Automatic box opening robot

Abstract

The invention belongs to the technical field of box opening robots, and particularly relates to an automatic box opening robot which comprises a base, a mechanical arm is mounted on one side of the upper end face of the base and used for clamping a carton body for feeding and box opening, an L-shaped mounting frame is mounted at the upper end of the base, and a T-shaped fixing rod is mounted on one side of the upper end face of the L-shaped mounting frame. And two guide rods are arranged at the lower end of the T-shaped fixing rod, a supporting plate is mounted at the upper end of the L-shaped mounting frame, and a box opening auxiliary assembly is mounted on the upper end face of the supporting plate, so that the problems that an existing box opening operation mode is tedious, and the box opening machining efficiency of a carton is affected are solved; in a humid or high-temperature environment, the viscosity of the adhesive tape is weakened, so that the bottom of the carton is easy to crack or fall off in a carrying or transporting process, and internal articles are damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of box-opening robots, in particular to an automated box-opening robot. Background Art

[0002] The carton opening robot, also known as the carton forming machine, is an assembly line device that opens large quantities of cartons, folds the bottom cover, and seals the bottom tape. The machine is fully controlled by PLC+display screen, and completes the packaging processes of carton suction, opening, forming, folding the bottom, and sealing the bottom at one time. The existing carton opening machine is a special carton opening equipment. During use, it is difficult to meet the current customer's needs for universalization and intelligence due to its limited application range for cartons and the large number of manual operation processes.

[0003] A patent with announcement number CN115625718B discloses a four-arm unpacking robot for carton boxes and an automatic unpacking method. The device feeds back signals to the PLC system through micro switches and distance sensors, and combines the movement characteristics of the four-bar mechanism that drives the driven rocker bar through the active rocker bar to finally realize the automatic unpacking of cartons. It can not only complete the unpacking operation of cartons of different specifications, but also make the mechanical structure of the equipment lightweight and the control system simple, and further reduce the difficulty of operation in actual use. The adjusting screws and torsion springs can be fine-tuned according to actual conditions during the debugging process to ensure the normal operation of the unpacking action during actual use. After the debugging is completed, the adjusting screws are locked, and the subsequent unpacking actions do not need to be adjusted again, which can ensure the long-term stable operation of the equipment, greatly reduce the auxiliary adjustment time, and improve production efficiency.

[0004] The above scheme still has some problems in practical application. Usually, a robot arm is used to clamp the carton, and the carton is folded and stretched to form a box shape, and then the carton is fitted with the upper end of the L-shaped sliding frame, and at the same time, the carton is pushed to move toward the L-shaped raised part of the sliding frame, so that the L-shaped raised part pushes the box cover at the lower end of the carton to fold, and then the carton is pushed to move toward the conveyor belt, and then the other half of the box cover of the carton is folded by the brush frame, and at the same time, two electric push rods are used to push the other two halves of the box cover of the carton to fold, thereby completing the sealing of the bottom of the carton, and then sealing and fixing it with transparent tape. However, this operation method is not only cumbersome and affects the efficiency of the carton unpacking processing, but also the use of transparent tape to seal the bottom of the carton. In a humid or high temperature environment, the viscosity of the tape will weaken, resulting in the bottom of the carton being easy to crack or fall off during handling or transportation, causing damage to the internal items.

[0005] To this end, the present invention provides an automated box-opening robot. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the automatic unpacking robot of the present invention comprises a base, a mechanical arm is installed on one side of the upper end surface of the base, which is used to clamp the carton body for loading and unpacking, an L-shaped mounting frame is installed on the upper end of the base, a T-shaped fixing rod is installed on one side of the upper end surface of the L-shaped mounting frame, and two guide rods are arranged at the lower end of the T-shaped fixing rod, a support plate is installed on the upper end of the L-shaped mounting frame, and an unpacking auxiliary component is installed on the upper end surface of the support plate; The unpacking auxiliary component includes a mounting block mounted on the upper surface of the support plate, a rotating groove is provided in one side of the mounting block, a first rotating shaft is rotatably connected to the inner cavity of the rotating groove, and guide frames are fixedly connected to both ends of the first rotating shaft for guiding the box cover of the carton body to flip; A glue coating assembly is provided inside one side of the upper end surface of the support plate, and the glue coating assembly includes a mounting groove opened on one side of the upper end surface of the support plate, the inner cavity of the mounting groove is used to install paste-like glue, a winding groove is opened inside the support plate, the inner cavity of the winding groove is rotatably connected to a second rotating shaft, and both ends of the second rotating shaft pass through the support plate and are fixedly connected to a rotating frame, which is used to guide the box cover of the carton body to flip over and open the box.

[0008] Preferably, a sliding groove is opened inside the support plate, and an L-shaped slide is slidably connected to the inner cavity of the sliding groove. The L-shaped slide is located in the inner cavity of the sliding groove and is movably fixed with a second spring. One end of the second spring is fixed to the inner wall of the sliding groove, and the second spring is used to pop up the L-shaped slide to seal the mounting groove.

