensure that the outer box is located directly above the inner box. An angle adjustment mechanism 25 is installed at the four corners of the fixed frame 24. The angle adjustment mechanism 25 includes a base plate 26 bolted to the fixed frame 24 and an adjustment plate 27 bolted to the base plate 26. The outer box pallet 30 is installed on the adjustment plate 27. The base plate 26 has four oblong holes that penetrate through it vertically. The oblong holes of the base plate 26 are provided with positioning bolts. The threaded end of the positioning bolt is threaded with the fixed frame 24 to lock the position of the base plate 26. The length direction of the oblong hole points to the center of the fixed frame 24. Therefore, the base plate 26 can be moved along the length direction of the oblong hole during debugging, and the position of the base plate 26 can be locked using the positioning bolts. The position of the outer box pallet 30 can be adjusted along the length direction of the oblong hole.

[0081] In addition, the adjustment plate 27 is provided with four through slots that penetrate the adjustment plate 27 vertically. The through slots of the adjustment plate 27 are provided with locking bolts. The threaded ends of the locking bolts are threadedly matched with the base plate 26 to lock the adjustment plate 27 on the base plate 26. The four through slots are evenly arranged around a vertical axis. The through slots have a certain length, and the side walls on both sides of the through slots are arc-shaped walls. The axes of the arc surfaces of the two arc-shaped walls of each through slot coincide with the above-mentioned vertical axis. During debugging, the adjustment plate 27 can be rotated around the above-mentioned vertical axis, and then the locking bolts are used to lock the adjustment plate 27. The angle of the outer box pallet 30 can be adjusted around the vertical axis.

[0082] In addition, in order to facilitate the outer box to be smoothly positioned by the four guide pieces 301 when it falls on the outer box pallet 30, a slide rail 29 is also installed on each adjustment plate 27, and the length direction of the slide rail 29 points to the center of the fixed frame 24. The outer box pallet 30 slides with the slide rail 29 and slides relative to the adjustment plate 27 through the slide rail 29. A reciprocating cylinder 28 is also installed on the adjustment plate 27 for driving the outer box pallet 30 to slide along the slide rail 29. Before placing the outer box on the outer box pallet 30, the reciprocating cylinder 28 is first controlled to operate to push the outer box pallet 30 to slide toward the center of the fixed frame 24, and then the outer box is placed on the four outer box pallets 30, and the reciprocating cylinder 28 is controlled to operate again to pull the outer box pallet 30 to slide in the direction away from the center of the fixed frame 24 until the guide piece 301 is tightly fitted with the inner wall of the outer box, so as to avoid the problem that the outer box cannot be accurately placed on the four outer box pallets 30.

[0083] It should be understood that when the outer box has a size error due to problems with different production batches, the purpose of adjusting the outer box pallet 30 and the guide piece 301 is mainly to ensure that the outer box is accurately located above the inner box after being locked, and can be accurately fitted with the inner box during the falling process of the outer box. Therefore, the guide piece 301 after adjusting the position may not be able to keep in close contact with both adjacent inner side walls of the outer box, but the outer box can be accurately positioned with the guide pieces 301 located at the four corners of the outer box by positioning the outer box and locking the four corners of the outer box. Moreover, the inner box positioning mechanism 19, the outer box positioning mechanism 18, the short side folding mechanism 20 and the long side folding mechanism 21 in this embodiment cooperate with each other to mechanically position the outer box and the inner box, and complete the folding and fitting process, with high accuracy and reliability.

[0084] Please refer to Figures 1 to 4 The single-arm box-in-box assembly device of the present solution is also equipped with a material-retrieving device 1 for automatically taking the carton boards of the outer box and the inner box from the stock pile 2. The material-retrieving device 1 includes an unfolding mechanism 4 for unfolding the carton boards and a robot arm 5 for driving the unfolding mechanism 4 to reciprocate between the stock pile 2 and the outer box positioning mechanism 18 or the inner box positioning mechanism 19. The robot arm 5 is connected to the unfolding mechanism 4 through a mounting flange 7, and the robot arm 5 uses a multi-axis servo robot arm 5. For the convenience of description, the outer box and the inner box are collectively referred to as carton boards. The material-retrieving device 1 can directly take the carton boards of the carton boards, and the unfolding mechanism 4 unfolds the carton boards to form an unfolded outer box or an unfolded inner box. Then, the robot arm 5 controls the unfolding mechanism 4 to move, and places the unfolded outer box or the unfolded inner box on the corresponding outer box positioning mechanism 18 or the inner box positioning mechanism 19.

