Automated unpacking robot

Abstract

The present invention belongs to the technical field of unpacking robots, specifically an automated unpacking robot, comprising a base, wherein a mechanical arm is mounted on one side of an upper end surface of the base for clamping a carton body for loading and unpacking, an L-shaped mounting frame is mounted on the upper end surface of the L-shaped mounting frame, a T-shaped fixing rod is mounted on one side of an upper end surface of the L-shaped mounting frame, and two guide rods are provided at the lower end of the T-shaped fixing rod, a support plate is mounted on the upper end of the L-shaped mounting frame, and an unpacking auxiliary component is mounted on the upper end surface of the support plate, which solves the problem that the existing unpacking operation method is not only cumbersome and affects the unpacking processing efficiency of the carton, but also uses 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 easily cracked or falling off during handling or transportation, causing damage to the internal items, etc.

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] A carton-opening robot, also known as a carton-forming machine, is an assembly line device that opens, folds the bottom lid, and seals the bottom tape on large quantities of cartons. Controlled entirely by a PLC and display screen, the machine completes the entire packaging process, including carton suction, opening, forming, bottom folding, and bottom sealing, in a single operation. Existing carton-opening machines are specialized and, due to their limited applicability and the high number of manual steps involved, they struggle to meet current customer demands for universal and intelligent packaging.

[0003] A patent with announcement number CN115625718B discloses a four-arm carton unpacking robot 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 through the active rocker arm to drive the driven rocker arm, and finally realizes 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 adjustment 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 adjustment screws are locked, and the subsequent unpacking actions do not need to be adjusted again, which can ensure 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 actual application. Usually, a robotic 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 uses transparent tape to seal the bottom of the carton. In a humid or high temperature environment, the viscosity of the tape will be weakened, causing the bottom of the carton to easily 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 its technical problem is as follows: the automated unpacking robot of the present invention comprises a base, a mechanical arm is mounted on one side of the upper end surface of the base for gripping the carton body for loading and unpacking, an L-shaped mounting frame is mounted on the upper end surface of the L-shaped mounting frame, a T-shaped fixing rod is mounted on one side of the upper end surface of the L-shaped mounting frame, and two guide rods are provided at the lower end of the T-shaped fixing rod, a support plate is mounted on the upper end of the L-shaped mounting frame, and an unpacking auxiliary component is mounted on the upper end surface of the support plate;

[0008] The unpacking auxiliary component includes a mounting block mounted on the upper end surface of the support plate, a rotation groove is formed in one side of the mounting block, a first rotating shaft is rotatably connected to the inner cavity of the rotation 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;

[0009] A glue coating assembly is provided on 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 glue, and a winding groove is opened inside the support plate, and 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 fixed with a rotating frame, which is used to guide the box cover of the carton body to flip over and open the box.

[0010] 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 fixedly connected to a second spring. One end of the second spring is fixedly connected 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.

[0011] Preferably, an H-shaped winding drum is fixed to the outside of the second rotating shaft, and torsion springs are fixed to both end surfaces of the H-shaped winding drum, and the torsion springs are fixed to the inner wall of the winding groove. A traction rope is fixed to the outside of the H-shaped winding drum, and one end of the traction rope is fixed to the L-shaped slide.

[0012] 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 fixed 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.

[0013] Preferably, ratchet mechanisms are provided for internal rotation at both ends of the T-shaped fixing rod, a rotating block is fixed to the lower end of the ratchet mechanism, one end of the rotating block is fixed to the guide rod, which is used to guide the two halves of the carton cover to flip, and an L-shaped guide plate is installed on one side of the T-shaped fixing rod to guide the moving direction of the carton body.

[0014] 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 robotic arm, one end of the robotic arm is fixedly connected to a U-shaped rotating frame, and an opening assembly is installed in the inner cavity of the U-shaped rotating frame for clamping the carton body for folding and opening.

[0015] 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, and 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.

