A carton top cover packaging device and method

Abstract

The present invention discloses a carton top cover packaging device and method, which comprises: using a visual camera to obtain the positions of the left and right side panels of the carton, pulling the left and right side panels outward, so that an insertion opening is formed between the left and right side panels of the carton and the material; using a pair of box-picking components on the left and right to extend into the insertion opening, and moving forward and backward respectively, to pull the insertion opening into a strip-shaped gap; a top cover robot sucks a flat top cover and carries it above the material, and uses a bending pressure plate to fold the flat top cover into a door-shaped top cover; the top cover robot absorbs the door-shaped top cover and moves downward, and the bending pressure plate and the folding plates on the left and right sides of the top cover are inserted into the strip-shaped gap together, and after being inserted to a set depth, the bending pressure plate is pulled out of the strip-shaped gap, and then the top cover suction cup is used to absorb the top cover and move it downward into place. The present invention can realize the smooth insertion of the top cover folding plate in a smaller gap, and realize the carton top cover packaging.

Description

Technical Field

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

[0002] After the production of photovoltaic modules is completed, palletizing and packaging are required. After palletizing into a stacked state, a carton needs to be sleeved on the outer periphery of the stacked objects. The top of the carton is of an open structure. After sleeving the carton, a top cover needs to be covered on the top. The incoming material of the top cover is in a flat plate structure. When covering the top cover on the top of the carton, it is necessary to fold down the partial plate surface areas on the left and right sides of the flat plate top cover into a vertical state to form two vertical folding plates that fold down on the left and right. A folding line is provided at the intersection of the folding plate and the top cover main body; when covering the top cover, the left and right folding plates need to be inserted into the inner sides of the left and right side plates of the carton for covering. In order to achieve the automatic covering of the above-mentioned top cover, therefore, it is necessary to design a carton top cover packaging device.

[0003] In the prior art, Patent CN119018426A discloses a highly efficient automatic box-sleeving device and box-sleeving method with strong versatility, which realizes the automatic sleeving of cartons. Patent CN107140244B discloses a capping manipulator for product packaging and its capping method. Although it realizes the automatic capping of the top cover, in this method, the top cover does not need to fold the partial plate surfaces on the left and right sides, and the top cover is covered on the outer periphery of the carton plate surface. Therefore, 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 that can smoothly insert the folding plates of the top cover into a smaller gap to achieve carton top cover packaging.

[0006] The present invention realizes the above purpose through the following technical solutions: A carton top cover packaging device, which includes:

[0007] A driving mechanism;

[0008] An adsorption assembly, which is connected to the driving mechanism. The driving mechanism drives the adsorption assembly to approach or move away from the carton. The adsorption assembly adsorbs the side plates of the carton to move them away from the materials inside the carton, forming an insertion port. The position where the adsorption assembly adsorbs the side plates of the carton away from the materials is the working position;

[0009] The carton prying component is connected to the driving mechanism. The carton prying component includes a carton prying plate. The position of the carton prying plate outside the carton is the initial position. The position of the carton prying plate between the side plate of the carton and the material is the first position. The position where the carton prying plate abuts against the side plate of the carton and is spaced from the material is the second position. The working position of the adsorption component is spaced from the second position of the carton prying plate in the length direction of the top edge of the side plate. When the adsorption component is in the working position, the driving mechanism can drive the carton prying plate to move from the initial position to the first position and the second position in sequence, and then form the strip-shaped gap between the side plate and the material.

[0010] Through the design of the above technical solution, the adsorption component first pries open an insertion opening between the side plate of the carton and the material, laying an important foundation for the smooth insertion of the carton prying plate between the side plate and the material. Then, the carton prying plate is inserted between the side plate and the material and moves along the length direction of the side plate and away from the adsorption component to pry open the insertion opening between the side plate and the material to form a strip-shaped gap. The width consistency of the strip-shaped gap is relatively high, providing an important condition for the smooth insertion of the folding plate on the top cover, and thus the top cover can be covered smoothly.

[0011] Further, there are two carton prying components. When the two carton prying components are in the second position, the two carton prying components are respectively located on both sides of the adsorption component.