[0009] Preferably, an H-shaped winding drum is fixedly connected to the outside of the second rotating shaft, torsion springs are fixedly connected to both end surfaces of the H-shaped winding drum, and the torsion springs are fixedly connected to the inner wall of the winding groove, and a traction rope is fixedly connected to the outside of the H-shaped winding drum, and one end of the traction rope is fixedly connected to the L-shaped slide plate.

[0010] Preferably, two gears are fixedly connected to the outside of the first rotating shaft, a fixed column is fixedly connected to the inner cavity of the rotating groove, and two clamping blocks are slidably connected to the outside of the fixed column, and a first spring is fixedly connected between the two clamping blocks, one end of the first spring is fixedly connected to the inner wall of the rotating groove, and the clamping block is plug-in-engaged with the gear.

[0011] Preferably, ratchet mechanisms are rotatably arranged inside both ends of the T-shaped fixing rod, a rotating block is fixedly connected to the lower end of the ratchet mechanism, one end of the rotating block is fixedly connected to the guide rod for guiding the two halves of the box cover of the carton body to flip, and an L-shaped guide plate is installed on one side of the T-shaped fixing rod for guiding the moving direction of the carton body.

[0012] Preferably, a support seat is installed on one side of the upper end surface of the base, the upper end surface of the support seat is fixedly installed with a mechanical arm, one end of the mechanical arm is fixedly connected to a U-shaped rotating frame, and an opening component is installed in the inner cavity of the U-shaped rotating frame for clamping the carton body for folding and opening.

[0013] Preferably, the unpacking assembly includes a first clamping plate installed in the inner cavity of the U-shaped rotating frame, one end of the first clamping plate is rotatably connected to the second clamping plate, one end of the second clamping plate is rotatably connected to the U-shaped connecting block, a servo push rod is installed on one side of the first clamping plate, the output shaft end of the servo push rod is rotatably connected to the U-shaped connecting block, which is used to drive the U-shaped connecting block to push the second clamping plate, and make the second clamping plate rotate in one end of the first clamping plate, so as to push the carton body to perform the unpacking operation.

[0014] Preferably, a plurality of suction cups are evenly arranged on one side of the first clamping plate, and the plurality of suction cups are used to absorb the carton body to pick up materials, and a pushing block is installed on one side of the second clamping plate, and a plurality of suction cups are evenly arranged on one side of the second clamping plate, and the pushing block is used to push the rotating frame for flipping and storage.

[0015] Preferably, a conveying frame is installed on one side of the upper end surface of the base, and a conveying roller is provided in the inner cavity of the conveying frame. A heating device is provided inside the conveying roller to convey the unpacked carton body to move and heat the bottom of the carton body during the conveying process, so that the bottom box cover of the carton body can be adhered and fixed by the rapid drying of the paste-like glue. A conveying adjustment component is provided in the inner cavity of the conveying frame, and the conveying adjustment component is used to adjust the spacing according to carton bodies of different sizes to improve the stability of the conveying process.

[0016] Preferably, the conveying adjustment assembly includes a bidirectional threaded rod rotating in the inner cavity of the conveying frame, the outer thread of the bidirectional threaded rod is connected to two T-shaped sliding frames, and the inner cavity of the T-shaped sliding frame is rotatably connected to multiple rollers for conveying the movement of the carton body.

[0017] The beneficial effects of the present invention are as follows: 1. The automated unpacking robot of the present invention uses a mechanical arm to clamp the carton body to fold and stretch it, and at the same time drives the stretched carton body to move downward, and the guide frame and the rotating frame are arranged in a V shape, so that the box cover is folded along the inclined surfaces of the guide frame and the rotating frame, and then the mechanical arm is used to push the carton body to move toward the glue coating assembly, and at the same time the mechanical arm abuts against the rotating frame to flip, and during the flipping process of the rotating frame, the installation groove is opened to expose the paste-like glue inside, and then after the carton body moves to the installation groove, the box cover is contacted with the exposed The carton body is moved to the upper end of the T-shaped fixing rod, and the four box covers are fitted together by the T-shaped fixing rod and fixed with the paste-like glue. This avoids the situation where the traditional unpacking robot uses transparent tape to seal the bottom of the carton when unpacking and processing the carton. This is not only costly, environmentally unfriendly and inefficient, but also the transparent tape sealing the bottom of the carton is prone to entanglement and the tape cannot be cut, which will also affect the recycling of the cartons in the later stage.

