Circulating packaging box and unpacking device

Abstract

According to the circulating packaging box and the unpacking device, a box body is composed of six composite paper boards, and each paper board is of a three-layer structure including outer layer waterproof paper, a middle layer internally provided with neodymium iron boron magnet pieces and a base paper layer; the whole outer surface is covered with a polyurethane waterproof coating, the top face plate and the bottom face plate are of a double-folding structure, and the edges of the top face plate and the bottom face plate are provided with peelable adhesive strips and 180-degree self-folding convex lugs; the unpacking device adopts a rail type six-axis mechanical arm, and an end effector is integrated with a three-finger pneumatic gripper and a combined suction cup; the mechanical claw is provided with an anti-skid rubber layer and a root pressure sensor. The suction cup assembly comprises a vacuum suction cup and a 12-unit annular electromagnetic array. The mechanical claw is provided with an infrared positioner, a binocular vision camera is installed in the circumferential direction of the suction cup, a gyroscope is arranged in the rotary joint, and all sensors are connected into a central processing unit through a data bus. According to the circulating packaging box, efficient assembly, stable storage, convenient unsealing and automatic operation of the circulating packaging box are achieved, the reusability of packaging is improved, the logistics cost is reduced, and warehouse management is optimized.

Description

Technical Field

[0001] This patent relates to a recyclable packaging box and an unpacking device. Background Art

[0002] The packaging boxes currently widely used mostly adopt the following packaging methods:

[0003] Tape packaging (common in express logistics packaging):

[0004] Problems: Although tape packaging is low-cost, it is easy to damage the box when unpacking, making it impossible to reuse. In addition, the tape material is difficult to degrade, generating a large amount of plastic pollution.

[0005] Snap-on splicing (such as plastic folding boxes):

[0006] Problems: An additional buckle structure is required, which increases manufacturing costs; long-term use may cause damage to the buckle, affecting the overall strength.

[0007] Traditional cartons are mainly used once in the logistics industry, and their reuse faces the following problems:

[0008] The packaging method damages the box (such as damage caused by tearing tape or cutting the box with a knife).

[0009] Poor waterproof performance leads to damage due to moisture during transportation.

[0010] It is easy to deform after long-term use, which affects the strength of the box and makes it difficult to recycle multiple times.

[0011] To sum up, the technical background section of this patent is intended to explain the current status of the prior art. The deficiencies in the prior art indicate that the content of this section will provide necessary background information for understanding the technical contribution and innovation of this patent. The signals disclosed in this background technology section are only intended to increase the understanding of the overall background of this patent and should not be regarded as implying any form of subjective consciousness. Summary of the invention

[0012] In view of the above, the purpose of this patent is to provide a recyclable packaging box and unpacking device.

[0013] The technical solution adopted to achieve the purpose of this patent is a recyclable packaging box and unpacking device, including a box body, which is a rectangular parallelepiped structure formed by six surfaces of a top cardboard, a bottom cardboard, a left cardboard, a right cardboard, a front cardboard and a back cardboard;

[0014] Each cardboard is composed of a three-layer composite structure, including an outer waterproof paper layer, a middle interlayer and an inner base paper layer, wherein the middle interlayer is embedded with a plurality of rectangular NdFeB magnet sheets, each magnet sheet is arranged equidistantly along the length direction of the cardboard, and the magnet sheets on adjacent cardboards are alternately distributed with N poles and S poles; wherein: when the N pole of the magnet sheet of the top cardboard faces upward, the S pole of the magnet sheet at the corresponding position of the bottom cardboard faces downward; when the N pole of the magnet sheet of the left cardboard faces left, the S pole of the magnet sheet at the corresponding position of the right cardboard faces right; when the N pole of the magnet sheet of the front cardboard faces forward, the S pole of the magnet sheet at the corresponding position of the back cardboard faces backward;

[0015] The outer surface of all paperboards is covered with a polyurethane waterproof coating, which completely covers the outer surface and edges of the paperboards;

[0016] The top paperboard and the bottom paperboard are two folding boards that can be opened and closed. The edges of the folding boards are provided with non-stick layers, which are sealed by peelable adhesive strips. The width of the adhesive strips is not greater than the width of the non-stick layer. The end of the adhesive strips is folded 180° back to the starting end to form a self-folded folded portion, and the folded portion formed by the folding extends to the outside of the folding board.