[0012] Further, it further includes a cardboard bending mechanism for bending the folding plate on the top cover around the score line and keeping the bent folding plate in an upright state. The cardboard bending mechanism includes:

[0013] A flipping support seat assembly with an axis core;

[0014] A flipping rod rotatably arranged on the flipping support seat assembly and rotating around the axis core;

[0015] A bending pressing plate arranged on the flipping rod to drive the folding plate to bend around the score line;

[0016] A third top cover suction cup arranged on the flipping rod and capable of adsorbing the folding plate during or after the folding of the folding plate.

[0017] Through the design of the above technical solution, the bending pressing 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 or after the bending, effectively ensuring the perpendicularity of the folded folding plate so that the folding plate can be smoothly and accurately inserted into the above-mentioned strip-shaped gap.

[0018] Further, the bending pressing plate is arranged on the lower surface of the flipping rod; the third top cover suction cup is embedded in the bending pressing plate and adsorbs the folding plate to closely adhere to the surface of the bending pressing plate.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Further, 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 carton opening component includes a second support plate slidably arranged on the first support rod in the front-back direction, 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 carton opening plate driven by the third cylinder to move up and down.

[0025] Another object of the present invention is to provide a carton top cover packaging method implemented based on the above-mentioned carton top cover packaging equipment, including using the adsorption assembly to adsorb the side plate of the carton away from the material to form an insertion opening between the side plate of the carton and the material; the carton opening plate extends into the insertion opening and moves along the length direction of the side plate of the carton and away from the adsorption assembly to open the insertion opening along the length direction of the side plate to form a strip-shaped gap.

[0026] Further, there are two carton opening components, and the two carton opening plates move along the length direction of the side plate and away from the adsorption assembly respectively, and the two carton opening plates open the insertion opening to form a strip-shaped gap.

[0027] Further, the carton top cover packaging equipment includes a cardboard bending mechanism, and the cardboard bending mechanism includes:

[0028] A flipping support seat assembly with an axis core;

[0029] A flipping rod rotatably arranged on the flipping support seat assembly and rotating around the axis core;

[0030] A bending pressing plate arranged on the flipping rod to drive the folding plate to bend around the crease line;

[0031] A third top cover suction cup arranged on the flipping rod and capable of adsorbing the folding plate during the bending process of the folding plate or after the folding plate is bent in place;

[0032] The carton top cover packaging method includes using the adsorption assembly to adsorb the side plate of the carton away from the material to form an insertion opening between the side plate of the carton and the material; the carton opening plate extends into the insertion opening and moves along the length direction of the side plate of the carton and away from the adsorption assembly to open the insertion opening along the length direction of the side plate to form a strip-shaped gap; using the bending pressing plate to drive the folding plates on both sides of the top cover to bend around the crease 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 in place, so that the folding plate remains upright to obtain a door-shaped top cover.

[0033] 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;

[0034] 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.

[0035] 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:

[0036] (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;

[0037] (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;

[0038] (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

[0039] Figure 1 This is a schematic diagram of the packaging structure in Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic structural diagram of the bending process of the top cover in the first embodiment of the present invention;

[0041] 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;

[0042] Figure 4 This is a structural schematic diagram of the opening mechanism in the first embodiment of the present invention;

[0043] Figure 5 This is a structural schematic diagram of a box support module in Embodiment 1 of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of the adsorption component in the first embodiment of the present invention;

[0045] Figure 7 This is a structural schematic diagram of a box-opening assembly in Embodiment 1 of the present invention;

[0046] 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;

[0047] Figure 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;

[0048] Figure 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;

[0049] Figure 11 This is a schematic structural diagram of the movable end of the cover-covering robot in the first embodiment of the present invention;

[0050] Figure 12 It is a structural schematic diagram of the top cover folding module in the first embodiment of the present invention;

[0051] Figure 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;

[0052] Figure 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;

[0053] Figure 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;

[0054] Figure 16 Schematic diagram of the process of the box-uncovering component in the fourth embodiment of the present invention for uncovering the insertion opening to form a strip-shaped gap;

