Carton top cover packaging equipment and method

Abstract

The invention discloses carton top cover packaging equipment and method.The carton top cover packaging method comprises the steps that the positions of left and right side plate faces of a carton are obtained through a visual camera, the left and right side plate faces are pulled open outwards, and an extending opening is formed between the left and right side plate faces of the carton and materials; a left pair of scrabbling box assemblies and a right pair of scrabbling box assemblies extend into the extending opening and move forwards and backwards respectively, and the extending opening is scrabbling into a strip-shaped gap; the top cover covering robot sucks a flat-plate-shaped top cover and carries the flat-plate-shaped top cover to the position above the materials, and the flat-plate-shaped top cover is turned over into a door-shaped top cover through a bending pressing plate; the top cover robot adsorbs the door-shaped top cover to move downwards, the bending pressing plate and the turnover plates on the left side and the right side of the top cover are inserted into the strip-shaped gap together, after the bending pressing plate and the turnover plates are inserted to the set depth, the bending pressing plate is pulled out of the strip-shaped gap, and then the top cover suction cup adsorbs the top cover to move downwards in place. The top cover folding plate can be smoothly inserted into a small gap, and carton top cover packaging is achieved.

Description

Technical Field

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

[0002] After the production of photovoltaic modules is completed, they need to be stacked and packaged. After the stacking is completed, a carton needs to be put on the outer periphery of the stack. The top of the carton is an open structure. After the carton is put on, a top cover needs to be put on the top. The incoming material of the top cover is a flat plate structure. When it is covered on the top of the carton, part of the plate surface area on the left and right sides of the flat top cover needs to be folded down to a vertical state to form two left and right vertical downward folding plates. A folding line is set at the intersection of the folding plate and the main body of the top cover; when the top cover is closed, the left and right folding plates need to be inserted into the inner side of the left and right side panels of the carton for closing. In order to realize the automatic closing of the above-mentioned top cover, it is necessary to design a carton top cover packaging equipment.

[0003] In the prior art, patent CN119018426A discloses a highly versatile and efficient automatic box-covering device and box-covering method, which realizes the automatic covering of cartons. Patent CN107140244B discloses a product packaging capping robot and a capping method thereof, which realizes the automatic covering of the top cover, but the top cover in this method does not need to fold the left and right sides of the board, and the top cover is covered on the outer periphery of the carton board, so it cannot meet the above requirements.

[0004] Therefore, it is necessary to provide a new carton top cover packaging device and method to solve the above technical problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a carton top cover packaging device, which can realize the smooth insertion of the top cover folding plate in a small gap to realize the carton top cover packaging.

[0006] The present invention achieves the above-mentioned purpose through the following technical scheme: a carton top cover packaging device, comprising: Driving mechanism; An adsorption component is connected to the driving mechanism, and the driving mechanism drives the adsorption component to approach or move away from the carton. The adsorption component adsorbs the side plate of the carton to move it away from the material in the carton to form an insertion opening. The position of the adsorption component when adsorbing the side plate of the carton away from the material is the working position; A box-lifting assembly is connected to a driving mechanism, the box-lifting assembly comprises a box-lifting plate, the position of the box-lifting plate outside the carton is an initial position, the position of the box-lifting plate between the side panel of the carton and the material is a first position, the position of the box-lifting plate against the side panel of the carton and spaced from the material is a second position, the working position of the adsorption assembly and the second position of the box-lifting plate are spaced apart in the length direction of the top edge of the side panel; when the adsorption assembly is in the working position, the driving mechanism can drive the box-lifting plate to move from the initial position to the first position and the second position in sequence, thereby forming the strip-shaped gap between the side panel and the material.

[0007] Through the design of the above technical solution, an insertion opening is first opened between the side panel of the carton and the material through the adsorption component, which lays an important foundation for the box-opening plate to be smoothly inserted between the side panel and the material; then the box-opening plate is used to extend between the side panel and the material, and moves along the length direction of the side panel and away from the adsorption component, so as to open the insertion opening between the side panel and the material to form a strip-shaped gap. The width of the strip-shaped gap is highly consistent, which provides an important condition for the smooth insertion of the folding plate on the top cover, thereby enabling the top cover to be smoothly closed.

[0008] Furthermore, there are two box-opening assemblies; when the two box-opening assemblies are in the second position, the two box-opening assemblies are respectively located on both sides of the adsorption assembly.

[0009] Furthermore, it also includes a cardboard bending mechanism, which is used to bend the folding plate on the top cover around the indentation line and keep the folding plate in an upright state after being bent, and the cardboard bending mechanism includes: The flip support seat assembly has an axis core; A flip rod, rotatably disposed on the flip support seat assembly and rotating around the shaft core; A bending pressure plate, arranged on the flip rod, drives the flip plate to bend around the indentation line; The third top cover suction cup is arranged on the flip rod and can absorb the folding plate during the folding process of the folding plate or after the folding plate is bent into place.

[0010] Through the design of the above technical solution, the bending pressure plate is used to drive the folding plate to bend from a horizontal state to a vertical state, and the third top cover suction cup adsorbs the folding plate during the bending process or after bending into place, effectively ensuring the verticality of the folding plate after bending, so that the folding plate can be smoothly and accurately inserted into the above-mentioned strip gap.

[0011] Furthermore, the bending pressure plate is arranged on the lower surface of the flip rod; the third top cover suction cup is embedded in the bending pressure plate and adsorbs the folding plate to closely adhere to the surface of the bending pressure plate.

[0012] Through the design of the above technical solution, multiple third top cover suction cups are provided and spaced apart along the length direction of the flap plate, and multiple third top cover suction cups are utilized to adsorb the flap plate tightly against the surface of the bending pressure plate, so that the surface of the flap plate after bending can maintain the overall verticality while maintaining the flatness of the entire surface of the plate, thereby preventing the flap plate from getting stuck when inserted into the strip gap due to the uneven surface of the flap plate.