[0017] It also includes an unpacking component for unpacking the packaging box after use, which is folded by adsorbing the magnet sheet in the box and tearing off the adhesive strip on the seal of the box. The unpacking component includes: a six-axis robotic arm is fixed on a movable guide rail, and the end actuator of the robotic arm is coaxially connected to a three-finger pneumatic mechanical claw and a suction cup assembly through a rotating joint; an anti-slip rubber layer is provided on the inner side of each clamping finger of the mechanical claw, and a pressure sensor is embedded in the root of the clamping finger; the suction cup assembly is composed of a concentrically arranged vacuum suction cup and an annular electromagnetic array, the vacuum suction cup is connected to a vacuum pump through an air pipe, and the annular electromagnetic array is composed of 12 independent electromagnetic units arranged around the central axis of the suction cup, and each electromagnetic unit is electrically connected to the controller through a flexible circuit board; the sensor module includes: an infrared locator arranged at the fingertips of the mechanical claw, a binocular vision camera installed around the suction cup assembly, and a gyroscope integrated in the rotating joint, and the sensor module is connected to the processor through a data bus.

[0018] Furthermore, in the middle layer of each panel, the magnet sheets are evenly arranged along the length direction of the panel, and the spacing between adjacent magnet sheets is equal; the polarities of the magnet sheets at corresponding positions between the top and bottom surfaces, the left and right surfaces, and the front and back surfaces are opposite; and adjacent stacked boxes achieve self-alignment and adsorption through magnetic pole attraction.

[0019] Furthermore, the movable guide rail is installed parallel to the conveying direction of the box, and the base of the six-axis robot arm is slidably connected to the guide rail through a slider; the rotary joint includes a first rotary axis and a second rotary axis, the first rotary axis drives the mechanical claw to rotate around the vertical axis, and the second rotary axis drives the suction cup assembly to swing around the horizontal axis; the center of the adsorption surface of the vacuum suction cup coincides with the center axis of the middle finger clamping of the mechanical claw, and the outer diameter of the annular electromagnetic array is 1.2 times larger than the diameter of the vacuum suction cup.

[0020] Furthermore, the corners of the carton body are provided with reinforcing ribs, which are L-shaped plastic strips fixed to the inner side of the box body by hot melt adhesive.

[0021] Furthermore, the waterproof layer is covered in the following manner: a seamless polyurethane coating is formed by dipping it on the outer surface of the panel, the coating has a uniform thickness and completely wraps the outer surface of the panel and the edges of the folded edges; the coating at the bend of the folded edge has an elastic pleated structure to ensure that the coating does not break when bent.

[0022] Further, the following steps are included,

[0023] (a) The binocular vision camera scans the surface of the box to identify the position and orientation of the folded part on the edge sealing structure;

[0024] (b) The gyroscope detects the current tilt angle of the box, and the processor calculates the grasping path of the mechanical claw;

[0025] (c) The robotic arm moves horizontally along the movable guide rail to the target workstation, and the rotating joint adjusts the position of the robotic claw so that the gripper fingers are aligned with the folded part;

[0026] (d) The mechanical claw grips the folded part, while the vacuum suction cup absorbs the surface of the box, and the annular electromagnetic array is energized to generate a magnetic field with the opposite magnetic pole to the box;

[0027] (e) The robotic arm moves along the peeling direction of the adhesive strip, exerts a tensile force to tear the adhesive strip, and the pressure sensor monitors the peeling resistance in real time;

[0028] (f) When the adhesive strip is completely peeled off, the suction cup assembly adheres to the unfolded surface of the box, and the circular electromagnetic array switches polarity to generate attraction, causing the side of the box to unfold outward to an opening and closing angle of 150°-170°; the rotating joint drives the mechanical claw to rotate 90° around the vertical axis parallel to the crease of the box to complete the flattening operation.

[0029] Beneficial effects of this patent:

[0030] 1. Peelable adhesive seal to improve sealing and unpacking convenience

[0031] Traditional cartons usually rely on tape for packaging, but this patent uses a peelable adhesive strip sealing structure, which provides the following advantages:

[0032] Easy to unpack without damaging the packaging box: The end of the adhesive strip is designed with a 180° reverse fold back to facilitate mechanical or manual grasping, thereby achieving smooth peeling. The non-stick layer prevents the adhesive strip from over-adhering and increases the reuse rate.