[0055] The numbers in the figure represent:

[0056] 100 - Carton top cover packaging equipment;

[0057] 1 - Conveyor line;

[0058] 2 - Expanding mechanism, 21 - First driving member, 22 - First support, 23 - Box-expanding module, 231 - First support rod, 232 - Adsorption component, 2321 - First support plate, 2322 - First cylinder, 2323 - Carton suction cup, 233 - Box-uncovering component, 2331 - Second support plate, 2332 - Second cylinder, 2333 - Third support plate, 2334 - Third cylinder, 2335 - Box-uncovering plate, 234 - Third driving member, 24 - Second driving member, 25 - Vision camera;

[0059] 3 - Top cover covering robot, 31 - Multi-axis robot, 32 - Second support, 33 - First top cover suction cup, 34 - Top cover folding module, 341 - Fourth support plate, 342 - Fourth cylinder, 343 - Second support rod, 344 - Flipping support seat assembly, 3441 - Guide support seat, 34411 - Guide support surface, 3442 - Guide chute plate, 34421 - Guide chute, 3443 - Angle limit block, 3444 - First connecting rod, 3445 - Activity gap, 345 - Flipping rod, 3451 - Connecting block, 3452 - Second connecting rod, 3453 - Support roller, 3454 - Sliding rod, 346 - Fifth cylinder, 347 - Bending pressing plate, 348 - Second top cover suction cup, 349 - Third top cover suction cup, 35 - Fourth driving member;

[0060] 4 - Top cover feeding bin; 5 - Top cover positioning platform, 51 - Support platform, 52 - Position alignment module. Detailed implementation method

[0061] Embodiment 1:

[0062] Please refer to Figures 1 - 2, this embodiment is a carton top cover packaging device 100, which is used to implement 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 plates A1, and the top of the box body A is an open structure and forms an opening. The top cover B is covered on the top opening of the box body A, and it includes a cover body B1. A first folding plate B2 is provided on one side of the cover body B1, or first folding plates B2 and second folding plates B3 are provided on opposite sides. Bending lines D are provided at the adjacent positions of the cover body B1, the first folding plate B2, and the second folding plate B3. The box body A and the top cover B jointly enclose a packaging space, and the material C is located in this 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 plate A1 and the material C.

[0063] Please refer to Figures 1 - 3 , in this embodiment, a carton top cover packaging device 100 includes a conveying line 1, a spreading mechanism 2 and a top cover covering robot 3 arranged on opposite sides of the conveying line 1, and a top cover feeding bin 4 and a top cover positioning platform 5 within the moving range of the top cover covering robot 3. The outer periphery of the material C is sleeved with the box body A and placed on a pallet, and is conveyed to the packaging station along with the conveying line 1; the top cover feeding bin 4 supplies the stacked and flat top covers. After the top cover covering robot 3 adsorbs the flat top cover and positions it on the top cover positioning platform 5, the first folding plates B2 and the second folding plates B3 on both sides of the flat top cover are bent to an upright state to form a door-shaped top cover; cooperating with the spreading mechanism 2 to form a strip-shaped gap between the side plate A1 and the material C, the top cover covering robot 3 adsorbs the door-shaped top cover and inserts the first folding plate B2 and the second folding plate B3 into the strip-shaped gap, and covers it in place to complete the top cover covering packaging.

[0064] Please refer to Figures 4 - 7 , the spreading 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 spreading modules 23 slidably arranged left and right on the first bracket 22, a second driving member 24 for driving the box spreading modules 23 to move left and right on the first bracket 22 to adjust the position, and a pair of vision cameras 25 fixed on the first bracket 22 and located above the box spreading modules 23 for detecting the edge of the box body on the outer periphery of the material.