[0013] Furthermore, it also includes a top cover robot, which includes a multi-axis robot, a second bracket arranged at the movable end of the multi-axis robot, a plurality of first top cover suction cups fixed under the second bracket, and a top cover folding module arranged at the left and right ends of the second bracket; the top cover folding module includes a fourth support plate, a fourth cylinder fixed on the fourth support plate, a second support rod driven by the fourth cylinder to move up and down, and a fifth cylinder fixed on the second support rod, the cardboard bending mechanism is arranged on the second support rod, and the flip rod is driven by the fifth cylinder to rotate around the axis core.

[0014] Through the design of the above technical solution, the multi-axis robot is used in conjunction with the first top cover suction cup and the third top cover suction cup to realize the adsorption and transportation of the top cover, and the fifth cylinder is used to realize the flipping drive of the flip rod; the fourth cylinder is used to realize the up and down movement of the cardboard bending mechanism, so that the bending pressure plate can be pulled out from the gap between the side panel of the carton and the material, and then the first top cover suction cup is used to close the top cover in place.

[0015] Furthermore, the driving mechanism includes a first driving member, a first bracket driven by the first driving member to move up and down, a second driving member arranged on the first bracket, a pair of first support rods driven by the second driving member to move left and right on the first bracket, and a third driving member fixed on the first support rod; the adsorption assembly and the box-lifting assembly are arranged on the first support rod, and the third driving member drives the box-lifting assembly to move back and forth on the first support rod; the first bracket is provided with a visual camera for detecting the edge position of the carton around the material, and the second driving member adjusts the left and right positions of the adsorption assembly and the box-lifting assembly according to the carton edge position information obtained by the visual camera.

[0016] Through the design of the above technical solution and the further structural design of the driving structure, the spatial movement of the adsorption component and the box-lifting component is realized, and the movement of the box-lifting component close to or away from the adsorption component is realized by using the third driving component; through the setting of the visual camera, an important foundation is laid for the adsorption component to accurately, effectively and reliably adsorb the carton side panels, thereby improving the reliability of the carton top cover packaging process.

[0017] Furthermore, the adsorption assembly is arranged at the middle position of the first support rod, and includes a first support plate fixed on the first support rod, a first cylinder fixed on the first support plate, and a plurality of carton suction cups driven by the first cylinder to move left and right; the box picking assembly includes a second support plate sliding back and forth on the first support rod, a second cylinder fixed on the second support plate, a third support plate driven by the second cylinder to move left and right, a third cylinder fixed on the third support plate, and a box picking plate driven by the third cylinder to move up and down.

[0018] Another object of the present invention is to provide a carton top cover packaging method based on the above-mentioned carton top cover packaging equipment, including using the adsorption assembly to adsorb the carton side panel away from the material to form an insertion opening between the carton side panel and the material; the box stripping plate extends into the insertion opening and moves along the length direction of the carton side panel and away from the adsorption assembly to open the insertion opening along the length direction of the side panel to form a strip-shaped gap.

[0019] Furthermore, two box-opening assemblies are provided, and the two box-opening plates move along the length direction of the side plates and respectively away from the adsorption assembly, and the two box-opening plates open the insertion opening to form a strip-shaped gap.

[0020] Furthermore, the carton top cover packaging device includes a cardboard bending mechanism, and the cardboard bending mechanism includes: The flip support seat assembly has an axis core; A flip rod, rotatably disposed on the flip support seat assembly and rotating around the shaft core; A bending pressure plate, arranged on the flip rod, drives the flip plate to bend around the indentation line; A third top cover suction cup is arranged on the flip rod and can absorb the folding plate during the folding process or after the folding plate is bent into place; The carton top cover packaging method includes using the adsorption component to adsorb the carton side panel away from the material to form an insertion opening between the carton side panel and the material; the box stripping plate extends into the insertion opening and moves along the length direction of the carton side panel and away from the adsorption component to open the insertion opening along the length direction of the side panel to form a strip-shaped gap; using the bending pressure plate to drive the folding plates on both sides of the top cover to bend around the indentation line to a vertical state, and the third top cover suction cup adsorbs the folding plate during the bending process of the folding plate or after the folding plate is bent into place, so that the folding plate remains upright to obtain a door-type top cover.

[0021] Further, the carton top cover packaging equipment includes a top cover robot, which includes a multi-axis robot, a second bracket arranged at the movable end of the multi-axis robot, a plurality of first top cover suction cups fixed under the second bracket, and a top cover folding module arranged at the left and right ends of the second bracket; the top cover folding module includes a fourth support plate, a fourth cylinder fixed on the fourth support plate, a second support rod driven by the fourth cylinder to move up and down, and a fifth cylinder fixed on the second support rod, the cardboard bending mechanism is arranged on the second support rod, and the flip rod is driven by the fifth cylinder to rotate around the axis core; The carton top cover packaging method includes the following steps: the top cover robot adsorbs the door-type top cover and moves it downward, the bending pressure plate and the folding plates on the left and right sides of the top cover are inserted into the strip gap together, and after being inserted to a set depth, the bending pressure plate is pulled out of the strip gap, and the door-type top cover continues to move downward into position, thereby completing the top cover closing.