[0018] 2. The automated box-opening robot of the present invention drives the rotating block to adjust the opening angle by utilizing the ratchet mechanism, so that the rotating block drives the guide frame to synchronously adjust the opening angle. Then, when the robot arm clamps the carton body and moves it to the conveying frame, the two box covers at the lower part of the carton body can slide between the guide rods. Then, the guide rods are used to guide the two box covers at the lower part of the carton body to be folded in half. After the box covers at the lower part of the carton body are folded and packaged, they will slide onto the surface of the L-shaped guide plate and move along the L-shaped guide plate to the T-shaped fixed rod, so that the lower part of the carton body is packaged. This solves the problem that when the existing automatic sliding box-opening robot folds and packages the box covers at the lower part of the carton, it is inconvenient to adjust the spacing between the guide rods according to cartons of different sizes, which makes it difficult for the box covers at the lower part of the carton to slide between the guide rods, resulting in the inability of the guide rods to guide the box covers to be folded in half and packaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the structure of the main view of the present invention as a whole; Figure 2 It is a schematic diagram of the structure of the rear-view stereogram of the present invention; Figure 3 This is a schematic diagram of the bottom packaging structure of a carton of the present invention; Figure 4 It is a schematic diagram of the installation structure of the installation plate of the present invention; Figure 5 It is a schematic diagram of a partial cross-sectional structure of a T-shaped fixing rod of the present invention; Figure 6 This is a schematic diagram of the carton clamping and opening structure of the present invention; Figure 7 It is a schematic diagram of the first clamping plate installation structure of the present invention; Figure 8 It is a schematic diagram of the guide frame installation structure of the present invention; Fig. 9 It is a schematic diagram of the internal structure of a partial cross-section of the support plate of the present invention; Fig.10 This is a schematic diagram of a half-section structure of a mounting block of the present invention; Fig.11 It is a schematic diagram of the overall structure of the conveyor frame of the present invention; In the figure: 1. Base; 2. L-shaped mounting frame; 3. Support plate; 4. Unpacking auxiliary components; 41. mounting block; 42. rotating groove; 43. first rotating shaft; 44. gear; 45. clamping block; 46. first spring; 47. guide frame; 5. Rotating frame; 6. Glue coating assembly; 61. mounting groove; 62. L-shaped slide plate; 63. slide groove; 64. second spring; 65. winding groove; 66. second rotating shaft; 67. torsion spring; 68. H-shaped winding reel; 7. Robotic arm; 8. Conveying frame; 9. Conveying adjustment component; 91. Bidirectional threaded rod; 92. T-type sliding frame; 93. Roller; 10. Support seat; 11. First clamping plate; 12. Guide rod; 13. T-shaped fixing rod; 14. L-shaped guide plate; 15. Rotating block; 16. Ratchet mechanism; 17. U-shaped rotating frame; 18. Servo push rod; 19. Second clamping plate; 20. U-shaped connecting block; 21. Pushing block; 22. Carton body; 23. Suction cup. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] Embodiment 1: Figures 1 to 11 As shown, the automated unpacking robot according to the embodiment of the present invention comprises a base 1, a mechanical arm 7 is installed on one side of the upper end surface of the base 1, and is used to clamp the carton body 22 for loading and unpacking, an L-shaped mounting frame 2 is installed on the upper end of the base 1, a T-shaped fixing rod 13 is installed on one side of the upper end surface of the L-shaped mounting frame 2, and two guide rods 12 are arranged at the lower end of the T-shaped fixing rod 13, a support plate 3 is installed on the upper end of the L-shaped mounting frame 2, and an unpacking auxiliary component 4 is installed on the upper end surface of the support plate 3; The unpacking auxiliary assembly 4 includes a mounting block 41 mounted on the upper end surface of the support plate 3, a rotation groove 42 is provided in one side of the mounting block 41, a first rotating shaft 43 is rotatably connected to the inner cavity of the rotating groove 42, and guide frames 47 are fixedly connected at both ends of the first rotating shaft 43 to guide the box cover of the carton body 22 to flip; A glue coating component 6 is arranged on one side of the upper end surface of the support plate 3, and the glue coating component 6 includes a mounting groove 61 opened on one side of the upper end surface of the support plate 3, the inner cavity of the mounting groove 61 is used to install paste glue, and a winding groove 65 is opened inside the support plate 3, and the inner cavity of the winding groove 65 is rotatably connected to a second rotating shaft 66, and both ends of the second rotating shaft 66 pass through the support plate 3 and are fixedly connected to a rotating frame 5, which is used to guide the box cover of the carton body 22 to flip over and open the box.