[0065] The box support module 23 includes a first support rod 231 slidably arranged left and right on the first bracket 22, an adsorption component 232 fixed at the middle position of the first support rod 231, a pair of box prying components 233 slidably arranged front and back on the first support rod 231 and located on both sides of the adsorption component 232, and a third driving member 234 fixed on the first support rod 231 and driving the pair of box prying components 233 to move closer to or away from each other. The adsorption component 232 includes a first support plate 2321 fixed on the first support rod 231, a first air cylinder 2322 fixed on the first support plate 2321, and a plurality of carton suction cups 2323 driven by the first air cylinder 2322 to move left and right. The box prying component 233 includes a second support plate 2331 slidably arranged front and back on the first support rod 231, a second air cylinder 2332 fixed on the second support plate 2331, a third support plate 2333 driven by the second air cylinder 2332 to move left and right, a third air cylinder 2334 fixed on the third support plate 2333, and a box prying plate 2335 driven by the third air cylinder 2334 to move up and down.

[0066] In this embodiment, a pair of vision cameras 25 are provided and respectively correspond to two corner regions of the material. The photographing range of the vision cameras 25 can cover various sizes of incoming materials, so as to be applicable to materials of various specifications, greatly improving the versatility of the equipment.

[0067] The left and right edge positions of the carton on the outer periphery of the material are obtained through the vision cameras 25, providing a reliable and effective basis for the left and right position adjustment of the box support module 23, ensuring that the adsorption component 232 in the subsequent box support module 23 can accurately adsorb the left and right side plates of the carton on the outer periphery of the material and pull them open to an opening of a set size. If the box support module 23 is too close to the left and right side plates of the carton on the outer periphery of the material, when the carton side plates are pulled open to form the opening, the degree of opening may not be sufficient, which is not conducive to the subsequent insertion of the portal top cover; in addition, when the box prying plate 2335 extends outwards, it will collide with the side wall of the palletized material, posing a risk of damage; if the box support module 23 is too far from the left and right side plates of the carton on the outer periphery of the material, the adsorption component 232 may not be able to smoothly adsorb the carton side plates, and thus cannot pull the carton side plates open to form an opening, and the box prying plate 2335 cannot subsequently extend into the inner side of the carton side plates to perform the box prying action.

[0068] 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.

[0069] 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.

[0070] Please refer to Figures 8 - 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 port 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 Figure 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. Figure 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 Figure 9 As shown in (d), the adsorption of the side plate A1 can also be cancelled, as shown in Figure 10 (d) shown.

[0071] Please refer to Figures 11 - 12 , the cover top robot 3 includes a multi-axis robot 31, a second bracket 32 arranged at the movable end of the multi-axis robot 31, a plurality of first cover top suction cups 33 fixed below the second bracket 32 and used for adsorbing the cover top, a cover top folding module 34 slidably arranged left and right 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 cover top folding module 34 to adjust its left and right positions. By driving the left and right cover top folding modules 34 by the fourth driving member 35 to adjust their positions, it is applicable to the folding of cover tops of various different sizes.

[0072] The cover top folding module 34 includes a fourth support plate 341 slidably arranged left and right 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 flipping support seat assembly 344 arranged at the front and rear ends of the second support rod 343, a flipping rod 345 rotatably arranged on the flipping support seat assembly 344, a fifth cylinder 346 fixed on the second support rod 343 and driving the flipping rod 345 to achieve a 90-degree flip, and a bending pressing plate 347 fixed on the lower surface of the flipping rod 345.

[0073] The flipping movement of the flipping rod 345 can refer to the structure of an "unboxing adsorption module" disclosed in a patent with a patent publication number of CN217836249U in the prior art, or a "pre-forming mechanism" disclosed in a patent with a patent publication number of CN215590036U, etc. In this embodiment, the flipping axis of the flipping rod 345 may not be collinear with the folding line on the cover top. In other embodiments, the flipping axis of the flipping rod 345 may also be designed to be collinear with the folding line on the cover top.

[0074] During the process of the cover top folding module 34 folding the plate surfaces of the set areas on the left and right sides of the cover top from a horizontal state to a vertical state, in order to prevent the area near the folding line from bulging upward and deforming, a plurality of second cover top suction cups 348 are also arranged on the fourth support plate 341. The second cover top suction cups 348 are arranged close to the cover top folding line and are spaced apart along this folding line.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] The supporting platform 51 is provided with an avoidance notch for avoiding the movement of the above-mentioned return baffle.