[0033] Maintain the integrity of the packaging box and increase the number of recycling times: the traditional tape unpacking is easy to damage the carton, affecting its reuse, while the peelable adhesive strip of the present invention will not damage the surface of the box, avoiding material waste and improving recycling efficiency.

[0034] 2. Ring electromagnetic adsorption + vacuum suction cup, optimized automatic unpacking

[0035] This patented unpacking device uses a circular electromagnetic array + vacuum suction cup to assist in unfolding the box while the mechanical claws grab the adhesive strips, bringing the following technical advantages:

[0036] Precisely control the unpacking process to improve the unpacking success rate: The mechanical claw monitors the clamping force in real time through the pressure sensor to avoid excessive squeezing and tearing of the adhesive strip. The vacuum suction cup provides stable adsorption to prevent the box from moving or tilting during the tearing process. The polarity of the ring electromagnetic array is variable, which can assist the box to unfold during the unpacking process and reduce external force intervention.

[0037] Reduce manual intervention and realize automated operation: Traditional unpacking operations usually require manual intervention, while the unpacking device of this patent can realize fully automatic unpacking through binocular vision recognition, gyroscope posture perception and six-axis robotic arm precise movement, greatly improving logistics operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of this patent or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this patent. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 It is a schematic diagram of the mechanical arm structure of this patent;

[0040] Figure 2 It is a schematic diagram of the box structure of this patent;

[0041] Figure 3 It is a top view of the box of this patent;

[0042] In the figure, 100-box body, 101-top cardboard, 102-non-stick layer, 104-adhesive strip, 105-folding part, 201-mechanical arm, 202-rotating joint, 203-mechanical claw, 205-vacuum suction cup. DETAILED DESCRIPTION

[0043] The present invention is described below in this embodiment based on the accompanying drawings and some implementation methods.

[0044] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present patent will be described in detail below with reference to the drawings and in combination with the embodiments.

[0045] This embodiment provides a recyclable packaging box and unpacking device, such as Figure 1-3 As shown, it includes the following structures:

[0046] In this embodiment, the recyclable packaging box is composed of six panels forming a rectangular parallelepiped structure, each panel adopts a three-layer composite structure, consisting of an outer waterproof paper layer, a middle interlayer and an inner base paper layer:

[0047] Outer waterproof paper layer: One of the biggest weaknesses of traditional cartons is poor water resistance. In a humid, rainy, snowy, or temperature-sensitive logistics environment, the surface of the cartons is easily damp and softened, resulting in a sudden drop in structural strength. The waterproof coating in this patent uses polyurethane material, which is made of high-density fiber paper and coated with a uniform layer of polyurethane waterproof coating on the outer surface. The waterproof coating can be seamlessly coated through an impregnation process to ensure overall waterproof performance;

[0048] Middle interlayer: multiple rectangular NdFeB magnets are embedded inside. The magnets are evenly arranged along the length of the panel. The spacing between adjacent magnets is equal. The N poles and S poles are alternately distributed between adjacent panels to achieve magnetic self-alignment adsorption between the panels.

[0049] Inner base paper layer: Made of high-strength recycled paper material, it has good compression resistance while ensuring the overall lightweight characteristics of the box;

[0050] In this embodiment, the magnetic adsorption structure: in order to enhance the connection stability between the panels of the box, the arrangement of the magnet pieces is as follows: when the N pole of the magnet piece of the top paperboard faces upward, the S pole of the magnet piece at the corresponding position of the bottom paperboard faces downward; when the N pole of the magnet piece of the left paperboard faces left, the S pole of the magnet piece at the corresponding position of the right paperboard faces right; when the N pole of the magnet piece of the front paperboard faces forward, the S pole of the magnet piece at the corresponding position of the back paperboard faces backward; this magnetic structure can not only ensure automatic alignment during box assembly and improve assembly efficiency, but also, when stacked for storage, the magnet pieces between adjacent boxes can generate adsorption force to prevent the boxes from accidentally slipping and improve storage safety;

[0051] In this embodiment, the folding plate closing structure: the top cardboard and the bottom cardboard are both foldable structures, consisting of two folded plates, and are sealed by a peelable adhesive strip to form a seal: a non-stick layer is provided at the edge of the folding plate, and the non-stick layer is used to prevent the adhesive strip from directly adhering to the folding plate, making the adhesive strip easier to tear; the width of the adhesive strip is not greater than the width of the non-stick layer to ensure that the bonding area is controlled; the end of the adhesive strip is folded 180° in the opposite direction to form a self-folded folded portion, and the folded portion extends to the outside of the folding plate to facilitate grabbing when unpacking.