[0023] Specifically, in the prior art, a mechanical arm is usually used to clamp and convey a carton, and fold and stretch it, and at the same time, the carton is driven to move toward the L-shaped tilting part of the sliding frame, so that the L-shaped tilting part pushes the box cover at the lower end of the carton to fold, and then the carton is pushed to move toward the conveyor belt, and then the other half of the box cover of the carton is folded by the sliding frame, and at the same time, two electric push rods are used to push the other two half box covers of the carton to fold, so as to complete the packaging of the bottom of the carton, and then it is sealed and fixed with transparent tape. However, this operation method is not only cumbersome and affects the efficiency of the carton unpacking processing, but also the use of transparent tape to seal the bottom of the carton. In a humid or high temperature environment, the viscosity of the tape will be weakened, resulting in the bottom of the carton being easy to crack or fall off during handling or transportation, causing damage to the internal items, etc. When the carton body 22 is unpacked, the robot arm 7 is started to clamp the carton body 22, and the carton body 22 is folded and stretched, and the robot arm 7 drives the stretched carton body 22 to move downward, and the two box covers at the lower ends of the carton body 22 are in contact with the guide frame 47 and the rotating frame 5, so that the two box covers at the lower ends of the carton body 22 are folded along the inclined surfaces of the guide frame 47 and the rotating frame 5, and the guide frame 47 and the rotating frame 5 are arranged in a V shape, so that the two box covers of the carton body 22 can be folded in half along the guide frame 47 and the rotating frame 5, and then the robot arm 7 is used to drive the carton body 22 to move toward the glue coating component 6, so that the robot arm 7 is in contact with the rotating frame 5, and the rotating frame 5 is pushed to flip, and during the flipping process of the rotating frame 5, the second rotating shaft 66 is driven to rotate, and the second rotating shaft 66 is rotated in the inner cavity of the winding groove 65 to open the installation groove 61, so that the paste in the inner cavity of the installation groove 61 The paste-like glue is exposed, and then after the carton body 22 moves to the installation groove 61, the box cover of the carton body 22 will contact with the exposed paste-like glue, thereby making a layer of paste-like glue stick to the box cover, and in the process of the carton body 22 moving to the glue coating component 6, the two box covers at both ends of the carton body 22 will slide between the two guide rods 12, and at the same time, the two box covers at both ends of the carton body 22 will be folded along the guide rods 12, and then after the carton body 22 moves to the upper end of the T-shaped fixing rod 13, the four box covers at the lower end of the carton body 22 will be folded to seal the bottom of the carton, and at the same time, the four box covers are folded and glued and fixed with the paste-like glue, avoiding the traditional unpacking robot to use transparent tape to seal the bottom of the carton when unpacking and processing the carton, which is not only costly and not environmentally friendly, but also the transparent tape is prone to entanglement and the tape cannot be cut when sealing the bottom of the carton, which will also affect the recycling of the carton in the later stage, thereby solving the above problems.

[0024] like Figure 1 , Figures 8 to 10 As shown, a slide groove 63 is opened inside the support plate 3, and an L-shaped slide plate 62 is slidably connected to the inner cavity of the slide groove 63. The L-shaped slide plate 62 is located in the inner cavity of the slide groove 63 and is movably fixedly connected to a second spring 64. One end of the second spring 64 is fixedly connected to the inner wall of the slide groove 63, and the second spring 64 is used to pop up the L-shaped slide plate 62 to seal the installation groove 61.

[0025] like Figure 1 , Figures 8 to 10 As shown, an H-shaped winding drum 68 is fixedly connected to the outside of the second rotating shaft 66, and torsion springs 67 are fixedly connected to both end surfaces of the H-shaped winding drum 68, and the torsion spring 67 is fixedly connected to the inner wall of the winding groove 65. A traction rope is fixedly connected to the outside of the H-shaped winding drum 68, and one end of the traction rope is fixedly connected to the L-shaped slide plate 62.

[0026] Specifically, after the box covers at both ends of the lower part of the carton body 22 are folded, the rotating frame 5 is pushed by the mechanical arm 7 to flip over, and the rotating frame 5 drives the second rotating shaft 66 to rotate, and at the same time the second rotating shaft 66 drives the H-shaped winding disk 68 to rotate, and then the H-shaped winding disk 68 drives the traction rope to reel up, and during the reeling process of the traction rope, the L-shaped slide plate 62 will be pulled to open the installation slot 61, and after the traction rope pulls the L-shaped slide plate 62 to slide in the inner cavity of the slide slot 63, the L-shaped slide plate 62 will squeeze the second spring 64 for storage, and at this time the paste-like glue in the inner cavity of the installation slot 61 will be exposed, and then when the mechanical arm 7 drives the carton body 22 to move and transport, the box cover folded at the lower end of the carton body 22 will fit with the exposed paste-like glue, and then a layer of paste-like glue will be applied, and when the carton body 22 is moved to slide out of the support After supporting the plate 3, the H-shaped winding disc 68 is twisted by using the torsion spring 67 to rotate and reset, and at the same time, the H-shaped winding disc 68 drives the second rotating shaft 66 to rotate, and the second rotating shaft 66 drives the rotating frame 5 to rotate and reset, so as to facilitate the subsequent unpacking processing of the carton body 22, thereby solving the problem that the existing automated unpacking robot uses a mechanical arm to clamp the carton for folding and stretching, and at the same time drives the folded and stretched carton to move left and right on the supporting plate, so that the box cover at the bottom of the carton is folded and sealed, and then the two electric push rods are used to synchronously push the other two box covers at the bottom of the carton for folding and sealing, and then the folded and sealed box covers are glued and sealed with transparent tape. This operation method is not only cumbersome, but also when using transparent tape to glue and seal the folded and sealed box covers, if the tape is not tightly pasted or there are bubbles, wrinkles and other problems, it will affect the firmness of the packaging.