[0080] 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 .

[0081] The method for covering the top cover of a carton top cover packaging device 100 in this embodiment includes the following steps:

[0082] S1. The top cover robot 3 uses the first top cover suction cup 33 and the second top cover suction cup 348 to jointly suck a flat top cover from the top cover feeding bin 4;

[0083] S2. Place the flat top cover on the support platform 51 of the top cover positioning platform 5, and then use the position alignment module 52 to align the positions of the four sides of the flat top cover;

[0084] S3. During the execution of steps S1 to S2, the conveyor line 1 conveys the material to the top cover covering station and positions the positions of the four sides or the front and back positions; the left and right vision cameras 25 obtain the positions of the left and right side plates of the carton on the material, the first bracket 22 descends to the set height, and the carton suction cups 2323 suck the positions of the upper parts of the left and right side plates of the carton and pull them outwards, so that a stretching inlet is formed between the left and right side plates of the carton and the material; a pair of box-prying plates 2335 on each side extend into the stretching inlet from top to bottom and move forward and backward respectively to pry the stretching inlet into a strip-shaped gap;

[0085] S4. During the execution of step S3, the top cover robot 3 sucks the flat top cover after position alignment above the material again, and during the handling process or after being handled above the material, the top cover folding module 34 folds the flat top cover into a door-shaped top cover;

[0086] S5. The top cover robot 3 moves the door-shaped top cover downward, and the bending pressure plate 347 and the vertical folding plates on the left and right sides of the top cover are inserted into the above strip-shaped gap together. After being inserted to the set depth, the fourth cylinder 342 drives the bending pressure plate 347 to be pulled out of the strip-shaped gap, and then the first top cover suction cup 33 continues to move downward to insert the top cover in place to complete the covering of the top cover.

[0087] The carton top cover packaging device and method in this embodiment are applicable to various occasions where the outer carton needs to cover the top cover, not only limited to the packaging of photovoltaic modules, but also can be used for the packaging of household appliances such as washing machines, refrigerators, air conditioners, etc.

[0088] Embodiment 2:

[0089] Please refer to Figure 13 , this embodiment is a carton top cover packaging device, and its structure is basically the same as that of Embodiment 1. The difference is that in this embodiment, the top cover folding module 34 further includes a plurality of third top cover suction cups 349 fixed on the flipping rod 345 and embedded on the surface of the bending pressure plate 347.

[0090] If the folding plates on the left and right sides of the top cover cardboard do not have the tendency to resiliently recover upward continuously to a flat state, when the bending pressure plate 347 pushes the folding plates on the left and right sides to fold, the folding plates on the left and right sides may not closely adhere to the surface of the bending pressure plate 347. Therefore, when the bending pressure plate 347 flips to the vertical state, the folding plates on the left and right sides may not maintain a precise vertical state, but over-fold towards the inner side. If the folding plates on the left and right sides over-fold inward, they cannot be normally inserted into the inner side of the side plates of the outer carton of the material subsequently.

[0091] To solve the above technical problems, a third top cover suction cup 349 is embedded on the surface of the bending pressure plate 347 in this embodiment. The usage method of the third top cover suction cup 349 is as follows: First, use the bending pressure plate 347 to push the folding plates on the left and right sides of the top cover to fold from the horizontal state to the vertical state; after flipping to the vertical state, use the third top cover suction cup 349 to adsorb the folding plates on the left and right sides of the top cover to keep them in a reliable and stable vertical state, maintain their flatness and perpendicularity, and avoid over-folding or uneven plate surfaces after folding, so as to prevent them from being unable to be smoothly inserted into the inner side of the side plates of the outer carton of the material; the third top cover suction cup 349 adsorbs the folding plates on the left and right sides of the top cover until they are inserted into the inner side of the side plates of the outer carton of the material.

[0092] 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 together to adsorb the flat top cover. Then, during the process of transporting it to the position of covering the top cover, driven by the fifth cylinder 346 in the two top cover folding modules 34, the bending pressure plate 347 is used to fold the folding plates on the left and right sides of the top cover downward by 90 degrees around the folding line to the vertical state, and the flat top cover is folded into a door-shaped top cover; the third top cover suction cup 349 is used to adsorb and fix the position of the folded folding plates so that they can be accurately inserted into the inside of the carton.