[0016] Preferably, a plurality of suction cups are evenly arranged on one side of the first splint, and the plurality of suction cups are used to adsorb the carton body to pick up materials, and a pushing block is installed on one side of the second splint, and a plurality of suction cups are evenly arranged on one side of the second splint, and the pushing block is used to push the rotating frame for flipping and storage.

[0017] Preferably, a conveyor frame is installed on one side of the upper end surface of the base, and a conveyor roller is provided in the inner cavity of the conveyor frame. A heating device is provided inside the conveyor roller for conveying the unpacked carton body to move and heating 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 conveyor adjustment component is provided in the inner cavity of the conveyor frame, and the conveyor adjustment component is used to adjust the spacing according to carton bodies of different sizes, thereby improving the stability of the conveying process.

[0018] 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.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The automated unpacking robot of the present invention uses a mechanical arm to grip the carton body to fold and stretch it, while driving 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 the mechanical arm abuts against the rotating frame to flip it over. During the flipping process, the rotating frame will open the installation groove to expose the internal paste-like glue, and then after the carton body moves to the installation groove, the box cover will be 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 traditional unpacking robots use transparent tape to seal the bottom of the carton when unpacking and processing the carton, which is not only costly, environmentally unfriendly and inefficient, but also easy to get tangled and the tape cannot be cut when sealing the bottom of the carton, which will affect the recycling of the cartons in the later stage.

[0021] 2. The automated carton-opening robot of the present invention drives the rotating block to adjust the opening angle by utilizing a 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 conveyor frame, the two box covers at the lower part of the carton body can slide between the guide rods, and 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 sealed, 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, thereby completing the sealing of the lower part of the carton body. This solves the problem that when the existing automatic sliding carton-opening robot folds and seals the lower box covers of the carton, it is inconvenient to adjust the spacing between the guide rods according to cartons of different sizes, resulting in the box covers at the lower part of the carton being difficult to slide between the guide rods, causing the guide rods to be unable to guide the box covers to be folded in half and sealed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 It is a schematic structural diagram of the main view of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the rear view stereo of the present invention;

[0025] Figure 3 This is a schematic diagram of the bottom packaging structure of the carton of the present invention;

[0026] Figure 4 This is a schematic diagram of the mounting structure of the mounting plate of the present invention;

[0027] Figure 5 This is a schematic diagram of a partial cross-sectional structure of a T-shaped fixing rod of the present invention;

[0028] Figure 6 This is a schematic diagram of the carton clamping and opening structure of the present invention;

[0029] Figure 7 This is a schematic diagram of the first splint installation structure of the present invention;

[0030] Figure 8 This is a schematic diagram of the guide frame installation structure of the present invention;

[0031] Figure 9 This is a partial cross-sectional schematic diagram of the internal structure of the support plate of the present invention;

[0032] Figure 10 This is a schematic diagram of a half-section structure of the mounting block of the present invention;

[0033] Figure 11 It is a schematic diagram of the overall structure of the conveyor frame of the present invention;

[0034] In the picture: 1. Base; 2. L-shaped mounting bracket; 3. Support plate; 4. Unpacking auxiliary components;

[0035] 41. Mounting block; 42. Rotation slot; 43. First rotating shaft; 44. Gear; 45. Clamping block; 46. First spring; 47. Guide frame;

[0036] 5. Rotating frame; 6. Glue coating assembly;

[0037] 61. Mounting slot; 62. L-shaped slide; 63. Slide slot; 64. Second spring; 65. Rewinding slot; 66. Second rotating shaft; 67. Torsion spring; 68. H-shaped reel;

[0038] 7. Robotic arm; 8. Conveyor rack; 9. Conveyor adjustment assembly;

[0039] 91. Bidirectional threaded rod; 92. T-shaped sliding frame; 93. Roller;

[0040] 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

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0042] Example 1: Figures 1 to 11As shown, the automated unpacking robot according to the embodiment of the present invention includes a base 1, a robotic arm 7 is mounted on one side of the upper end surface of the base 1, and is used to clamp a carton body 22 for loading and unpacking. An L-shaped mounting frame 2 is mounted on the upper end surface of the L-shaped mounting frame 2, 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 provided 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;

[0043] 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 formed 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 fixed at both ends of the first rotating shaft 43 to guide the flipping of the box cover of the carton body 22.