[0052] In this embodiment, in order to improve the impact resistance of the carton and prevent structural damage caused by long-term use, L-shaped plastic reinforcement ribs are provided at the corners of the box body. The reinforcement ribs are fixed to the inside of the box body by hot melt adhesive, which does not affect the foldability of the overall structure, and can enhance the impact resistance of the corners and extend the service life of the carton.

[0053] In this embodiment, the unpacking device can efficiently complete the unsealing operation of the packaging box and ensure the recycling of the packaging materials; the robotic arm and its installation method: the unpacking device adopts a six-axis robotic arm as the main operating unit, which is installed on a movable guide rail and can slide along the conveying direction of the box to adapt to the operating requirements of different workstations; the base of the robotic arm: it is slidably connected to the guide rail through a slider, and can move back and forth on the guide rail to adjust the working position; the rotating joint: it includes a first rotating axis and a second rotating axis, which are respectively used to drive the robotic claw to rotate around the vertical axis, and drive the suction cup assembly to swing around the horizontal axis to adapt to the grasping requirements at different angles.

[0054] In this embodiment, the end effector of the six-axis robotic arm is composed of a three-finger pneumatic mechanical claw and a suction cup assembly, which are coaxially connected through a rotating joint to adapt to different unpacking operation requirements.

[0055] In this embodiment, a non-slip rubber layer is provided on the inner side of each clamping finger of the mechanical claw to improve the grasping stability; a pressure sensor is embedded at the base of the clamping finger to monitor the clamping force in real time to prevent damage to the adhesive strip.

[0056] In this embodiment, the suction cup assembly is composed of a vacuum suction cup and an annular electromagnetic array, wherein: the vacuum suction cup is connected to a vacuum pump through an air pipe to generate a negative pressure adsorption force, which can stably grasp the surface of the box; the annular electromagnetic array is composed of 12 independent electromagnetic units arranged around the central axis of the suction cup, and each electromagnetic unit is electrically connected to the controller through a flexible circuit board. When the suction cup adsorbs the box, the adsorption force can be further enhanced, and the polarity can be changed when necessary to assist the box to unfold.

[0057] In this embodiment, in order to improve the intelligence of the unpacking operation, the end effector of the robotic arm integrates multiple sensor modules, including: an infrared locator, installed on the fingertips of the robotic claw, for accurately identifying the position and orientation of the folded portion of the adhesive strip; a binocular vision camera, installed around the suction cup assembly, for scanning the surface of the box and obtaining spatial information of the edge sealing structure; a gyroscope, integrated in the rotary joint, for detecting the inclination angle of the box and assisting in calculating the grasping path of the robotic arm.

[0058] This embodiment describes the complete operation process of unpacking a recyclable packaging box by an unpacking device, including the following steps:

[0059] (a) Box surface scanning:

[0060] The binocular vision camera scans the surface of the box and identifies the position and orientation of the folded part on the edge banding structure.

[0061] The gyroscope detects the current tilt angle of the box and provides attitude data.

[0062] (b) The robotic arm moves to the target position:

[0063] The robot arm moves horizontally along the movable guide rail to the target workstation.

[0064] The rotating joint adjusts the position of the mechanical claw so that the gripper fingers are aligned with the folded part.

[0065] (c) Clamping and adsorption:

[0066] The mechanical claws clamp the folded part, while the vacuum suction cups absorb the surface of the box.

[0067] The annular electromagnetic array is energized to generate a magnetic field with the opposite pole to the box, thus improving the adsorption effect.

[0068] (d) Peeling off the adhesive strip:

[0069] The robot arm moves along the peeling direction of the adhesive strip and applies a pulling force to tear the adhesive strip.

[0070] The pressure sensor monitors the peeling resistance in real time to ensure smooth peeling.