[0093] A method for covering the top cover of a carton top cover packaging device 100 in this embodiment includes the following steps:

[0094] S1. The top cover covering 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 jointly suck a flat top cover from the top cover feeding bin 4.

[0095] S2. Place the flat top cover on the support platform 51 of the top cover positioning platform 5, and then use the position alignment module 52 to align the positions of the four sides of the flat top cover.

[0096] S3. During the execution of steps S1 to S2, the conveyor line 1 conveys the material to the top cover station and positions the four - week or front - and - back positions; the left and right vision cameras 25 obtain the positions of the left and right side plates of the carton on the material. The first bracket 22 descends to a set height, and the carton suction cups 23 suck the upper positions of the left and right side plates of the carton and pull them outwards, so that an opening is formed between the left and right side plates of the carton and the material; a pair of left - right carton - prying plates 2335 extend into the opening from top to bottom and move forward and backward respectively to pry the opening into a strip - shaped gap.

[0097] S4. During the execution of step S3, the top - cover robot 3 sucks the flat top cover with the position corrected again above the material. During the handling process or after being transported above the material, the top - cover folding module 34 folds the flat top cover into a door - shaped top cover; after the top - cover folding plate is folded in place, the third top - cover suction cup 349 adsorbs and fixes the folded folding plate to keep it in an upright state, ensuring its perpendicularity and flatness.

[0098] S5. The top - cover robot 3 moves the door - shaped top cover downwards. The bending pressure plate 347 and the vertical folding plates on the left and right sides of the top cover are inserted into the above - mentioned strip - shaped gap together. After being inserted to a set depth, the third top - cover suction cup 349 deflates, and the fourth cylinder 342 drives the bending pressure plate 347 to pull out from the strip - shaped gap. Then, the first top - cover suction cup 33 continues to insert the top cover downwards until it is in place to complete the covering of the top cover.

[0099] Embodiment Three:

[0100] Please refer to Figures 11 - 15 , this embodiment is a carton top - cover packaging device, and its structure is basically the same as that of Embodiment Two. The difference is that: in this embodiment, the usage mode of the third top - cover suction cup 349 is optimized. Specifically:

[0101] In the actual production process of the structure described in Embodiment Two, when the folding plates on the left and right sides of the top cover are pushed to the vertical state by the bending pressure plate 347, the folding plates on the left and right sides may be folded inwards excessively, and are far away from the third top - cover suction cup 349. Moreover, the top - cover cardboard is thick and has a large hardness, and it is not easy to be effectively adsorbed by the third top - cover suction cup 349, so there is a risk of adsorption failure of the folding plates on the left and right sides. Therefore, to solve this technical problem, this embodiment optimizes the usage mode of the third top - cover suction cup 349 to keep its adsorption effect on the folding plates on the left and right sides of the top cover throughout the whole process of folding until it is inserted into the inner side of the carton side plate around the material.

[0102] When the third top cover suction cup 349 works in the above-mentioned working mode, since the third top cover suction cup 349 needs to continuously adsorb the folding plates on the left and right sides of the top cover, it is equivalent to being in a fixed connection state between them. If the rotation axis of the turning rod 345 is not collinear with the folding line on the top cover, just like in the prior art above the folding line, when the third top cover suction cup 349 adsorbs and folds the folding plates on the left and right sides of the top cover, the rotation center of the third top cover suction cup 349 is above the folding line, and the points where the folding plates on the left and right sides of the top cover are adsorbed by the third top cover suction cup 349 will fold around the rotation center above the folding line with the third top cover suction cup 349, rather than folding around the folding line. Therefore, the folding plates on the left and right sides of the top cover will be subjected to an upward pulling force, resulting in an upward arching phenomenon and causing the top cover to deform. To solve this technical problem, in this embodiment, the rotational connection structure between the turning support seat assembly 344 and the turning rod 345 is optimized. Specifically:

[0103] In this embodiment, the turning support seat assembly 344 is mainly used to provide a rotational support structure for the turning rod 345. This rotational support structure has an invisible axis core O' that is collinear with the folding line of the top cover. The turning rod 345 rotates around the axis core O' under the drive of the fifth cylinder 346. Both ends of the turning rod 345 are provided with connection components (not marked in the figure) that are rotationally and cooperatively connected with the turning support seat assembly 344.