[0027] like Figure 3 , Figures 8 to 10 As shown, two gears 44 are fixedly connected to the outside of the first rotating shaft 43, a fixed column is fixedly connected to the inner cavity of the rotating groove 42, and two clamping blocks 45 are slidably connected to the outside of the fixed column, and a first spring 46 is fixedly connected between the two clamping blocks 45, one end of the first spring 46 is fixedly connected to the inner wall of the rotating groove 42, and the clamping block 45 is plugged and engaged with the gear 44.

[0028] Specifically, the position of the mounting block 41 installed on the support plate 3 is adjusted so that the lower box cover of the carton body 22 can be guided to be folded and packaged according to the carton body 22 of different sizes. The two blocks 45 are pressed to slide on the outside of the fixed column. At the same time, the two blocks 45 squeeze the first spring 46 and the gear 44 to disengage. Then the guide frame 47 is turned to rotate and adjust the tilt angle, so that the guide frame 47 can contact the lower box cover of the carton body 22 more quickly, and then guide the lower box cover of the carton body 22 to be folded and packaged, thereby improving the folding and packaging efficiency of the lower box cover of the carton body 22, and it is also convenient to adjust the tilt angle of the guide frame 47 according to cartons of different sizes, so as to guide the lower box covers of cartons of different sizes to be folded and packaged.

[0029] like Figure 1 , Figures 3 to 5 As shown, ratchet mechanisms 16 are internally rotatably arranged at both ends of the T-shaped fixed rod 13, a rotating block 15 is fixedly connected to the lower end of the ratchet mechanism 16, one end of the rotating block 15 is fixedly connected to the guide rod 12, and is used to guide the two halves of the box cover of the carton body 22 to flip, and an L-shaped guide plate 14 is installed on one side of the T-shaped fixed rod 13, and is used to guide the moving direction of the carton body 22.

[0030] Specifically, when guiding the folding and packaging of the lower box covers of cartons of different sizes, the ratchet mechanism 16 is used to drive the rotating block 15 to adjust the opening angle, so that the rotating block 15 drives the guide rod 12 to synchronously adjust the opening angle, and then when the robot arm 7 clamps the carton body 22 and moves it to the conveyor frame 8, the two box covers at the lower part of the carton body 22 can slide between the guide rods 12, and then the guide rods 12 are used to guide the two box covers at the lower part of the carton body 22 to be folded in half. After the box covers at the lower part of the carton body 22 are folded in half and packaged, they will slide onto the surface of the L-shaped guide plate 14 and move along the L-shaped guide plate 14 to the T-shaped fixed rod 13, so that the lower part of the carton body 22 is packaged, thereby solving the problem that when the existing automatic sliding unpacking robot folds and packages the lower box covers of the carton, it is inconvenient to adjust the spacing between the guide rods according to cartons of different sizes, which makes it difficult for the box covers at the lower part of the carton to slide between the guide rods, resulting in the guide rods being unable to guide the box covers to be folded in half and packaged.

[0031] like Figure 2 , Figure 3 and Figure 6 As shown, a support seat 10 is installed on one side of the upper end surface of the base 1, and the upper end surface of the support seat 10 is fixedly installed with the mechanical arm 7. A U-shaped rotating frame 17 is fixedly connected to one end of the mechanical arm 7. An opening component is installed in the inner cavity of the U-shaped rotating frame 17 for clamping the carton body 22 for folding and opening.

[0032] Embodiment 2: Figure 2 , Figure 6 to Figure 7 As shown, the unpacking assembly includes a first clamping plate 11 installed in the inner cavity of a U-shaped rotating frame 17, one end of the first clamping plate 11 is rotatably connected to a second clamping plate 19, one end of the second clamping plate 19 is rotatably connected to a U-shaped connecting block 20, a servo push rod 18 is installed on one side of the first clamping plate 11, and the output shaft end of the servo push rod 18 is rotatably connected to the U-shaped connecting block 20, which is used to drive the U-shaped connecting block 20 to push the second clamping plate 19, and make the second clamping plate 19 rotate in one end of the first clamping plate 11, so as to push the carton body 22 to perform the unpacking operation.

[0033] Specifically, the robot arm 7 is driven to clamp the carton body 22 to fold and stretch it, and at the same time, the robot arm 7 drives the stretched carton body 22 to move downward, and the two box covers at the lower end of the carton body 22 are made to contact with the guide frame 47 and the rotating frame 5, and the guide frame 47 and the rotating frame 5 are arranged in a V shape, so that the two box covers at the lower end of the carton body 22 are folded along the inclined surfaces of the guide frame 47 and the rotating frame 5, thereby solving the problem that when the existing automated unpacking robot unpacks and seals the bottom box cover of the carton, because the L-shaped sliding frame is used to guide half of the box cover of the carton to be folded, when the other half of the box cover is folded, the folded box cover is easily abutted against the L-shaped sliding frame to form wrinkles, and it will also affect the subsequent sealing of the carton cover by transparent tape, resulting in the problem that the quality of the unpacking processed carton does not meet the standards and is scrapped.