[0085] Specifically, the unfolding mechanism 4 includes two plates hinged to each other, the mounting flange 7 is welded and fixed to one of the plates, and a plurality of suction cups 12 are installed on the same side of the two plates. The two plates of the unfolding mechanism 4 can be used to respectively adsorb two adjacent paperboards of the carton board, and there is a corresponding relationship between each plate and the adsorbed paperboard. When the hinge axis between the two plates is parallel to the rotation axis between the two adjacent paperboards, that is, the edge between the adjacent paperboards, the relatively rotating plates can smoothly drive the two adjacent paperboards of the carton board to rotate and open and close. An opening and closing mechanism for driving the two plates to rotate relative to each other is also connected between the two plates. The opening and closing mechanism includes an adjusting rod and an opening and closing cylinder 8. The side of one plate facing away from the suction cup 12 is fixedly connected with the adjusting rod, and the side of the other plate facing away from the suction cup 12 is hingedly connected with the opening and closing cylinder 8. The piston rod of the opening and closing cylinder 8 is hinged with the adjusting rod, so that the hinge axis between the opening and closing cylinder 8 and the adjusting rod is separated from the hinge axis between the two plates by a certain distance, so that the opening and closing cylinder 8 can work normally, but the hinge axis between the opening and closing cylinder 8 and the adjusting rod is parallel to the hinge axis between the two plates. When the angle between the two plates is 180 degrees, it can be used to absorb the cardboard of the corresponding carton board, and then the plate body is controlled to rotate to unfold the carton board.

[0086] When installing the suction cup 12, the following details should be noted: before the carton board is unfolded, the two adjacent paperboards of the carton board are located on the same side of the carton board, and the edge between the two adjacent paperboards is an unfolded edge, which is also the axis of relative rotation between the two adjacent paperboards. When using the suction cup 12 to absorb the carton board, the unfolded edge of the carton board should be aligned as close as possible to the hinge axis between the two board bodies, so as to avoid the problem of the two adjacent sides of the carton board being torn by the rotating board body during the unfolding process of the carton board. Therefore, when installing the suction cup 12, the position of the suction surface of the suction cup 12 should be reasonably adjusted so that when the board body rotates relatively, the rotation axis of the suction surface of the suction cup 12 coincides with the edge between the two adjacent paperboards of the carton board; in addition, a suction cup 12 with a softer material can be selected to reduce the problem of the carton board being torn.

[0087] Furthermore, when the unfolding mechanism 4 is used to absorb the carton board, the unfolded edge of the carton board may not be aligned with the hinge axis between the two plate bodies, or may exist at a certain angle with the hinge axis between the two plate bodies, and the position of the carton board needs to be adjusted. For this reason, the unfolding mechanism in this embodiment is also connected to a carton positioning mechanism, and the carton positioning mechanism includes a transverse positioning component that abuts and positions the corresponding transverse edge of the cardboard and a longitudinal positioning component that abuts and positions the corresponding longitudinal edge of the cardboard. The two plate bodies are named the first plate body 6 and the second plate body 9 respectively. The edges of the two plate bodies that are flush with each other and perpendicular to the hinge axis between the plate bodies are hinged with bottom edge positioning claws. The bottom edge positioning claw connected to the first plate body 6 is the first bottom edge positioning claw 16, and the bottom edge positioning claw connected to the second plate body 9 is the second bottom edge positioning claw 14. The rotation axes of the two bottom edge positioning claws coincide and are perpendicular to the hinge axis between the two plate bodies. The bottom edge positioning claw is the transverse positioning component. The edges of the first plate body 6 and the second plate body 9 away from the hinge axis between the two plate bodies are both hinged with a side positioning claw 11, and the rotation axis of the side positioning claw 11 is parallel to the hinge axis between the two plate bodies. The side positioning claw 11 is a longitudinal positioning component. In addition, the first plate body 6 is connected with a first bottom cylinder 17 for driving the first bottom positioning claw 16 to rotate and a side cylinder 10 for driving the side positioning claw 11 to rotate; the second plate body 9 is connected with a second bottom cylinder 13 for driving the second bottom positioning claw 14 to rotate and a side cylinder 10 for driving the side positioning claw 11 to rotate. When the angle between the two plate bodies is 180 degrees, take the carton board to be unfolded, first press the two plate bodies on the corresponding cardboard to flatten the carton board, and then control the side positioning claw 11 and the bottom positioning claw connected to each plate body to rotate toward the carton board, push the misaligned carton board to offset, so that the adjacent two cardboards of the carton board can be aligned with the two plate bodies of the unfolding mechanism on the plane where the cardboard side is located. In addition, in this embodiment, when connecting the first plate body 6 and the second plate body 9, two connecting plates 15 are bolted to the edge of the first plate body 6, and the second plate body 9 is actually hinged to the connecting plates 15 to achieve hinged cooperation between the second plate body 9 and the first plate body 6.