[0071] (e) Box expansion:

[0072] When the adhesive strip is completely peeled off, the suction cup assembly adheres to the unfolded surface of the box and generates attraction through the polarity switching of the annular electromagnetic array, causing the side of the box to unfold outward to an opening and closing angle of 150°-170°.

[0073] The rotary joint drives the mechanical claw to rotate 90° around the vertical axis so that the unfolded box can be placed flat.

[0074] The above implementation can efficiently complete the unpacking operation of the recyclable packaging box and ensure the reusability of the packaging material.

[0075] 1. Working principle of reusable packaging box

[0076] Magnetic self-alignment mechanism

[0077] The six panels of the recycling packaging box are embedded with NdFeB magnets in the middle layer. The magnets are arranged equidistantly along the length of the panels, and the magnets on adjacent panels have opposite polarities, so the N and S poles of adjacent magnets attract each other.

[0078] Magnetic stack storage principle

[0079] When multiple reusable packaging boxes are stacked, the magnets on the adjacent boxes have opposite polarities, which creates an adsorption force that allows the boxes to be stacked stably and prevents them from sliding. This feature improves storage safety and orderliness while avoiding accidental displacement between boxes.

[0080] 2. Adhesive Sealing and Unsealing Mechanism

[0081] In order to provide a temporary sealing function, the top and bottom surfaces of the recyclable packaging box adopt a folding plate + adhesive strip structure.

[0082] Adhesive sealing principle

[0083] A non-stick layer is set on the edge of the folding plate to prevent the adhesive strip from sticking directly to the folding plate, ensuring easy peeling when unpacking. The end of the adhesive strip is folded 180° in the opposite direction to form a folded portion, so that the user or mechanical claw can easily grab the folded portion for peeling. The width of the adhesive strip is smaller than the width of the non-stick layer, ensuring that the box structure will not be affected during the peeling process, while maintaining good sealing performance.

[0084] Adhesive strip peeling principle

[0085] Once the traditional tape is attached to the paper surface, it is very easy to damage the box during the tearing process. The design of the non-stick layer solves this problem. It serves as the "temporary attachment interface" of the adhesive strip and has the following functions:

[0086] Reduce the adhesion during peeling to ensure that the strip does not pull the cardboard when it is torn off;

[0087] Provide "controllable adhesive area", that is, the width of the adhesive strip is strictly controlled within the non-stick layer and will not cross the boundary and adhere to the surface of the box, so that each sticking and unsealing behavior can be reproduced and consistent;

[0088] Form a clear peeling path to facilitate robot arm identification and operation.

[0089] When unpacking is required, the adhesive strip can be peeled off along the sealing direction by applying a pulling force. Since the folded portion at the end of the adhesive strip extends to the outside of the folding plate, it is convenient for mechanical devices or manual operations to accurately grasp and apply appropriate peeling force. At the same time, the material of the adhesive strip is designed to be a peelable adhesive, so that it can remain intact after being torn off without leaving any residue, ensuring that the packaging box can be reused.

[0090] 3. Working principle of the unpacking device

[0091] 1. Visual positioning and path planning mechanism

[0092] The core of the unpacking device lies in the visual recognition and precise grasping capabilities of the intelligent robotic arm.

[0093] (1) Binocular vision camera and infrared locator

[0094] The end of the robotic arm is equipped with a binocular vision camera to scan the surface of the box and identify the position and orientation of the folded part of the adhesive strip.

[0095] Infrared locators are installed on the fingertips of the mechanical claw to assist in positioning and improve grasping accuracy.

[0096] (2) Gyroscope angle detection

[0097] A gyroscope is integrated in the rotary joint of the robotic arm to detect the tilt angle of the box and calculate the optimal grasping angle of the robotic claw.

[0098] 2. Collaborative unpacking mechanism of mechanical claw and suction cup

[0099] The end effector of the robotic arm consists of a three-finger pneumatic mechanical gripper and a suction cup assembly, which work together to complete the unpacking operation.

[0100] (1) Mechanical claw grips the folded part of the adhesive strip

[0101] The robotic arm adjusts its position based on the visual recognition information so that the robotic claw is aligned with the folded part of the adhesive strip.

[0102] The gripper's non-slip rubber layer ensures a secure grip, while an embedded pressure sensor monitors the gripping force to avoid damaging the adhesive strip.