[0034] like Figure 2 , Figure 6 to Figure 7 As shown, a plurality of suction cups 23 are evenly arranged on one side of the first clamping plate 11, and the plurality of suction cups 23 are used to absorb the carton body 22 for picking up materials, and a pushing block 21 is installed on one side of the second clamping plate 19, and a plurality of suction cups 23 are evenly arranged on one side of the second clamping plate 19, and the pushing block 21 is used to push the rotating frame 5 for flipping and storage.

[0035] Specifically, when the carton body 22 is clamped, folded and stretched, the U-shaped rotating frame 17 is driven to move by the mechanical arm 7, and the U-shaped rotating frame 17 drives the first clamping plate 11 to move synchronously. Since a plurality of suction cups 23 are evenly arranged on one side of the first clamping plate 11, the first clamping plate 11 uses the plurality of suction cups 23 to absorb and clamp the carton body 22. After the carton body 22 is absorbed and clamped, the U-shaped connecting block 20 is driven to move by starting the servo push rod 18, and the U-shaped connecting block 20 pushes the second clamping plate 19 to rotate, so that the second clamping plate 19 pushes the carton body 22 to fold and stretch. At the same time, the second clamping plate 19 uses the suction cup 23 to absorb and fix the carton body 22, so as to realize the rapid clamping, folding and stretching of the carton body 22. After the carton body 22 is folded and stretched, the carton body 22 is driven by the robot arm 7 to seal the lower box cover. After the lower box cover of the carton body 22 is folded and sealed, the carton body 22 is driven to move by the first clamping plate 11 and the second clamping plate 19 through the robot arm 7, and the second clamping plate 19 drives the pushing block 21 to push the rotating frame 5 to flip, thereby facilitating the transportation of the carton body 22 and improving the efficiency of the carton unpacking process.

[0036] like Figure 1 , Figure 2 and Fig.11As shown, a conveyor frame 8 is installed on one side of the upper end surface of the base 1, and a conveyor roller is arranged in the inner cavity of the conveyor frame 8, and a heating device is arranged inside the conveyor roller, which is used to convey the unpacked carton body 22 to move and heat the bottom of the carton body 22 during the conveying process, so that the bottom box cover of the carton body 22 can be adhered and fixed by the rapid drying of the paste-like glue, and a conveyor adjustment component 9 is arranged in the inner cavity of the conveyor frame 8, and the conveyor adjustment component 9 is used to adjust the spacing according to the carton bodies 22 of different sizes to improve the stability of the conveying process.

[0037] like Figure 1 , Figure 2 and Fig.11 As shown, the conveying adjustment assembly 9 includes a bidirectional threaded rod 91 rotating in the inner cavity of the conveying frame 8, the outer thread of the bidirectional threaded rod 91 is connected to two T-shaped sliding frames 92, and the inner cavity of the T-shaped sliding frame 92 is rotatably connected to multiple rollers 93 for conveying the movement of the carton body 22.

[0038] Specifically, after the lower part of the carton body 22 is folded and packaged, the carton is pushed onto the conveying frame 8 by the robot arm 7, and the carton is driven to be conveyed and moved by the conveying roller. In the process of conveying and moving, since a heating device is arranged inside the conveying roller, the bottom cover of the carton body 22 can be adhered and fixed by the rapid drying of the paste-like glue. In the process of conveying the carton body 22, the bidirectional threaded rod 91 is driven to rotate, and the bidirectional threaded rod 91 is threaded to drive the T-shaped sliding frame 92 to move closer to each other, so that the T-shaped sliding frame 92 is brought The movable roller 93 is used to adjust the spacing so that the carton can move between the T-shaped sliding frames 92. At the same time, the T-shaped sliding frame 92 cooperates with the roller 93 to guide the transportation of the carton to avoid the deviation of the carton during the moving and conveying process. This solves the problem that when the existing automated unpacking robot is transporting the unpacked carton, if it is not limited, it is easy to cause the carton transportation to deviate from the track, affecting the subsequent packing of workpieces and other products, and the sealing glue on the bottom of the carton cannot be heated and dried, resulting in low efficiency in using a glue machine to stick transparent tape to seal the bottom of the carton.