[0022] Compared with the prior art, the beneficial effects of the carton top cover packaging device and method of the present invention are that the left and right folding plates of the top cover can be automatically folded and formed, and can be smoothly inserted into the inner side of the carton to realize automatic closing. Specifically: (1) Through the structural design of the opening mechanism, the top cover robot, the top cover feeding bin and the top cover positioning platform, a set of fully automated top cover closing equipment for photovoltaic module packaging was realized, achieving fully automated operation; (2) Through the structural design of the opening mechanism, the visual camera is used to accurately locate the edge position of the incoming photovoltaic module outer box, and the two box-supporting modules are controlled to accurately move close to the photovoltaic module outer box. The adsorption component in the box-supporting module is used to first pull the left and right side panels of the outer box outward, so that an opening is formed between the top of the outer box edge and the side of the photovoltaic module. Then, the box-pushing component is used to extend into the opening and move from the middle to the front and back sides to pull the opening into a strip-shaped gap with a certain width, which lays an important foundation for the smooth insertion of the door-type top cover; (3) By optimizing the design of the top cover folding module structure at the movable end of the top cover robot, a rotating support seat structure with an invisible rotation center axis is formed by using the flip support seat assembly, and the invisible rotation center axis is colinear with the folding line on the top cover. The rotating fan-shaped area of ​​the rotating support seat structure is a hollow structure, so that after the top cover robot absorbs the flat top cover and folds it into a door-type top cover, the cardboards on the left and right sides of the flat top cover can be accurately folded around the set folding line. At the same time, the components in the top cover folding module will not interfere with the folding corner area on the door-type top cover, and there will be no pulling phenomenon in the folding area of ​​the top cover during the folding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1This is a schematic diagram of the packaging structure in Embodiment 1 of the present invention; Figure 2 This is a schematic structural diagram of the bending process of the top cover in the first embodiment of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the carton top cover packaging device in the first embodiment of the present invention; Figure 4 This is a structural schematic diagram of the opening mechanism in the first embodiment of the present invention; Figure 5 This is a structural schematic diagram of a box support module in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the adsorption component in the first embodiment of the present invention; Figure 7 This is a structural schematic diagram of a box-opening assembly in Embodiment 1 of the present invention; Figure 8 8 (a) and 8 (b) are schematic diagrams of the process of the adsorption assembly adsorbing the side plate to form an extension port in the first embodiment of the present invention; Fig. 9 (c) and (d) are schematic diagrams of the process of the box opening assembly opening the opening to form a strip-shaped gap in the first embodiment of the present invention; Fig.10 (c) and 10 (d) are the second schematic diagrams of the process of the box opening assembly opening the entrance to form a strip-shaped gap in the first embodiment of the present invention; Fig.11 This is a schematic structural diagram of the movable end of the cover-covering robot in the first embodiment of the present invention; Fig.12 It is a structural schematic diagram of the top cover folding module in the first embodiment of the present invention; Fig.13 It is a schematic diagram of the structure of the third top cover suction cup and the second top cover suction cup in the second embodiment of the present invention; Fig.14 It is a schematic diagram of the structure when the bending pressing plate is in a horizontal state in the third embodiment of the present invention; Fig.15 It is a schematic diagram of the structure when the bending pressing plate is in a vertical state in the third embodiment of the present invention; Fig.16 It is a schematic diagram of the process of the box opening assembly opening the entrance to form a strip-shaped gap in the fourth embodiment of the present invention; The numbers in the figure represent: 100-Carton top cover packaging equipment; 1-Conveyor line; 2-opening mechanism, 21-first driving member, 22-first bracket, 23-box supporting module, 231-first supporting rod, 232-adsorption assembly, 2321-first supporting plate, 2322-first cylinder, 2323-carton suction cup, 233-box picking assembly, 2331-second supporting plate, 2332-second cylinder, 2333-third supporting plate, 2334-third cylinder, 2335-box picking plate, 234-third driving member, 24-second driving member, 25-visual camera; 3-covering robot, 31-multi-axis robot, 32-second bracket, 33-first cover suction cup, 34-top cover folding module, 341-fourth support plate, 342-fourth cylinder, 343-second support rod, 344-flip support seat assembly, 3441-guide support seat, 34411-guide support surface, 3442-guide slide plate, 34421-guide slide, 3443-angle limit block, 3444-first connecting rod, 3445-active gap, 345-flip rod, 3451-connecting block, 3452-second connecting rod, 3453-support roller, 3454-sliding rod, 346-fifth cylinder, 347-bending plate, 348-second cover suction cup, 349-third cover suction cup, 35-fourth driving member; 4-top cover feeding bin; 5-top cover positioning platform, 51-support platform, 52-position return module. DETAILED DESCRIPTION

[0024] Embodiment 1: Please refer to Figure 1-Figure 2 , this embodiment is a carton top cover packaging device 100, which is used to realize the packaging of a packaging structure 200. The packaging structure 200 includes a box body A and a top cover B. The box body A is surrounded by a plurality of side panels A1, and the top of the box body A is an open structure and is formed with an opening. The top cover B is arranged at the top opening of the box body A, and includes a cover body B1, and a first folding plate B2 is arranged on one side of the cover body B1, or a first folding plate B2 and a second folding plate B3 are arranged on two opposite sides. The cover body B1 and the first folding plate B2 and the second folding plate B3 are all provided with a bending line D at the adjacent parts. The box body A and the top cover B are together surrounded to form a packaging space, and the material C is located in the packaging space. When the top cover B is covered on the top of the box body A, the first folding plate B2 and the second folding plate B3 extend between the side panel A1 and the material C.

[0025] Please refer to Figure 1-Figure 3In this embodiment, a carton top cover packaging device 100 includes a conveyor line 1, a propping mechanism 2 and a top cover robot 3 arranged on opposite sides of the conveyor line 1, a top cover feeding bin 4 and a top cover positioning platform 5 located within the range of the top cover robot 3. The material C is placed on a pallet with a box body A on the periphery, and is transported to the packaging station along the conveyor line 1; the top cover feeding bin 4 supplies stacked and flat top covers, and the top cover robot 3 absorbs the flat top cover and positions it on the top cover positioning platform 5, and then bends the first folding plate B2 and the second folding plate B3 on both sides of the flat top cover to an upright state to form a door-shaped top cover; the propping mechanism 2 is used to form a strip gap between the side plate A1 and the material C, and the top cover robot 3 absorbs the door-shaped top cover and inserts the first folding plate B2 and the second folding plate B3 into the strip gap, and closes them in place to complete the top cover packaging.

[0026] Please refer to Figure 4-Figure 7 The opening mechanism 2 includes a first driving member 21, a first bracket 22 driven by the first driving member 21 to move up and down, a pair of box-supporting modules 23 slidably arranged on the first bracket 22, a second driving member 24 driving the box-supporting module 23 to move left and right on the first bracket 22 to achieve position adjustment, and a pair of visual cameras 25 fixed on the first bracket 22 and located above the box-supporting module 23 for detecting the edge of the outer box body of the material.