[0103] (2) Suction cup assembly enhances adsorption

[0104] The vacuum suction cup generates negative pressure adsorption force to fix the target panel of the box.

[0105] When the annular electromagnetic array is energized, a magnetic field with opposite polarity to that of the box magnet is generated at the adsorption position, thereby enhancing the adsorption stability.

[0106] 3. Intelligent unpacking process

[0107] (a) Target positioning

[0108] The binocular vision camera scans the box to obtain the edge structure information. The gyroscope detects the tilt angle of the box and calculates the gripping path of the mechanical claw.

[0109] (b) Clamp the folded part of the adhesive strip

[0110] The robot arm moves along the guide rail to the target position, rotates the joint to adjust the angle, and aligns the robot claw with the folded part and clamps it.

[0111] (c) Tear off the adhesive strip

[0112] The robot arm applies tension and moves in the peeling direction of the adhesive strip, while the pressure sensor monitors the peeling resistance in real time. After the adhesive strip is completely peeled off, the suction cup assembly adsorbs the unfolded surface of the box.

[0113] (d) Expand the box

[0114] The circular electromagnetic array switches polarity, generating attraction, causing the side of the box to expand outward to an angle of 150°-170°. The mechanical claw rotates 90° and flattens the expanded surface parallel to the fold direction.

[0115] Summary of the overall working mechanism

[0116] The patented recycling packaging box can be reused, and the intelligent robot arm and sensor module can complete the efficient unpacking operation. Among them, the magnet sheet provides self-alignment and stacking stability, the adhesive strip and folding plate design ensures closure and repeatable peeling, and the intelligent robot arm combines vision, force perception, adsorption and other technologies to achieve accurate and efficient automatic unpacking.

[0117] The advantages of this working principle are:

[0118] Improve assembly and disassembly efficiency (magnetic self-alignment + robotic arm automatic unpacking)

[0119] Enhance the durability of the packaging box (waterproof coating + corner reinforcement)

[0120] Reduce human error and material waste (intelligent identification and precise control)

[0121] This technology is suitable for industries such as logistics, warehousing, and express delivery. It can significantly improve the utilization efficiency of recyclable packaging, reduce operating costs, and reduce environmental pollution.

[0122] The above specific implementation methods are typical embodiments of this patent, but this patent is not limited to them. Without deviating from the core technical concept of this patent, reasonable changes can be made to its structure, materials and control logic, and all improvements based on this fall within the scope of protection of this patent.

[0123] The specific implementation of this patent is only for illustrative purposes and does not limit the scope of protection of this patent. Various changes and modifications can be made to the specific implementation of this patent without departing from the gist and spirit of this patent. These changes and modifications are within the scope covered by this patent.

[0124] It is worth noting that: in the description of this patent, the meaning of "multiple" is two or more, unless otherwise clearly defined. In this patent, unless otherwise clearly defined and defined, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; the circuits described in this patent are all commonly used circuits in the field, and other related components are all existing commonly used components. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to the specific circumstances.