[0044] A glue coating assembly 6 is provided on one side of the upper end surface of the support plate 3, and the glue coating assembly 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. A winding groove 65 is opened inside the support plate 3. The inner cavity of the winding groove 65 is rotatably connected to the second rotating shaft 66. Both ends of the second rotating shaft 66 pass through the support plate 3 and are fixed to the rotating frame 5, which is used to guide the box cover of the carton body 22 to flip over and open the box.

[0045] Specifically, in the prior art, a robotic arm is usually used to clamp and convey a carton, fold and stretch it, and at the same time drive the carton 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 pushes the carton to move toward the conveyor belt, and then uses the sliding frame to fold the other half of the box cover of the carton, and at the same time uses two electric push rods to push the other two half box covers of the carton to fold, thereby completing the sealing of the bottom of the carton, and then uses transparent tape to seal and fix it. However, this operation method is not only cumbersome and affects the efficiency of the carton unpacking process, but also uses transparent tape to seal the bottom of the carton. In a humid or high temperature environment, the viscosity of the tape will be weakened when sealing the bottom of the carton, resulting in the bottom of the carton being easily cracked or falling off during handling or transportation, causing damage to the items inside.

[0046] When the carton body 22 is unpacked, the robot arm 7 is started to clamp the carton body 22 and fold the carton body 22 open. At the same time, the robot arm 7 drives the opened carton body 22 to move downward, and makes the two box covers at the lower ends 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 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 assembly 6, so that the robot arm 7 is in contact with the rotating frame 5, and the rotating frame 5 is pushed to flip over. During the flipping process, the rotating frame 5 will drive the second rotating shaft 66 to rotate, and at the same time the second rotating shaft 66 rotates 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 come into 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 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 in half 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 and sealed to the bottom of the carton, and at the same time, the four box covers are folded and glued with 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.

[0047] 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 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.

[0048] 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 62.

[0049] 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 robot arm 7 to flip over, and the rotating frame 5 drives the second rotating shaft 66 to rotate. At the same time, the second rotating shaft 66 drives the H-shaped reel 68 to rotate, and then the H-shaped reel 68 drives the traction rope to reel. During the reeling process of the traction rope, the L-shaped slide 62 will be pulled to open the installation slot 61. After the traction rope pulls the L-shaped slide 62 to slide in the inner cavity of the slide slot 63, the L-shaped slide 62 will squeeze the second spring 64 for storage. At this time, the paste-like glue in the inner cavity of the installation slot 61 will be exposed. Then, during the process of the robot arm 7 driving the carton body 22 to move and transport, the folded box cover 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. When the carton body 22 is moved 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. 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, thereby facilitating the subsequent unpacking processing of the carton body 22, thereby solving the problem of the existing automated unpacking robot using a mechanical arm to clamp the carton for folding and opening, and at the same time driving the folded and opened 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 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 transparent tape is used to stick and seal the folded and sealed box covers. This operation method is not only cumbersome, but also when using transparent tape to stick 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.

[0050] 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 into and engaged with the gear 44.

[0051] 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. By pressing the two blocks 45 to slide on the outside of the fixed column, the two blocks 45 squeeze the first spring 46 and the gear 44 out of engagement, and then the guide frame 47 is rotated to adjust the tilt angle, so that the guide frame 47 can contact the box cover of the lower part of the carton body 22 more quickly, and then guide the box cover of the lower part 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 also facilitating the adjustment of the tilt angle of the guide frame 47 according to the different sizes of cartons, for guiding the box cover of the lower part of cartons of different sizes to be folded and packaged.