[0027] The box supporting module 23 includes a first support rod 231 slidably disposed on the first bracket 22, an adsorption assembly 232 fixed at the middle position of the first support rod 231, a pair of box lifting assemblies 233 slidably disposed on the first support rod 231 and located at the front and rear sides of the adsorption assembly 232, and a third driving member 234 fixed on the first support rod 231 and driving the pair of box lifting assemblies 233 to move closer to or apart from each other. The adsorption assembly 232 includes a first support plate 2321 fixed on the first support rod 231, a first cylinder 2322 fixed on the first support plate 2321, and a plurality of carton suction cups 2323 driven by the first cylinder 2322 to move left and right. The box lifting assembly 233 includes a second support plate 2331 which is slidably arranged on the first support rod 231, a second cylinder 2332 fixed on the second support plate 2331, a third support plate 2333 driven by the second cylinder 2332 to move left and right, a third cylinder 2334 fixed on the third support plate 2333, and a box lifting plate 2335 driven by the third cylinder 2334 to move up and down.

[0028] In this embodiment, a pair of visual cameras 25 are provided, which correspond to two corner areas of the material respectively. The photographing range of the visual camera 25 can cover a variety of incoming materials of different sizes, so as to be applicable to materials of various specifications and sizes, thereby greatly improving the versatility of the equipment.

[0029] The visual camera 25 is used to obtain the left and right edge positions of the material peripheral carton, providing a reliable and effective basis for the left and right position adjustment of the box support module 23, ensuring that the subsequent adsorption component 232 in the box support module 23 can accurately adsorb to the left and right side panels of the material peripheral carton, and pull it open to the set size of the opening. If the box support module 23 is too close to the left and right side panels of the material peripheral carton, when the carton side panels are pulled open to form the opening, the degree of opening may not be enough, which is not conducive to the subsequent insertion of the door-type top cover; in addition, the box stripping plate 2335 will collide with the side wall of the stacked material when extending outward, and there is a risk of damage; if the box support module 23 is too far from the left and right side panels of the material peripheral carton, the adsorption component 232 may not be able to smoothly adsorb to the carton side panels, and then the carton side panels cannot be pulled open to form an opening, and the box stripping plate 2335 cannot subsequently extend into the inside of the carton side panels to perform the box stripping action.

[0030] In this embodiment, the second driving member 24 drives the two groups of box support modules 23 to move left and right according to the carton position information obtained by the visual camera 25, and can flexibly adjust the position of the box support module 23 according to the size of the incoming material to be suitable for materials of various sizes, which greatly improves the versatility of the equipment. The third driving member 234 drives the two groups of box stripping components 233 to move forward and backward according to the carton position information obtained by the visual camera 25, and can flexibly control the moving distance of the box stripping components 233 according to the size of the incoming material, thereby being suitable for materials of various sizes, which greatly improves the versatility of the equipment.

[0031] The first bracket 22 is driven to move up and down by the first driving member 21. When it is in a high position, it avoids so that the incoming materials can smoothly enter the working area of ​​the supporting mechanism 2. In addition, by accurately controlling the descending height of the first bracket 22, it is suitable for materials of various heights, thereby greatly improving the versatility of the equipment.

[0032] Please refer to Figure 8-Figure 10 , the conveyor line 1 conveys material C (stacked photovoltaic modules) to the top cover station, and a carton is set around the outer periphery of material C; the visual camera 25 takes a picture to obtain the edge position of the left and right side panels A1 of the carton; the first driving member 21 drives the first bracket 22 to descend to the set height position, and the second driving member 24 drives the two box support modules 23 to move closer to each other and close to the surfaces of the left and right side panels A1 of the carton; the first cylinder 2322 drives the carton suction cup 2323 to extend, adsorb the surface of the carton side panel A1 and then retract, and pull out an extension E between the left and right side panels A1 of the carton and the material C. At this time, the adsorption component 232 is in the working position, such as Figure 8 In the initial state, the two pick box components 233 are located on the outside of the side panel A1, which is the initial position of the pick box component 233, as shown Figure 8(b) As shown; the two stripping plates 2335 extend from a position close to the adsorption assembly 232 into the inlet E and come to the first position, as shown Fig. 9 (c); under the driving action of the third driving member 234, the two box stripping plates 2335 are driven to move forward and backward and separate, away from the carton suction cup 2323, and then the second cylinder 2332 is used to strip the carton from the inside to the outside, so that the gap between the carton side plate A1 and the material C is transformed from an inlet E to a strip-shaped gap F, as shown in FIG. Fig. 9 As shown in (d), at this time, the two box-lifting plates 2335 are in the second position, which provides an important condition for the subsequent smooth insertion of the folding plates on the left and right sides of the top cover. During the movement of the box-lifting plates 2335 along the length direction of the side plate A1, the adsorption component 232 can maintain the adsorption state of the side plate A1 and be in the working position, such as Fig. 9 As shown in (d), the adsorption of the side plate A1 can also be cancelled, as shown in Fig.10 (d) shown.

[0033] Please refer to Figure 11-Figure 12 The top cover robot 3 includes a multi-axis robot 31, a second bracket 32 ​​disposed at the movable end of the multi-axis robot 31, a plurality of first top cover suction cups 33 fixed below the second bracket 32 ​​and used to absorb the top cover, a top cover folding module 34 slidably disposed on the second bracket 32 ​​and located at the left and right ends of the second bracket 32, and a fourth driving member 35 fixed on the second bracket 32 ​​and driving the top cover folding module 34 to adjust the left and right positions. The fourth driving member 35 drives the left and right top cover folding modules 34 to adjust their positions, so as to be suitable for folding top covers of various sizes.

[0034] The top cover folding module 34 includes a fourth support plate 341 which is slidably arranged on the second bracket 32, a fourth cylinder 342 fixed on the fourth support plate 341, a second support rod 343 driven by the fourth cylinder 342 to move up and down, a flip support seat assembly 344 arranged at the front and rear ends of the second support rod 343, a flip rod 345 rotatably arranged on the flip support seat assembly 344, a fifth cylinder 346 fixed on the second support rod 343 and driving the flip rod 345 to realize a 90-degree flip, and a bending pressure plate 347 fixed on the lower surface of the flip rod 345.

[0035] The flipping movement of the flip rod 345 can refer to the structure of a "box opening adsorption module" disclosed in the prior art, such as patent publication number CN217836249U, or a "primary forming mechanism" disclosed in patent publication number CN215590036U. In this embodiment, the flip axis of the flip rod 345 may not be colinear with the folding line on the top cover. In other embodiments, the flip axis of the flip rod 345 may also be designed to be colinear with the folding line on the top cover.