[0104] In this embodiment, the turning support seat assembly 344 includes two sub-modules that respectively support the two ends of the turning rod 345. The sub-module has an arc-shaped guiding structure, specifically including a guiding support seat 3441 fixed on the second support rod 343 and a guiding chute plate 3442 fixedly connected to the guiding support seat 3441. Both the guiding support seat 3441 and the guiding chute plate 3442 are arc-shaped and have a horizontally extending central axis, and the central axis is collinear with the folding line. The central axes in the two sub-modules form the axis core O'.

[0105] The guiding support seat 3441 has a guiding support surface 34411 in an arc segment, and the guiding chute plate 3442 has a guiding chute 34421 in an arc segment. The centers of the guiding support surface 34411 and the guiding chute 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 guiding support surface 34411 and the guiding chute 34421 is collinear with the corresponding folding line on the top cover.

[0106] Through the structural design of the flipping support base assembly 344, an invisible axis core O' is provided by the flipping support base assembly 344, and the support axis of this axis core O' is collinear with the folding line on the top cover. Furthermore, the bending pressure plate 347 on the flipping rod 345 and the third top cover suction cup 349 can adsorb the folding plates on the left and right sides of the top cover to precisely fold around the set folding line. During the folding process, the flipping support base 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; moreover, the phenomenon that the folding plates on the left and right sides of the top cover bulge upward will not occur.

[0107] An angle limit block 3443 for restricting the flipping angle range of the flipping rod 345 is provided on the guiding support base 3441 or the guiding chute plate 3442. In this embodiment, the angle limit block 3443 is provided on the guiding chute plate 3442.

[0108] The guiding support base 3441 has an arc-shaped strip structure, one end of its arc-shaped strip is fixedly connected to the second support rod 343, and the other end projects outwards. The guiding chute plate 3442 has an arc-shaped thin plate structure, and both ends of its arc-shaped thin plate are fixedly connected to both ends of the guiding support base 3441 through the first connecting rod 3444. There is an activity gap 3445 between the guiding support base 3441 and the guiding chute plate 3442.

[0109] The connection assembly includes a connection block 3451 that performs an arc-shaped movement within the activity gap 3445. One end of the connection block 3451 is connected to the piston end of the fifth cylinder 346 through the second connecting rod 3452 and is fixedly connected to the flipping rod 345 on one side; at least one support roller 3453 is provided on one side of the connection block 3451, and a sliding rod 3454 is provided on the other opposite side; the support roller 3453 is located on the guiding support surface 34411 of the guiding support base 3441 and drives the connection block 3451 to perform an arc movement along the guiding support surface 34411; the sliding rod 3454 extends into the guiding chute 34421 of the guiding chute plate 3442 and drives the connection block 3451 to perform an arc movement along the guiding chute 34421. Under the cooperative action of the connection assembly and the flipping support base assembly 344, the stable and reliable flipping of the flipping rod 345 is ensured; the arc-shaped structural design of the flipping support base assembly 344 makes the central area of the flipping support base assembly 344 hollowed out, forming an invisible axis core O'. While ensuring that the flipping rod 345 precisely folds around the folding line, it effectively avoids the interference between the areas on the left and right sides of the top cover and the folding line during the folding process.

[0110] A method for covering the top cover of a carton top cover packaging device 100 in this embodiment includes the following steps:

[0111] 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 jointly act to suck a flat top cover from the top cover feeding bin 4.

[0112] S2. Place the flat top cover on the support platform 51 of the top cover positioning platform 5, and then use the position alignment module 52 to align the positions of the four sides of the flat top cover.