[0052] like Figure 1 、 Figures 3 to 5 As shown, ratchet mechanisms 16 are provided for internal rotation at both ends of the T-shaped fixed rod 13, and a rotating block 15 is fixed to the lower end of the ratchet mechanism 16. One end of the rotating block 15 is fixed to the guide rod 12, which is used to guide the two halves of the box cover of the carton body 22 to flip over. An L-shaped guide plate 14 is installed on one side of the T-shaped fixed rod 13 to guide the moving direction of the carton body 22.

[0053] 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. Then, when the robot arm 7 is used to clamp the carton body 22 and move 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, thereby completing the packaging of the lower part of the carton body 22. This solves 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 inability of the guide rods to guide the box covers to be folded in half.

[0054] like Figure 2 、 Figure 3 and Figure 6 As shown, a support base 10 is installed on one side of the upper end surface of the base 1, and the upper end surface of the support base 10 is fixedly installed with the robotic arm 7. A U-shaped rotating frame 17 is fixedly connected to one end of the robotic arm 7. An opening assembly is installed in the inner cavity of the U-shaped rotating frame 17 for clamping the carton body 22 for folding and opening.

[0055] Example 2: Figure 2 、 Figures 6 and 7 As shown, the unpacking assembly includes a first splint 11 installed in the inner cavity of a U-shaped rotating frame 17, one end of the first splint 11 is rotatably connected to a second splint 19, one end of the second splint 19 is rotatably connected to a U-shaped connecting block 20, a servo push rod 18 is installed on one side of the first splint 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 splint 19, and make the second splint 19 rotate in one end of the first splint 11, so as to push the carton body 22 to perform the unpacking operation.

[0056] Specifically, the robot arm 7 is driven to clamp the carton body 22 to fold and expand it, and at the same time, the robot arm 7 drives the expanded carton body 22 to move downward, and the two box covers at the lower end of the carton body 22 are brought into 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 half of the box cover of the carton is guided by the L-shaped sliding frame, 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 with transparent tape, resulting in the quality of the unpacked cartons not meeting the standards and being scrapped.

[0057] like Figure 2 、 Figures 6 and 7 As shown, a plurality of suction cups 23 are evenly arranged on one side of the first splint 11, and the plurality of suction cups 23 are used to adsorb the carton body 22 for picking up materials, and a push block 21 is installed on one side of the second splint 19. A plurality of suction cups 23 are evenly arranged on one side of the second splint 19, and the push block 21 is used to push the rotating frame 5 for flipping and storage.

[0058] 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 adsorb 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 robot arm 7 using the first clamping plate 11 and the second clamping plate 19, 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.

[0059] like Figure 1 、 Figure 2 and Figure 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 provided in the inner cavity of the conveyor frame 8, and a heating device is provided inside the conveyor roller for conveying the carton body 22 after unpacking and moving it, 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 provided 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, thereby improving the stability of the conveying process.

[0060] like Figure 1 、 Figure 2 and Figure 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 external threaded rod 91 is connected to two T-shaped sliding frames 92. 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.

[0061] Specifically, after the lower part of the carton body 22 is folded and packaged, the carton is pushed onto the conveyor rack 8 by the robot arm 7, and the carton is driven to be conveyed and moved by the conveyor roller. In the process of conveying and moving, since a heating device is provided inside the conveyor 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 rack 92 to move closer to each other, so that the T-shaped sliding rack 92 is brought into contact with the carton body 22. The movable roller 93 adjusts the spacing so that the carton can move between the T-shaped sliding frames 92. At the same time, the T-shaped sliding frames 92 are used in conjunction 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 cartons, 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 gluing machine to stick transparent tape to seal the bottom of the carton.