[0088] Specifically, the structure of the bottom edge positioning claw is similar to that of the side edge positioning claw 11. Each positioning claw includes a hinged section hinged to the plate body and a limit section connected to the hinged section, and the limit section is perpendicular to the hinged section. The cylinder bodies of the two bottom edge cylinders are hinged to the corresponding plate bodies, and the piston rods are hinged to the hinged sections of the corresponding bottom edge positioning claws; the cylinder body of the side edge cylinder 10 is hinged to the second plate body 9, and the piston rod is hinged to the hinged section of the side edge positioning claw 11. When the bottom edge cylinder and the side edge cylinder 10 push the bottom edge positioning claw and the side edge positioning claw 11 to rotate, the limit sections of the bottom edge positioning claw and the side edge positioning claw 11 can be rotated to the same side protruding from the plate body. At this time, the position of the carton board can be positioned from two directions using the limit sections of the bottom edge positioning claw and the side edge positioning claw 11.

[0089] Using the side positioning claws 11 to position the edge of the carton board can make the unfolded edge of the carton board align close to the hinge axis between the two boards and be parallel to the hinge axis between the two boards. Using the bottom positioning claws to position the edge of the carton board can adjust the angle of the carton board to avoid the problem that the edge of the carton board is not parallel to the hinge axis between the two boards.

[0090] In addition, the transverse positioning assembly and the longitudinal positioning assembly in the present solution are both installed on the plate body of the unfolding mechanism in a detachable form, which is convenient for replacement to adapt to cartons of different sizes.

[0091] The material taking device 1 in this embodiment is provided with a, which can also be used to take the inner box and the outer carton board at the same time, but it should be noted that since the size of the outer box is slightly larger than that of the inner box, when using the lateral positioning component and the longitudinal positioning component to position the carton board, it is necessary to control the side positioning claws to rotate to different angles. When positioning the carton board of the outer box, the side positioning claws rotate toward the carton board with a small amplitude; when positioning the carton board of the inner box, the side positioning claws rotate toward the carton board with a large amplitude to abut against the carton board of the inner box. After the material taking device 1 takes and unfolds the carton board of the inner box, the unfolded inner box is placed on the inner box positioning mechanism 19; after the material taking device 1 takes and unfolds the carton board of the outer box, the unfolded outer box is placed on the outer box positioning mechanism 18.

[0092] A method for using the above-mentioned single-arm box-in-box assembly device comprises the following steps:

[0093] S1. Control the material taking device 1 to take the carton board:

[0094] S1-1. Control the unfolding mechanism 4 of the two plates close to the corresponding cardboard of the carton board;

[0095] S1-2. Use the plate to flatten the carton board, and use the carton positioning mechanism to press against the transverse and longitudinal edges of the cardboard, so that the plate of the unfolding mechanism 4 is aligned with the corresponding cardboard;

[0096] S1-3. Open the suction cup 12 of the unfolding structure 4 and adsorb the carton board on the unfolding mechanism 4;

[0097] S2. Control the opening and closing mechanism to drive the two plates of the unfolding mechanism 4 to rotate relative to each other, unfold the carton board adsorbed by the unfolding mechanism 4, and form an unfolded outer box or an unfolded inner box;

[0098] S3. Control the material taking device 1 to transfer the unfolded outer box and inner box one by one to the box-covering device 3, and the box-covering device 3 performs a nesting process on the unfolded inner box and outer box:

[0099] S3-1. The push plate 37 of the long side folding mechanism 21 is controlled to move away from the top of the inner box positioning mechanism 19, and the folding plates 35 of the two short side folding mechanisms 20 are controlled to rotate to a vertical state in advance, and the unfolded inner and outer boxes are placed on the inner box positioning mechanism 19 and the outer box positioning mechanism 18;

[0100] S3-2. Control the mounting seat to slide closer to the inner box until the two short side folding plates 35 of the folding mechanism 20 fit tightly against the inner box from both sides;

[0101] S3-2. Control the outer box positioning mechanism 18 to fall so that the outer box and the inner box are partially fitted;

[0102] S3-4. Rotate the short side folding plate 35 of the folding mechanism 20 to close the short side of the bottom of the inner box;

[0103] S3-5. Control the push plate 37 of the two long side folding mechanisms 21 to move, push the long side of the inner box bottom to close, and control the mounting seat of the short side folding mechanism 20 to slide away from the inner box, and pull the folding plate 35 out from between the long side and the short side of the inner box bottom;

[0104] S3-6. Control the outer box positioning mechanism 18 to move downward, so that the outer box and the inner box fit together to form a set box, and then the outer box positioning mechanism 18 continues to move downward to disengage the set box;

[0105] S4. Remove the kit box.

[0106] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A single-arm box-in-box assembly device, characterized in that: It includes a box-covering device for covering an inner box with an outer box and a material-retrieving device arranged beside the box-covering device, wherein the material-retrieving device includes an unfolding mechanism for taking and unfolding a carton board and a mechanical arm for driving the unfolding mechanism to reciprocate between a material pile and the box-covering device; The unfolding mechanism includes two plate bodies that respectively cooperate with two adjacent cardboards of the carton board, the two plate bodies are hinged to each other, each of the plate bodies respectively cooperates with one cardboard, and the side of the plate body is also provided with a suction cup for adsorbing the corresponding cardboard, the hinge axis between the two plate bodies is parallel to the rotation axis between the two adjacent cardboards of the carton board, and an opening and closing mechanism for driving the two to rotate relative to each other is also provided between the two plate bodies, and the two plate bodies are also connected to a carton positioning mechanism that abuts and positions the corresponding cardboard edge, and the carton positioning mechanism includes a lateral positioning component that abuts and positions the corresponding cardboard lateral edge and a longitudinal positioning component that abuts and positions the corresponding cardboard longitudinal edge.

2. A single-arm box-in-box assembly device as claimed in claim 1, characterized in that: The lateral positioning assembly includes a side positioning claw hinged to the plate body and a side cylinder driving the side positioning claw to rotate, and the rotation axis of the side positioning claw is parallel to the hinge axis between the two plate bodies. The longitudinal positioning includes a bottom edge positioning claw hinged to the plate body and a bottom edge cylinder driving the bottom edge positioning claw to rotate, and the rotation axis of the bottom edge positioning claw is perpendicular to the hinge axis between the two plate bodies. When the positioning claws of the lateral positioning assembly and the longitudinal positioning assembly are both against the corresponding cardboard edges, the plate body is aligned with the corresponding cardboard.

3. A single-arm box-in-box assembly device as claimed in claim 1, characterized in that: The opening and closing mechanism includes an opening and closing cylinder and an adjusting rod hinged to the piston rod of the opening and closing cylinder, the adjusting rod is fixedly connected to one plate body of the unfolding mechanism, the cylinder body of the opening and closing cylinder is hinged to the other plate body of the unfolding mechanism, and the hinge axis between the opening and closing cylinder and the adjusting rod is parallel to the hinge axis between the two plate bodies.