[0036] In the process of the top cover folding module 34 folding the panel surfaces of the set areas on the left and right sides of the top cover from a horizontal state to a vertical state, in order to prevent the area near the bending line from being deformed upward, a plurality of second top cover suction cups 348 are further arranged on the fourth support plate 341. The second top cover suction cups 348 are arranged near the top cover folding line and a plurality of them are arranged at intervals along the folding line.

[0037] In this embodiment, the first top cover suction cup 33 and the second top cover suction cup 348 are used to jointly absorb the flat top cover, and then in the process of transporting to the top cover position, the fifth cylinder 346 in the two top cover folding modules 34 is driven, and the bending pressure plate 347 is used to fold the left and right folding plates of the top cover downward 90 degrees around the folding line to a vertical state, and the flat top cover is folded into a door-type top cover. After the folding plates are inserted into the carton to a set depth, the fourth cylinder 342 is driven to lift the top cover folding module 34 upward, and the bending pressure plate 347 is withdrawn from the carton. Then, the first top cover suction cup 33 is continued to be used to absorb the main part of the top cover and press downward to close the top cover in place.

[0038] The top cover folding module 34 in the present embodiment is suitable for the top cover paperboard whose left and right folding plates have a tendency to continuously expand upward. When the bending pressure plate 347 drives the left and right folding plates of the top cover to rotate around the folding line, the left and right folding plates can always fit with the surface of the bending pressure plate 347. After the left and right folding plates are folded to a vertical state, due to the existence of the bending pressure plate 347 and the left and right folding plates themselves having a tendency to continuously elastically recover to a flat plate shape upward, the left and right folding plates can maintain a vertical state so that they can be accurately inserted into the inner side of the carton side panel around the material later.

[0039] The top cover feeding bin 4 stores the top covers in a stacked state and in a flat shape, so as to realize the top cover feeding. In this embodiment, the top cover feeding bin 4 is provided with two groups, which feed alternately, eliminate the downtime waiting phenomenon caused by the top cover replenishment operation, and ensure the continuity of the top cover feeding.

[0040] The top cover positioning platform 5 includes a support platform 51 for carrying a flat top cover and a position correction module 52 for correcting the positions of the four sides of the flat top cover on the support platform 51. The correction module 52 includes a short side correction module and a long side correction module; in this embodiment, the long side correction module includes a pair of first correction baffles fixedly arranged, a fifth driving member, and a pair of second correction baffles driven by the fifth driving member to push the flat top cover against the first correction baffles. The short side correction module includes a sixth driving member, two pairs of third correction baffles that are moved closer or separated from each other by the sixth driving member, and the two pairs of third correction baffles correct the positions of the two short sides of the flat top cover. In other embodiments, the first correction baffle in the long side correction module can also be set to a movable form, which is also driven by the fifth driving member and works together with the second correction baffle to achieve the position correction of the two sides of the long side.

[0041] The supporting platform 51 is provided with an avoidance notch for avoiding the movement of the above-mentioned return baffle.

[0042] A material correction module (not shown in the figure) for correcting the front and rear sides or the surrounding positions of the material is provided on the conveyor line 1 at a position corresponding to the working area of ​​the spreading mechanism 2 .

[0043] In this embodiment, a method for covering a carton top cover packaging device 100 includes the following steps: S1, the top cover robot 3 uses the first top cover suction cup 33 and the second top cover suction cup 348 to suck a flat top cover from the top cover feeding bin 4; S2, placing the flat top cover on the support platform 51 of the top cover positioning platform 5, and then using the position correction module 52 to correct the position of the four sides of the flat top cover; S3, during the execution of steps S1 to S2, the conveyor line 1 conveys the material to the cover cover station and positions the surrounding position or the front and back position; the left and right visual cameras 25 obtain the position of the left and right side panels of the carton on the material, the first bracket 22 descends to the set height, and the carton suction cup 2323 sucks the upper position of the left and right side panels of the carton and pulls them outward, so that an insertion opening is formed between the left and right side panels of the carton and the material; a pair of left and right box stripping plates 2335 extend from top to bottom into the insertion opening, and move forward and backward respectively, and strip the insertion opening into a strip-shaped gap; S4, during the execution of step S3, the cover-covering robot 3 again absorbs the flat-plate cover after the position is corrected to the top of the material, and during the transportation process or after being transported to the top of the material, the cover-folding module 34 is used to bend the flat-plate cover into a door-shaped cover; S5. The top cover robot 3 moves the door-shaped top cover downward, and the bending pressure plate 347 is inserted into the above-mentioned strip gap together with the vertical folding plates on the left and right sides of the top cover. After being inserted to the set depth, the fourth cylinder 342 drives the bending pressure plate 347 to be pulled out from the strip gap, and then the first top cover suction cup 33 is used to continue to insert the top cover downward into place to complete the top cover closing.

[0044] The carton top cover packaging equipment and method of this embodiment are applicable to various occasions where a top cover is required for a peripheral carton, and are not limited to the packaging of photovoltaic modules, but can also be used for packaging of household appliances such as washing machines, refrigerators, and air conditioners.

[0045] Embodiment 2: Please refer to Fig.13 This embodiment is a carton top cover packaging device, and its structure is basically the same as that of the first embodiment, with the difference that: in this embodiment, the top cover folding module 34 also includes a plurality of third top cover suction cups 349 fixed on the flip rod 345 and embedded in the surface of the bending pressure plate 347.

[0046] If the left and right folding plates on the top cover cardboard do not have the tendency to continuously elastically recover to a flat shape, when the bending pressure plate 347 pushes the left and right folding plates to fold, the left and right folding plates may not be close to the surface of the bending pressure plate 347. Therefore, when the bending pressure plate 347 is flipped to a vertical state, the left and right folding plates may not maintain a precise vertical state, but may be over-folded inward. If the left and right folding plates are over-folded inward, they cannot be normally inserted into the inner side of the carton side panel around the material.