[0125] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A recyclable packaging box and unpacking device, comprising a box body, characterized in that: The box body is a rectangular parallelepiped structure formed by six surfaces, namely, a top cardboard, a bottom cardboard, a left cardboard, a right cardboard, a front cardboard and a back cardboard. Each cardboard is composed of a three-layer composite structure, including an outer waterproof paper layer, a middle interlayer and an inner base paper layer, wherein the middle interlayer is embedded with a plurality of rectangular NdFeB magnet sheets, each magnet sheet is arranged equidistantly along the length direction of the cardboard, and the magnet sheets on adjacent cardboards are alternately distributed with N poles and S poles; wherein: when the N pole of the magnet sheet of the top cardboard faces upward, the S pole of the magnet sheet at the corresponding position of the bottom cardboard faces downward; when the N pole of the magnet sheet of the left cardboard faces left, the S pole of the magnet sheet at the corresponding position of the right cardboard faces right; when the N pole of the magnet sheet of the front cardboard faces forward, the S pole of the magnet sheet at the corresponding position of the back cardboard faces backward; The outer surface of all paperboards is covered with a polyurethane waterproof coating, which completely covers the outer surface and edges of the paperboards; The top paperboard and the bottom paperboard are two folding boards that can be opened and closed. The edges of the folding boards are provided with non-stick layers, which are sealed by peelable adhesive strips. The width of the adhesive strips is not greater than the width of the non-stick layer. The end of the adhesive strips is folded 180° back to the starting end to form a self-folded folded portion, and the folded portion formed by the folding extends to the outside of the folding board. It also includes an unpacking component for unpacking the packaging box after use, which is folded by adsorbing the magnet sheet in the box and tearing off the adhesive strip on the seal of the box. The unpacking component includes: a six-axis robotic arm is fixed on a movable guide rail, and the end actuator of the robotic arm is coaxially connected to a three-finger pneumatic mechanical claw and a suction cup assembly through a rotating joint; an anti-slip rubber layer is provided on the inner side of each clamping finger of the mechanical claw, and a pressure sensor is embedded in the root of the clamping finger; the suction cup assembly is composed of a concentrically arranged vacuum suction cup and an annular electromagnetic array, the vacuum suction cup is connected to a vacuum pump through an air pipe, and the annular electromagnetic array is composed of 12 independent electromagnetic units arranged around the central axis of the suction cup, and each electromagnetic unit is electrically connected to the controller through a flexible circuit board; the sensor module includes: an infrared locator arranged at the fingertips of the mechanical claw, a binocular vision camera installed around the suction cup assembly, and a gyroscope integrated in the rotating joint, and the sensor module is connected to the processor through a data bus.

2. The recyclable packaging box and unpacking device according to claim 1, characterized in that: In the middle layer of each panel, the magnet sheets are evenly arranged along the length of the panel, and the distance between adjacent magnet sheets is equal; the magnet sheets at corresponding positions between the top and bottom surfaces, the left and right surfaces, and the front and back surfaces have opposite polarities; adjacent stacked boxes achieve self-alignment and adsorption through magnetic pole attraction.

3. The recyclable packaging box and unpacking device according to claim 1, characterized in that: The movable guide rail is installed parallel to the conveying direction of the box, and the base of the six-axis robot arm is slidably connected to the guide rail through a slider; the rotary joint includes a first rotating axis and a second rotating axis, the first rotating axis drives the mechanical claw to rotate around the vertical axis, and the second rotating axis drives the suction cup assembly to swing around the horizontal axis; the center of the adsorption surface of the vacuum suction cup coincides with the center axis of the middle finger of the mechanical claw, and the outer diameter of the annular electromagnetic array is 1.2 times larger than the diameter of the vacuum suction cup.

4. The recyclable packaging box and unpacking device according to claim 1, characterized in that: The corners of the carton body are provided with reinforcing ribs, which are L-shaped plastic strips and are fixed to the inner side of the box body by hot melt adhesive.

5. The recyclable packaging box and unpacking device according to claim 1, characterized in that: The waterproof layer is covered in the following manner: a seamless polyurethane coating is formed by dipping the outer surface of the panel, the coating has a uniform thickness and completely wraps the outer surface of the panel and the edges of the folded edges; the coating at the bend of the folded edge has an elastic pleated structure to ensure that the coating does not break when bent.

6. The unpacking method of the recyclable packaging box and the unpacking device according to claims 1-5, characterized in that The following steps are included: (a) The binocular vision camera scans the surface of the box to identify the position and orientation of the folded part on the edge sealing structure; (b) The gyroscope detects the current tilt angle of the box, and the processor calculates the grasping path of the mechanical claw; (c) The robotic arm moves horizontally along the movable guide rail to the target workstation, and the rotating joint adjusts the position of the robotic claw so that the gripper fingers are aligned with the folded part; (d) The mechanical claw grips the folded part, while the vacuum suction cup absorbs the surface of the box, and the annular electromagnetic array is energized to generate a magnetic field with the opposite magnetic pole to the box; (e) The robotic arm moves along the peeling direction of the adhesive strip, exerts a tensile force to tear the adhesive strip, and the pressure sensor monitors the peeling resistance in real time; (f) When the adhesive strip is completely peeled off, the suction cup assembly adheres to the unfolded surface of the box, and the circular electromagnetic array switches polarity to generate attraction, causing the side of the box to unfold outward to an opening and closing angle of 150°-170°; the rotating joint drives the mechanical claw to rotate 90° around the vertical axis parallel to the crease of the box to complete the flattening operation.

Images