[0039] Working principle: when the carton body 22 is unpacked, the robot arm 7 is started to clamp the carton body 22, and the carton body 22 is folded and stretched, and the robot arm 7 drives the stretched carton body 22 to move downward, and makes the two box covers at the lower end of the carton body 22 contact with the guide frame 47 and the rotating frame 5, so that the two box covers at the lower end of the carton body 22 are folded along the inclined surfaces of the guide frame 47 and the rotating frame 5, and the guide frame 47 and the rotating frame 5 are arranged in a V shape, so that the two box covers of the carton body 22 can be folded in half along the guide frame 47 and the rotating frame 5, and then the robot arm 7 is used to drive the carton body 22 to move toward the glue coating component 6, so that the robot arm 7 is in contact with the rotating frame 5, and the rotating frame 5 is pushed to flip, and during the flipping process of the rotating frame 5, the second rotating shaft 66 will be driven to rotate, and the second rotating shaft 66 will rotate in the inner cavity of the winding groove 65 to open the installation groove 61, so that the installation groove 61 The paste-like glue in the inner cavity is exposed, and then after the carton body 22 moves to the installation groove 61, the box cover of the carton body 22 will contact the exposed paste-like glue, so that a layer of paste-like glue is adhered to the box cover, and in the process of the carton body 22 moving toward the glue coating component 6, the two box covers at both ends of the carton body 22 will slide between the two guide rods 12, and at the same time, the two box covers at both ends of the carton body 22 will be folded along the guide rods 12, and then after the carton body 22 moves to the upper end of the T-shaped fixing rod 13, the four box covers at the lower end of the carton body 22 will be folded to seal the bottom of the carton, and at the same time, the four box covers are folded and glued and fixed with the paste-like glue, thereby avoiding the traditional unpacking robot from using transparent tape to seal the bottom of the carton when unpacking and processing the carton, which is not only costly and not environmentally friendly, but also the transparent tape is easy to be entangled and the tape cannot be cut, which will also affect the recycling of the carton in the later stage; After the box covers at both ends of the lower part of the carton body 22 are folded, the rotating frame 5 is pushed by the mechanical arm 7 to flip over, and the rotating frame 5 drives the second rotating shaft 66 to rotate, and at the same time the second rotating shaft 66 drives the H-shaped winding disk 68 to rotate, and then the H-shaped winding disk 68 drives the traction rope to reel up, and during the reeling process of the traction rope, the L-shaped slide plate 62 will be pulled to open the installation slot 61, and after the traction rope pulls the L-shaped slide plate 62 to slide in the inner cavity of the slide slot 63, the L-shaped slide plate 62 will squeeze the second spring 64 for storage, and at this time the inner cavity of the installation slot 61 The paste-like glue in the box will be exposed, and then when the robot arm 7 drives the carton body 22 to move and transport, the box cover folded at the lower end of the carton body 22 will fit with the exposed paste-like glue, and then a layer of paste-like glue will be applied. After the carton body 22 is moved and slid out of the support plate 3, the H-shaped winding disc 68 is twisted by the torsion spring 67 to rotate and reset, and at the same time, the H-shaped winding disc 68 drives the second rotating shaft 66 to rotate, and the second rotating shaft 66 drives the rotating frame 5 to rotate and reset, so as to facilitate the subsequent unpacking processing of the carton body 22; After the lower part of the carton body 22 is folded and packaged, the carton is pushed onto the conveying frame 8 by the robot arm 7, and the carton is driven to be conveyed and moved by the conveying roller. In the process of conveying and moving, since a heating device is arranged inside the conveying roller, the bottom box cover of the carton body 22 can be glued and fixed by the rapid drying of the paste-like glue. In the process of conveying the carton body 22, the bidirectional threaded rod 91 is driven to rotate, and the bidirectional threaded rod 91 thread-driven T-type sliding frame 92 is moved closer to each other, so that the T-type sliding frame 92 drives the roller 93 to adjust the spacing, so that the carton moves between the T-type sliding frames 92, and the T-type sliding frame 92 cooperates with the roller 93 to guide the conveying of the carton to avoid deviation of the carton during the moving and conveying process.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Automated unpacking robot, characterized by: The invention comprises a base (1), wherein a mechanical arm (7) is mounted on one side of the upper end surface of the base (1) for clamping a carton body (22) for loading and unpacking; an L-shaped mounting frame (2) is mounted on the upper end of the base (1); a T-shaped fixing rod (13) is mounted on one side of the upper end surface of the L-shaped mounting frame (2); and two guide rods (12) are arranged at the lower end of the T-shaped fixing rod (13); a support plate (3) is mounted on the upper end of the L-shaped mounting frame (2); and an unpacking auxiliary component (4) is mounted on the upper end surface of the support plate (3); The box opening auxiliary component (4) comprises a mounting block (41) mounted on the upper end surface of the support plate (3); a rotation groove (42) is provided in one side of the mounting block (41); a first rotating shaft (43) is rotatably connected to the inner cavity of the rotation groove (42); guide frames (47) are fixedly connected at both ends of the first rotating shaft (43) for guiding the box cover of the carton body (22) to flip; A glue coating assembly (6) is arranged inside one side of the upper end surface of the support plate (3), and the glue coating assembly (6) includes a mounting groove (61) provided on one side of the upper end surface of the support plate (3), the inner cavity of the mounting groove (61) is used to install paste-like glue, a winding groove (65) is provided inside the support plate (3), the inner cavity of the winding groove (65) is rotatably connected to a second rotating shaft (66), and both ends of the second rotating shaft (66) pass through the support plate (3) and are fixedly connected to a rotating frame (5), which is used to guide the box cover of the carton body (22) to flip over and open the box.