[0047] In order to solve the above technical problems, the third top cover suction cup 349 is embedded in the surface of the bending plate 347 in this embodiment. The method of using the third top cover suction cup 349 is as follows: first, the bending plate 347 is used to push the left and right folding plates of the top cover to be folded from the horizontal state to the vertical state; after being flipped to the vertical state, the third top cover suction cup 349 is used to absorb the left and right folding plates of the top cover to keep them in a reliable and stable vertical state, maintain their own flatness and verticality, and avoid excessive folding or uneven plate surface after folding, which makes it impossible to smoothly insert into the inner side of the material peripheral carton side plate; the third top cover suction cup 349 absorbs the left and right folding plates of the top cover until they are inserted into the inner side of the material peripheral carton side plate.

[0048] In this embodiment, the first top cover suction cup 33, the second top cover suction cup 348 and the third top cover suction cup 349 are used to jointly absorb the flat top cover. Then, in the process of transporting it to the top cover position, the fifth cylinder 346 in the two top cover folding modules 34 is driven to use the bending pressure plate 347 to fold the left and right folding plates of the top cover downward 90 degrees around the folding line to a vertical state, and the flat top cover is folded into a door-type top cover; the third top cover suction cup 349 is used to absorb and fix the position of the folded folding plate so that it can be accurately inserted into the carton.

[0049] The present embodiment provides a method for covering a carton top cover packaging device 100, comprising the following steps: S1, the top cover robot 3 uses the first top cover suction cup 33, the second top cover suction cup 348 and the third top cover suction cup 349 to suck a flat top cover from the top cover feeding bin 4; S2, placing the flat top cover on the support platform 51 of the top cover positioning platform 5, and then using the position correction module 52 to correct the position of the four sides of the flat top cover; S3, during the execution of steps S1 to S2, the conveyor line 1 conveys the material to the cover cover station and positions the surrounding position or the front and back position; the left and right visual cameras 25 obtain the positions of the left and right side panels of the carton on the material, the first bracket 22 descends to the set height, and the carton suction cups 2323 suck the upper positions of the left and right side panels of the carton and pull them outward, so that an opening is formed between the left and right side panels of the carton and the material; a pair of left and right box stripping plates 2335 extend from top to bottom into the opening, and move forward and backward respectively, to strip the opening into a strip-shaped gap; S4, during the execution of step S3, the top cover robot 3 sucks the flat top cover after the position is corrected to the top of the material again, and during the transportation process or after being transported to the top of the material, the top cover folding module 34 is used to fold the flat top cover into a door-shaped top cover; after the top cover folding plate is folded into place, the third top cover suction cup 349 is used to absorb and fix the folded folding plate to keep it in an upright state to ensure its verticality and flatness; S5. The top cover robot 3 moves the door-shaped top cover downward, and the bending pressure plate 347 is inserted into the above-mentioned strip gap together with the vertical folding plates on the left and right sides of the top cover. After being inserted to the set depth, the third top cover suction cup 349 is deflated, and the fourth cylinder 342 drives the bending pressure plate 347 to be pulled out of the strip gap, and then the first top cover suction cup 33 is used to continue to insert the top cover downward into place to complete the top cover closing.

[0050] Embodiment three: Please refer to Figure 11-Figure 15This embodiment is a carton top cover packaging device, and its structure is basically the same as that of the second embodiment, except that: in this embodiment, the use of the third top cover suction cup 349 is optimized. Specifically: In the actual production process of the structure described in Example 2, when the left and right folding plates of the top cover are pushed to a vertical state by the bending pressure plate 347, the left and right folding plates may be excessively folded inward and deviate far from the third top cover suction cup 349. In addition, the top cover cardboard is thicker and harder, and is not easily effectively adsorbed by the third top cover suction cup 349. There is a risk of failure in the adsorption of the left and right folding plates. Therefore, in order to solve this technical problem, this embodiment optimizes the use of the third top cover suction cup 349, so that it can always maintain its adsorption effect on the left and right folding plates of the top cover during the entire process of folding the left and right folding plates of the top cover until it is inserted into the inner side of the carton side panel around the material.

[0051] When the third top cover suction cup 349 works in the above-mentioned usage mode, since the third top cover suction cup 349 needs to consistently maintain the adsorption of the left and right folding plates of the top cover, the two are equivalent to being in a fixed connection state. If the flip axis of the flip rod 345 is not colinear with the folding line on the top cover, as in the prior art, it is located above the folding line. When the third top cover suction cup 349 adsorbs the left and right folding plates of the top cover to fold, the flip center of the third top cover suction cup 349 is above the folding line, and the points where the left and right folding plates of the top cover are adsorbed by the third top cover suction cup 349 will be folded around the flip center above the folding line along with the third top cover suction cup 349, instead of being folded around the folding line. Therefore, the left and right folding plates of the top cover will be subjected to an upward pulling force, causing an upward arching phenomenon, resulting in deformation of the top cover. In order to solve this technical problem, the present embodiment optimizes the design of the rotating connection structure between the flip support seat assembly 344 and the flip rod 345. Specifically: In this embodiment, the flip support seat assembly 344 is mainly used to provide a rotation support structure for the flip rod 345. The rotation support structure has an invisible axis O' that is colinear with the top cover folding line. The flip rod 345 rotates around the axis O' under the drive of the fifth cylinder 346. Both ends of the flip rod 345 are provided with connection assemblies (not shown in the figure) that are rotationally connected with the flip support seat assembly 344.

[0052] In this embodiment, the flip support seat assembly 344 includes two submodules, which respectively support the two ends of the flip rod 345. The submodule has an arc-shaped guide structure, specifically including a guide support seat 3441 fixed on the second support rod 343 and a guide slide plate 3442 fixedly connected to the guide support seat 3441. The guide support seat 3441 and the guide slide plate 3442 are both arc-shaped and have a horizontally extending central axis, which is collinear with the folding line. The central axes of the two submodules form the axis core O'.

[0053] The guide support seat 3441 has a guide support surface 34411 in the shape of a circular arc, and the guide slide plate 3442 has a guide slide 34421 in the shape of a circular arc. The centers of the guide support surface 34411 and the guide slide 34421 are located on the same horizontal line. When the top cover is adsorbed on the top cover folding module 34, the horizontal line formed by the centers of the guide support surface 34411 and the guide slide 34421 is collinear with the folding line on the corresponding side of the top cover.