4. A single-arm box-in-box assembly device as claimed in claim 1, characterized in that: The box-housing device comprises a base, the top surface of which is provided with an inner box positioning mechanism for supporting the inner box in an unfolded state, two short side folding mechanisms for closing the short sides of the bottom of the inner box, and two long side folding mechanisms for closing the long sides of the bottom of the outer box. The inner box positioning mechanism comprises two horizontally parallel positioning structures, the top of the positioning structure is provided with a long slot for the long side of the bottom of the inner box to be inserted downward in the horizontal direction, the slot width of the long slot is greater than the slot bottom width, the two short side folding mechanisms are symmetrically arranged on both sides of the center of the inner box positioning mechanism along the length direction of the long slot, and the two long side folding mechanisms are symmetrically arranged on both sides of the center of the inner box positioning mechanism along the horizontal direction and perpendicular to the length direction of the long slot, wherein: The short side folding mechanism comprises a mounting seat slidingly arranged on the base along the length direction of the long slot, a sliding driving member driving the mounting seat to slide, and a folding plate rotatably connected to the mounting seat, the mounting seat is also provided with a rotating driving member for driving the folding plate to rotate, the rotation axis of the folding plate is flush with and parallel to the rotation axis of the short side of the bottom of the inner box, the folding plate comprises a folding section and a positioning section located on both sides of its own rotation axis, when the folding plate is in a vertical state and affixed to the inner box, the folding section and the positioning section of the folding plate are respectively in affixed to the short side of the bottom of the inner box and the side of the box body; The long side folding mechanism includes a push plate for pushing the long side of the inner box bottom to close, and the push plate is movably matched with the base. When the push plate pushes the long side of the inner box bottom to rotate to a closed state, the plate surface of the push plate fits with the long side of the inner box bottom. The base is connected to a driving structure for driving the push plate to move. The base is also connected to an outer box positioning mechanism located above the inner box positioning mechanism and used to hold the outer box in the unfolded state and align the outer box with the inner box in the vertical direction. The outer box positioning mechanism is connected to the base through a lifting device.

5. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The base is also connected to a discharge cylinder for pushing the set box formed by the inner box and the outer box to slide away from the top of the push plate. The discharge cylinder is retracted along the length direction of the long groove, and the piston rod of the discharge cylinder points to the box body above the push plate. A push block is connected to the end of the piston rod of the discharge cylinder pointing to the set box. When the push plate pushes the long side of the inner box to rotate to a closed state, the bottom surface of the inner box is higher than the top surface when the folding plate is in a horizontal state.

6. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The sliding drive member and the rotating drive member are respectively a sliding cylinder and a rotating cylinder, the cylinder body of the sliding cylinder is connected to the base, and the piston rod is connected to the mounting seat, the cylinder body and the piston rod of the rotating cylinder are respectively hinged to the mounting seat and the folding plate, and the hinge axis is parallel to the rotation axis of the folding plate.

7. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The edge of the positioning section of the folding plate away from the folding section is connected with an inclined flange. When the folding plate is in a vertical state and abuts against the inner box, the distance between the flange and the inner box gradually increases in the direction away from the folding plate.

8. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The long side folding mechanism includes a swing arm that rotates with the base, one end of the swing arm is a connecting end that is rotatably connected to the base, and the other end is a free end connected to the push plate, the rotation axis of the swing arm is parallel to the rotation axis of the long side of the bottom of the inner box. When the push plates of the two long side folding mechanisms push the two long sides of the bottom of the inner box to close and fit with the long sides of the bottom of the inner box, the adjacent edges of the two push plates are inner edges, and the edges away from each other are outer edges. In a long side folding mechanism, the distance between the rotation axis of the swing arm and the inner edge of the push plate is smaller than the distance between the rotation axis of the swing arm and the outer edge of the push plate.

9. A single-arm box-in-box assembly device as claimed in claim 8, characterized in that: The long side folding mechanism also includes a gear rotatably mounted on a base, the swing arm is connected to the gear and rotates synchronously with the gear, the gears of the two long side folding mechanisms are meshed with each other, and the driving structure is a motor that cooperates with one of the gears.

10. The single-arm box-in-box assembly device according to claim 8, characterized in that: The swing arm passes under the positioning structure, and the free end of the swing arm is connected to the outer edge of the push plate.

11. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The outer box positioning mechanism includes a horizontal annular fixing frame, which is connected to four outer box support plates that respectively support the four corners of the bottom of the outer box. The end of each outer box support plate close to the center of the fixing frame extends to the inner side of the fixing frame and is connected to a guide plate that fits with the inner wall of the outer box. When the outer box positioning mechanism falls through the inner box, the side of the guide plate facing the center of the fixing frame fits with the outer side of the inner box. The bottom end of the guide plate is also formed with a guide plate that extends toward the outside of the fixing frame in an oblique downward direction. The top surface of the base is provided with a vertical guide rail. The fixing frame slides with the base through the guide rail. The lifting device is a lifting cylinder installed in the vertical direction.