[0062] The working principle is that when the carton body 22 is unpacked, the robot arm 7 is started to clamp the carton body 22 and fold the carton body 22 open. At the same time, the robot arm 7 drives the opened carton body 22 to move downward, and makes the two box covers at the lower ends 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 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 assembly 6, so that the robot arm 7 is in contact with the rotating frame 5, and the rotating frame 5 is pushed to flip over. During the flipping process, the rotating frame 5 will drive the second rotating shaft 66 to rotate, and at the same time the second rotating shaft 66 rotates 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 come into 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 toward the glue coating assembly 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 in half 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 and sealed to the bottom of the carton, and at the same time, the four box covers are folded and glued to fix them 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 environmentally unfriendly, but also easy to get tangled 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;

[0063] 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. At the same time, the second rotating shaft 66 drives the H-shaped reel 68 to rotate, and then the H-shaped reel 68 drives the traction rope to reel. During the reeling process of the traction rope, the L-shaped slide 62 is pulled to open the installation slot 61. After the traction rope pulls the L-shaped slide 62 to slide in the inner cavity of the slide slot 63, the L-shaped slide 62 squeezes the second spring 64 for storage. At this time, the inner cavity of the installation slot 61 The paste-like glue in the carton body 22 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 apply a layer of paste-like glue. After the carton body 22 is moved and slid out of the support plate 3, the H-shaped reel 68 is twisted by the torsion spring 67 to rotate and reset. At the same time, the H-shaped reel 68 drives the second rotating shaft 66 to rotate, and the second rotating shaft 66 drives the rotating frame 5 to rotate and reset, thereby facilitating the subsequent unpacking process of the carton body 22.

[0064] After the lower part of the carton body 22 is folded and packaged, the carton is pushed onto the conveyor frame 8 by the robotic arm 7, and the carton is driven to be conveyed and moved by the conveyor roller. In the process of conveying and moving, since a heating device is provided inside the conveyor roller, the bottom box 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-type sliding frame 92 to move 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 is used to cooperate with the roller 93 to guide the conveying of the carton to avoid deviation of the carton during the moving and conveying process.

[0065] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. Automated unpacking robot, characterized by: The invention comprises a base (1), a mechanical arm (7) is installed 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 installed on the upper end surface of the L-shaped mounting frame (2), 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 provided at the lower end of the T-shaped fixing rod (13), a support plate (3) is installed on the upper end surface of the support plate (3), and an unpacking auxiliary component (4) is installed on the upper end surface of the support plate (3); The unpacking auxiliary component (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 rotation groove (42), and 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 over; A glue coating assembly (6) is provided on 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 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 fixed to a rotating frame (5), which is used to guide the box cover of the carton body (22) to flip and open the box; 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).

2. The automated box-opening robot according to claim 1, characterized in that: A sliding 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 sliding groove (63). The L-shaped slide plate (62) is located in the inner cavity of the sliding groove (63) and is fixedly connected to a second spring (64) for movement. One end of the second spring (64) is fixedly connected to the inner wall of the sliding groove (63), and the second spring (64) is used to bounce the L-shaped slide plate (62) to seal the mounting groove (61).

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

4. The automated box-opening robot according to claim 1, characterized in that: Ratchet mechanisms (16) are internally rotatably provided at both 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, and 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).

5. 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), and the upper end surface of the support seat (10) is fixedly installed with the mechanical arm (7). One end of the mechanical arm (7) is fixedly connected to a U-shaped rotating frame (17), and 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 the carton.

6. The automated box-opening robot according to claim 5, characterized in that: 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), 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 unpacking operation.

7. The automated box-opening robot according to claim 6, 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) for taking 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) for flipping and storage.

8. The automated box-opening robot according to claim 1, characterized in that: A conveying frame (8) is installed on one side of the upper end surface of the base (1), and a conveying roller is provided in the inner cavity of the conveying frame (8). A heating device is provided inside the conveying 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 conveying adjustment component (9) is provided in the inner cavity of the conveying frame (8), and the conveying adjustment component (9) is used to adjust the spacing according to the carton bodies (22) of different sizes, thereby improving the stability of the conveying process.

9. The automated box-opening robot according to claim 8, characterized in that: The conveying adjustment assembly (9) includes a bidirectional threaded rod (91) rotating in the inner cavity of the conveying frame (8), the bidirectional threaded rod (91) is externally threadedly connected to two T-shaped sliding frames (92), and 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).

Images