[0054] Through the structural design of the flip support seat assembly 344, the flip support seat assembly 344 provides an invisible axis core O', and the support axis of the axis core O' is colinear with the folding line on the top cover, so that the bending pressure plate 347 on the flip rod 345 and the third top cover suction cup 349 can absorb the left and right folding plates of the top cover around the set folding line for precise folding, and during the folding process, the flip support seat assembly 344 will not interfere with the folding line on the top cover, thereby ensuring the effectiveness, reliability and accuracy of the folding of the cardboard areas on the left and right sides of the top cover; and there will be no phenomenon that the left and right folding plates of the top cover will be arched upward.

[0055] An angle limit block 3443 for limiting the flip angle range of the flip rod 345 is provided on the guide support seat 3441 or the guide slide slot plate 3442. In this embodiment, the angle limit block 3443 is provided on the guide slide slot plate 3442.

[0056] The guide support seat 3441 is a circular arc strip structure, one end of which is fixedly connected to the second support rod 343, and the other end is cantilevered. The guide slide plate 3442 is a circular arc thin plate structure, and both ends of the circular arc thin plate are fixedly connected to both ends of the guide support seat 3441 through the first connecting rod 3444. There is a movable gap 3445 between the guide support seat 3441 and the guide slide plate 3442.

[0057] The connecting assembly includes a connecting block 3451 that performs arc motion in the movable gap 3445. One end of the connecting block 3451 is connected to the piston end of the fifth cylinder 346 through the second connecting rod 3452, and one side is fixedly connected to the flip rod 345; at least one supporting roller 3453 is provided on one side of the connecting block 3451, and a sliding rod 3454 is provided on the other opposite side; the supporting roller 3453 is located on the guide support surface 34411 of the guide support seat 3441, and performs arc motion with the connecting block 3451 along the guide support surface 34411; the sliding rod 3454 extends into the guide slot 34421 of the guide slot plate 3442, and performs arc motion with the connecting block 3451 along the guide slot 34421. With the cooperation of the connecting assembly and the flip support seat assembly 344, the stable and reliable flipping of the flip rod 345 is guaranteed; the arc-shaped structural design of the flip support seat assembly 344 makes the central area of ​​the flip support seat assembly 344 hollow out to form an invisible axis core O', which ensures that the flip rod 345 can be accurately folded around the folding line while effectively avoiding the interference of the left and right side areas of the top cover with the folding line during the folding process.

[0058] The present embodiment provides a method for covering a carton top cover packaging device 100, comprising the following steps: S1, the top cover robot 3 uses the first top cover suction cup 33, the second top cover suction cup 348 and the third top cover suction cup 349 to suck a flat top cover from the top cover feeding bin 4; S2, placing the flat top cover on the support platform 51 of the top cover positioning platform 5, and then using the position correction module 52 to correct the position of the four sides of the flat top cover; S3, during the execution of steps S1 to S2, the conveyor line 1 conveys the material to the cover cover station and positions the surrounding position or the front and back position; the left and right visual cameras 25 obtain the positions of the left and right side panels of the carton on the material, the first bracket 22 descends to the set height, and the carton suction cups 2323 suck the upper positions of the left and right side panels of the carton and pull them outward, so that an opening is formed between the left and right side panels of the carton and the material; a pair of left and right box stripping plates 2335 extend from top to bottom into the opening, and move forward and backward respectively, to strip the opening into a strip-shaped gap; S4, during the execution of step S3, the top cover robot 3 sucks the flat top cover after the position is corrected to the top of the material again, and during the transportation process or after being transported to the top of the material, the top cover folding module 34 is used to fold the flat top cover into a door-shaped top cover; during the folding process of the top cover folding plate, the third top cover suction cup 349 is used to always suck and fix the folding plate, and after the folding is in place, the folding plate is kept sucked to keep it upright to ensure its verticality and flatness; S5. The top cover robot 3 moves the door-shaped top cover downward, and the bending pressure plate 347 is inserted into the above-mentioned strip gap together with the vertical folding plates on the left and right sides of the top cover. After being inserted to the set depth, the third top cover suction cup 349 is deflated, and the fourth cylinder 342 drives the bending pressure plate 347 to be pulled out of the strip gap, and then the first top cover suction cup 33 is used to continue to insert the top cover downward into place to complete the top cover closing.

[0059] Embodiment 4: Please refer to Fig.16 , this embodiment is a carton top cover packaging equipment, which is basically the same as the carton top cover packaging equipment in the first embodiment, and the difference is that: in this embodiment, there is only one set of adsorption components 232 and one set of box stripping components 233 on the box support module 23, and the adsorption components 232 adsorb the front end (or rear end) of the left and right side panels A1 so that the side panels A1 are away from the material C, so that an insertion port E is formed between the side panels A1 and the material C; then the box stripping components 233 extend into the space between the side panels A1 and the material C from the insertion port E, and then move toward the rear end (or front end) along the length direction of the corresponding side panel A1, and pull the insertion port E into a strip gap F. In the first embodiment, the strip gap F is maintained by the two sets of box stripping components 233 located at the two ends of the corresponding side panel A1, respectively, against the side panel A1 and pulling it outward. In this embodiment, the strip gap F is maintained by the adsorption components 232 and the box stripping components 233 located at the two ends of the corresponding side panel A1, respectively, adsorbing / against the side panel A1 and pulling it outward.

[0060] For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, all of which fall within the protection scope of the present invention.

Claims

1. A carton top cover packaging device, characterized in that: Used to open a strip gap between the carton side panel and the material so that the folding plate of the top cover can be inserted, which includes: Driving mechanism; An adsorption component is connected to the driving mechanism, and the driving mechanism drives the adsorption component to approach or move away from the carton. The adsorption component adsorbs the side plate of the carton to move it away from the material in the carton to form an insertion opening. The position of the adsorption component when adsorbing the side plate of the carton away from the material is the working position; A box-lifting assembly is connected to a driving mechanism, the box-lifting assembly comprises a box-lifting plate, the position of the box-lifting plate outside the carton is an initial position, the position of the box-lifting plate between the side panel of the carton and the material is a first position, the position of the box-lifting plate against the side panel of the carton and spaced from the material is a second position, the working position of the adsorption assembly and the second position of the box-lifting plate are spaced apart in the length direction of the top edge of the side panel; when the adsorption assembly is in the working position, the driving mechanism can drive the box-lifting plate to move from the initial position to the first position and the second position in sequence, thereby forming the strip-shaped gap between the side panel and the material.