2. The automated box-opening robot according to claim 1, characterized in that: A slide groove (63) is provided inside the support plate (3), and an L-shaped slide plate (62) is slidably connected to the inner cavity of the slide groove (63). The L-shaped slide plate (62) is located in the inner cavity of the slide groove (63) and is movably fixedly connected to a second spring (64). One end of the second spring (64) is fixedly connected to the inner wall of the slide groove (63), and the second spring (64) is used to pop up the L-shaped slide plate (62) to seal the installation groove (61).

3. The automated box-opening robot according to claim 1, characterized in that: An H-shaped winding drum (68) is fixedly connected to the outside of the second rotating shaft (66), and torsion springs (67) are fixedly connected to both end surfaces of the H-shaped winding drum (68), and the torsion spring (67) is fixedly connected to the inner wall of the winding groove (65). A traction rope is fixedly connected to the outside of the H-shaped winding drum (68), and one end of the traction rope is fixedly connected to the L-shaped slide plate (62).

4. The automated box-opening robot according to claim 1, characterized in that: Two gears (44) are fixedly connected to the outside of the first rotating shaft (43), a fixed column is fixedly connected to the inner cavity of the rotating groove (42), and two clamping blocks (45) are slidably connected to the outside of the fixed column, and a first spring (46) is fixedly connected between the two clamping blocks (45), one end of the first spring (46) is fixedly connected to the inner wall of the rotating groove (42), and the clamping block (45) is plug-engaged with the gear (44).

5. The automated box-opening robot according to claim 1, characterized in that: Ratchet mechanisms (16) are rotatably arranged inside the two ends of the T-shaped fixing rod (13); a rotating block (15) is fixedly connected to the lower end of the ratchet mechanism (16); one end of the rotating block (15) is fixedly connected to the guide rod (12) for guiding the two half box covers of the carton body (22) to flip; an L-shaped guide plate (14) is installed on one side of the T-shaped fixing rod (13) for guiding the moving direction of the carton body (22).

6. The automated box-opening robot according to claim 1, characterized in that: A support seat (10) is installed on one side of the upper end surface of the base (1); the upper end surface of the support seat (10) is fixedly mounted to a mechanical arm (7); one end of the mechanical arm (7) is fixedly connected to a U-shaped rotating frame (17); an opening assembly is installed in the inner cavity of the U-shaped rotating frame (17) for clamping a carton body (22) for folding and opening.

7. The automated box-opening robot according to claim 6, characterized in that: The box opening assembly comprises a first clamping plate (11) installed in the inner cavity of a U-shaped rotating frame (17), one end of the first clamping plate (11) is rotatably connected to a second clamping plate (19), one end of the second clamping plate (19) is rotatably connected to a U-shaped connecting block (20), a servo push rod (18) is installed on one side of the first clamping plate (11), the output shaft end of the servo push rod (18) is rotatably connected to the U-shaped connecting block (20), and is used to drive the U-shaped connecting block (20) to push the second clamping plate (19), and make the second clamping plate (19) rotate in one end of the first clamping plate (11), so as to push the carton body (22) to perform the box opening operation.

8. The automated box-opening robot according to claim 7, characterized in that: A plurality of suction cups (23) are evenly arranged on one side of the first clamping plate (11), and the plurality of suction cups (23) are used to absorb the carton body (22) to pick up materials. A pushing block (21) is installed on one side of the second clamping plate (19), and a plurality of suction cups (23) are evenly arranged on one side of the second clamping plate (19), and the pushing block (21) is used to push the rotating frame (5) to flip and store.

9. The automated box-opening robot according to claim 1, characterized in that: A conveyor frame (8) is installed on one side of the upper end surface of the base (1), and a conveyor roller is arranged in the inner cavity of the conveyor frame (8). A heating device is arranged inside the conveyor roller for conveying the unpacked carton body (22) to move and heating the bottom of the carton body (22) during the conveying process, so that the bottom box cover of the carton body (22) can be adhered and fixed by the rapid drying of the paste-like glue. A conveyor adjustment component (9) is arranged in the inner cavity of the conveyor frame (8), and the conveyor adjustment component (9) is used to adjust the spacing according to carton bodies (22) of different sizes, thereby improving the stability of the conveying process.

10. The automated box-opening robot according to claim 9, characterized in that: The conveying adjustment assembly (9) comprises a bidirectional threaded rod (91) which rotates in the inner cavity of the conveying frame (8); the outer thread of the bidirectional threaded rod (91) is connected to two T-shaped sliding frames (92) by threads; the inner cavity of the T-shaped sliding frame (92) is rotatably connected to a plurality of rollers (93) for conveying the movement of the carton body (22).

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