12. A single-arm box-in-box assembly device as claimed in claim 11, characterized in that: The guide plate includes two parts perpendicular to each other. When the guide plate is in contact with the inner wall of the outer box, the two parts of the guide plate are respectively in contact with two adjacent inner walls of the outer box. When the guide plate is in contact with the outer side of the inner box, the two parts of the guide plate are respectively in contact with two adjacent paperboards of the inner box.

13. The single-arm box-in-box assembly device according to claim 11, characterized in that: The fixed frame is provided with slide rails corresponding to the four outer box pallets one by one. The slide rails are arranged in the horizontal direction, and one end of the slide rails points to the center of the fixed frame. The outer box pallets corresponding to the slide rails are slidably arranged on the slide rails. The fixed frame is also provided with a reciprocating cylinder for driving the outer box pallets to slide.

14. A single-arm box-in-box assembly device as claimed in claim 13, characterized in that: The four corners of the fixing frame are also connected with an angle adjustment mechanism, and the angle adjustment mechanism includes a base plate bolted to the fixing frame and an adjustment plate bolted to the base plate, the slide rail and the reciprocating cylinder are both mounted on the adjustment plate, the base plate is provided with at least two oblong holes penetrating the base plate in the vertical direction, and positioning bolts are provided through the oblong holes of the base plate, the threaded ends of the positioning bolts are matched with the threads of the fixing frame, and the length direction of the oblong holes points to the center of the fixing frame; The adjustment plate is provided with a plurality of through slots which penetrate the adjustment plate vertically. A locking bolt is passed through the through slots of the adjustment plate. The threaded end of the locking bolt cooperates with the thread of the base plate. The plurality of through slots are evenly arranged around a vertical axis. The side walls on both sides of the through slots are arc-shaped walls. The axes of the arc surfaces of the two arc-shaped walls of each through slot coincide with the vertical axis.

15. The single-arm box-in-box assembly device according to claim 4, characterized in that: The inner box positioning mechanism also includes an adjusting cylinder installed on the top surface of the base in a vertical direction, the cylinder body of the adjusting cylinder is connected to the base, the piston rod is connected to the positioning structure, and the positioning structure is connected to the base through the adjusting cylinder.

16. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The cross section of the long groove of the positioning structure that is perpendicular to its own length direction has a corner with a pointed end pointing downward, and the angle of the corner is greater than 60 degrees.

17. A single-arm box-in-box assembly device as claimed in claim 4, characterized in that: The two plate bodies are respectively a first plate body and a second plate body. The two plate bodies are flush with each other and two edges perpendicular to the hinge axis between the plate bodies are hinged with bottom edge positioning claws. The rotation axes of the two bottom edge positioning claws coincide and are perpendicular to the hinge axis between the two plate bodies. The edge of the second plate body away from the hinge axis between the plate bodies is also hinged with a side positioning claw. The rotation axis of the side positioning claw is parallel to the hinge axis between the two plate bodies. The plate body is also connected with a bottom cylinder for driving the bottom edge positioning claw to rotate and a side cylinder for driving the side positioning claw to rotate. When the side positioning claw rotates to protrude from the side of the second plate body where the suction cup is provided, the distance between the part of the side positioning claw protruding from the second plate body and the hinge axis between the two plate bodies is adapted to the length or width of the corresponding carton board.

18. The single-arm box-in-box assembly device according to claim 1, characterized in that: The transverse positioning assembly and the longitudinal positioning assembly are both connected to the plate body of the unfolding mechanism in a detachable connection form.

19. A method for using the single-arm box-in-box assembly device according to any one of claims 1 to 18, characterized in that: The following steps are involved: S1. Control the material taking device to take the carton board: S1-1. Control the unfolding mechanism of the two plates close to the corresponding cardboard of the carton board; S1-2. Use the plate to flatten the carton board, and use the carton positioning mechanism to press against the transverse and longitudinal edges of the cardboard, so that the plate of the unfolding mechanism is aligned with the corresponding cardboard; S1-3. Open the suction cup of the unfolding structure and adsorb the carton board onto the unfolding mechanism; S2. Control the opening and closing mechanism to drive the two plates of the unfolding mechanism to rotate relative to each other, unfold the carton board adsorbed by the unfolding mechanism, and form an unfolded outer box or an unfolded inner box; S3. Control the material taking device to transfer the unfolded outer box and inner box to the box-covering device one by one, and the box-covering device covers the unfolded inner box and outer box.

Images