[0113] S3. During the execution of steps S1 - S2, the conveyor line 1 conveys the material to the top - covering station and positions the positions of the four sides or the front - and - back positions. The left and right vision cameras 25 obtain the positions of the left and right side plates of the carton on the material. The first bracket 22 descends to the set height. The carton suction cups 2323 suck the positions above the left and right side plates of the carton and pull them outwards, so that an opening is formed between the left and right side plates of the carton and the material. A pair of left - and - right carton - prying plates 2335 extend downwards into the opening from top to bottom and move forward and backward respectively to pry the opening into a strip - shaped gap.

[0114] S4. During the execution of step S3, the top cover robot 3 sucks the flat top cover after position alignment above the material again. During the handling process or after handling it above the material, the top cover folding module 34 folds 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 always adsorbs and fixes the folding plate, and keeps adsorbing the folding plate after folding in place to keep it in an upright state, ensuring its perpendicularity and flatness.

[0115] S5. The top cover robot 3 moves the door - shaped top cover downwards. The bending pressure plate 347 and the vertical folding plates on the left and right sides of the top cover are inserted into the above - mentioned strip - shaped gap together. After inserting to the set depth, the third top cover suction cup 349 deflates, and the fourth cylinder 342 drives the bending pressure plate 347 to pull out from the strip - shaped gap. Then, the first top cover suction cup 33 continues to move downwards to insert the top cover in place to complete the top - covering.

[0116] Example 4:

[0117] Please refer to Figure 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.

[0118] 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, The top cover is used to cover the top opening of the box body and bend the folding plates on both sides of the top cover and insert them between the side plates of the box body and the material; the box body is surrounded by a plurality of side plates and has an opening on the top, the top cover is arranged at the opening and forms a packaging space together with the box body, and the material is placed in the packaging space; The carton top cover packaging equipment comprises: The support mechanism opens a strip-shaped gap between the side plate and the material, and includes a first driving member, a first bracket driven by the first driving member to move up and down, a box support module slidably arranged on the first bracket, and a second driving member driving the box support module to move left and right on the first bracket to achieve position adjustment; the box support module includes a first support rod slidably arranged on the first bracket, an adsorption component fixed at the middle position of the first support rod, a pair of box stripping components slidably arranged on the first support rod and located on the front and rear sides of the adsorption component, and a third driving member fixed on the first support rod and driving the pair of box stripping components to move closer to or apart from each other; the adsorption component includes a first cylinder and a plurality of carton suction cups driven by the first cylinder to move left and right; the box stripping component includes a second cylinder, a third cylinder driven by the second cylinder to move left and right, and a box stripping plate driven by the third cylinder to move up and down; The top cover robot absorbs the flat top cover, bends the first folding plate and the second folding plate on both sides of the flat top cover to an upright state to form a door-shaped top cover, and inserts the first folding plate and the second folding plate into the strip-shaped gap; The carton suction cup absorbs the carton side plate to make it away from the material in the carton to form an inlet, and at this time, the carton suction cup is in a working position; The position where the stripping board is outside the carton is the initial position, the position where it is between the carton side plate and the material is the first position, and the position where it is against the carton side plate and spaced from the material is the second position; When the carton suction cup is in the working position, the carton stripping plate moves from the initial position to the first position and the second position in sequence, so that the carton stripping plate strips the insertion opening along the length direction of the side plate to form the strip-shaped gap.

2. The carton top cover packaging device according to claim 1, wherein 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 box supporting module according to the carton edge position information obtained by the visual camera.

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 device 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 device according to claim 3, characterized in that, The top cover robot 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.

6. A carton top cover packaging method implemented based on the carton top cover packaging equipment described in 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.

7. The carton top cover packaging method according to claim 6, wherein 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.

8. The carton top cover packaging method according to claim 6 or 7, 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.

9. The carton top cover packaging method according to claim 8, characterized in that, The cover-covering robot comprises a multi-axis robot, a second bracket arranged at the movable end of the multi-axis robot, a plurality of first cover suction cups fixed below the second bracket, and a cover-folding module arranged at the left and right ends of the second bracket; the 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.

Images