2. The carton top cover packaging equipment according to claim 1, characterized in that: There are two box-lifting assemblies; when the two box-lifting assemblies are in the second position, the two box-lifting assemblies are respectively located on both sides of the adsorption assembly.

3. The carton top cover packaging equipment according to claim 1, characterized in that: It includes a cardboard bending mechanism, which is used to bend the folding plate on the top cover around the indentation line and keep the folding plate in an upright state after being bent. The cardboard bending mechanism includes: The flip support seat assembly has an axis core; A flip rod, rotatably disposed on the flip support seat assembly and rotating around the shaft core; A bending pressure plate, arranged on the flip rod, drives the flip plate to bend around the indentation line; The third top cover suction cup is arranged on the flip rod and can absorb the folding plate during the folding process of the folding plate or after the folding plate is bent into place.

4. The carton top cover packaging equipment according to claim 3, characterized in that: The bending pressure plate is arranged on the lower surface of the flip rod; the third top cover suction cup is embedded in the bending pressure plate and adsorbs the flip plate to closely adhere to the surface of the bending pressure plate.

5. The carton top cover packaging equipment according to claim 3, characterized in that: It comprises a top cover robot, which comprises a multi-axis robot, a second bracket arranged at the movable end of the multi-axis robot, a plurality of first top cover suction cups fixed under the second bracket, and a top cover folding module arranged at the left and right ends of the second bracket; the top cover folding module comprises a fourth support plate, a fourth cylinder fixed on the fourth support plate, a second support rod driven by the fourth cylinder to move up and down, and a fifth cylinder fixed on the second support rod, the cardboard bending mechanism is arranged on the second support rod, and the flip rod is driven by the fifth cylinder to rotate around the axis core.

6. The carton top cover packaging equipment according to claim 5, characterized in that: The driving mechanism includes a first driving member, a first bracket driven by the first driving member to move up and down, a second driving member arranged on the first bracket, a pair of first support rods driven by the second driving member to move left and right on the first bracket, and a third driving member fixed on the first support rod; the adsorption assembly and the box-lifting assembly are arranged on the first support rod, and the third driving member drives the box-lifting assembly to move back and forth on the first support rod; a visual camera for detecting the edge position of the carton around the material is arranged on the first bracket, and the second driving member adjusts the left and right positions of the adsorption assembly and the box-lifting assembly according to the carton edge position information obtained by the visual camera.

7. The carton top cover packaging equipment according to claim 6, characterized in that: The adsorption assembly is arranged at the middle position of the first support rod, and includes a first support plate fixed on the first support rod, a first cylinder fixed on the first support plate, and a plurality of carton suction cups driven by the first cylinder to move left and right; the box picking assembly includes a second support plate sliding forward and backward on the first support rod, a second cylinder fixed on the second support plate, a third support plate driven by the second cylinder to move left and right, a third cylinder fixed on the third support plate, and a box picking plate driven by the third cylinder to move up and down.

8. A carton top cover packaging method implemented based on the carton top cover packaging equipment according to claim 1, characterized in that: The method comprises using the adsorption component to adsorb the carton side panel away from the material, thereby forming an insertion opening between the carton side panel and the material; the box stripping plate extends into the insertion opening, and moves along the length direction of the carton side panel and away from the adsorption component, thereby stripping the insertion opening along the length direction of the side panel to form a strip-shaped gap.

9. The carton top cover packaging method according to claim 8, characterized in that: The two box-opening assemblies are provided with two box-opening plates, and the two box-opening plates move along the length direction of the side plates and respectively away from the adsorption assembly, and the two box-opening plates open the insertion opening to form a strip-shaped gap.

10. The carton top cover packaging method according to claim 8 or 9, characterized in that: The carton top cover packaging device includes a cardboard bending mechanism, and the cardboard bending mechanism includes: The flip support seat assembly has an axis core; A flip rod, rotatably disposed on the flip support seat assembly and rotating around the shaft core; A bending pressure plate, arranged on the flip rod, drives the flip plate to bend around the indentation line; A third top cover suction cup is arranged on the flip rod and can absorb the folding plate during the folding process or after the folding plate is bent into place; The carton top cover packaging method includes using the adsorption component to adsorb the carton side panel away from the material to form an insertion opening between the carton side panel and the material; the box stripping plate extends into the insertion opening and moves along the length direction of the carton side panel and away from the adsorption component to open the insertion opening along the length direction of the side panel to form a strip-shaped gap; using the bending pressure plate to drive the folding plates on both sides of the top cover to bend around the indentation line to a vertical state, and the third top cover suction cup adsorbs the folding plate during the bending process of the folding plate or after the folding plate is bent into place, so that the folding plate remains upright to obtain a door-type top cover.

11. The carton top cover packaging method according to claim 10, characterized in that: The carton top cover packaging equipment comprises a top cover robot, which comprises a multi-axis robot, a second bracket arranged at the movable end of the multi-axis robot, a plurality of first top cover suction cups fixed under the second bracket, and a top cover folding module arranged at the left and right ends of the second bracket; the top cover folding module comprises a fourth support plate, a fourth cylinder fixed on the fourth support plate, a second support rod driven by the fourth cylinder to move up and down, and a fifth cylinder fixed on the second support rod, the paperboard bending mechanism is arranged on the second support rod, and the flip rod is driven by the fifth cylinder to rotate around the axis core; The carton top cover packaging method includes the following steps: the top cover robot adsorbs the door-type top cover and moves it downward, the bending pressure plate and the folding plates on the left and right sides of the top cover are inserted into the strip gap together, and after being inserted to a set depth, the bending pressure plate is pulled out of the strip gap, and the door-type top cover continues to move downward into position, thereby completing the top cover closing.

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