Full-automatic box opening device

Abstract

The invention discloses a full-automatic box opening device which comprises a box storage mechanism and a partition plate storage mechanism and further comprises a box opening mechanism and a material taking and box opening robot. The box opening mechanism comprises a bottom sealing unit and a top sealing unit. The material taking and box opening robot can adsorb carton boards in the box storage mechanism, unfold the carton boards into a three-dimensional box body and then transfer the three-dimensional box body to the box opening mechanism, the material taking and box opening robot cooperates with the bottom closing unit to fold inner and outer rocking covers at the bottom of the box body to close the bottom of the box body, and after transferring, the material taking and box opening robot places partition plates and products to be boxed into the box body. After placement, the material taking and box opening robot cooperates with the top closing unit to fold inner and outer rocking covers at the top of the box body to close the top of the box body, so that the labor intensity is greatly reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of carton packaging machinery, and particularly to a fully automatic box opening device. Background Art

[0002] It requires multiple processes to fold a sheet-shaped blank into a box-shaped carton, and correspondingly requires multiple mechanical execution mechanisms and corresponding motion mechanisms to complete the carton forming work.

[0003] In the existing carton packaging production line equipment, after the carton is opened, the inner and outer flaps at the bottom of the box body need to be folded to seal the bottom of the box body, then partitions and products to be packed are placed, and finally the inner and outer flaps at the top of the box body are folded to seal the top of the box body, and then the top and bottom of the box body are hermetically sealed. In the whole process, some processes (such as opening the carton, placing partitions and products to be packed, and folding the inner and outer flaps of the box body) need to be manually operated, which wastes a lot of manpower and material resources, has a high labor intensity and low labor efficiency. Therefore, we propose a fully automatic box opening device. Summary of the Invention

[0004] The purpose of the present invention is to provide a fully automatic box opening device to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A fully automatic box opening device includes a storage box mechanism for storing carton boards, a partition storage mechanism for storing partitions, an opening mechanism, and a material taking and box opening robot; wherein, the opening mechanism includes a bottom closing unit and a top closing unit; The material taking and box opening robot adsorbs the carton board in the storage box mechanism, unfolds it into a three-dimensional box body and transfers it to the opening mechanism. During the process of transferring the box body, the material taking and box opening robot cooperates with the bottom closing unit to fold the inner and outer flaps at the bottom of the box body to seal the bottom of the box body. After the transfer, the material taking and box opening robot sucks the partitions and products to be packed on the partition storage mechanism and places the partitions and products to be packed into the box. After the placement, the material taking and box opening robot cooperates with the top closing unit to fold the inner and outer flaps at the top of the box body to seal the top of the box body.

[0006] Further improvement lies in that the material taking and box opening robot includes a robot main body and an operating head arranged at the output end of the robot main body; Wherein, the operating head includes a mounting plate, a suction cup one arranged on the mounting plate, a turning plate rotatably arranged on one side of the mounting plate, a suction cup two arranged on the turning plate, and a driving device one arranged on the side of the mounting plate away from the adsorption end of the suction cup one for driving the turning plate to rotate to be horizontal or perpendicular to the mounting plate.

[0007] A further improvement lies in that the bottom closing unit includes a first folding member for cooperating with a box-unloading and material-taking robot to fold the inner swing cover at the bottom of the box when the box-unloading and material-taking robot transfers the box body, and a second folding member for folding the outer swing cover at the bottom of the box body. Both the first folding member and the second folding member are connected to the bottom frame.

[0008] A further improvement lies in that the first folding member includes a guiding bottom plate, an inclined plate, a vertical plate, and an arc-shaped connecting plate. Among them, one end of the guiding bottom plate is connected to the bottom frame, and the other end extends to the outside of the bottom frame and is integrally provided with an inclined plate. A vertical plate is spaced on one side of the inclined plate, and the top of the vertical plate and the inclined plate are connected by an arc-shaped connecting plate. When the box-unloading and material-taking robot drives the box body to move along the guiding bottom plate towards the bottom frame, the inner swing cover at the bottom of the box body is folded under the guidance of the vertical plate and the arc-shaped connecting plate. Subsequently, the box-unloading and material-taking robot drives the box body to move in the reverse direction along the guiding bottom plate, so that the other inner swing cover at the bottom of the box body is folded under the cooperation of the inclined plate and the arc-shaped connecting plate. Finally, the box-unloading and material-taking robot drives the box body to move along the guiding bottom plate towards the bottom frame to a preset position on the bottom frame.

[0009] A further improvement lies in that the second folding member includes bottom pushing plates symmetrically spaced on both sides of the guiding bottom plate. One side of the bottom pushing plate is rotatably connected to the inner wall of the bottom frame by a rotating shaft, and the other end is rotatably connected to the output end of a first telescopic device. When the box body moves to the preset position on the bottom frame, the first telescopic device drives the bottom pushing plate to rotate to a horizontal state, thereby driving the folding of the two outer swing covers at the bottom of the box body.

[0010] A further improvement lies in that the top closing unit includes a bearing plate provided in the top frame, two rotating arms rotatably connected to one side of the bearing plate, a pressing rod provided on the rotating arm, a third driving device provided on the bearing plate for driving the two rotating arms to rotate in opposite directions, a support frame provided on the bearing plate and located between the two rotating arms, a flipping arm rotatably provided in the support frame through a rotating shaft, and a second driving device provided on the bearing plate for driving the rotating shaft to drive the flipping arm to rotate. The second driving device is used to drive the rotating shaft to make the flipping arm rotate to fold the inner swing cover at the top of the box body. The box-unloading and material-taking robot moves to fold the other inner swing cover at the top of the box body. Subsequently, the third driving device drives the rotating arm to drive the pressing rod to move to fold the two outer swing covers at the top of the box body.

[0011] A further improvement lies in that the bearing plate is slidably provided in the top frame, and an adjusting mechanism is provided on the top frame for driving the bearing plate to move up and down.

[0012] A further improvement lies in that a limiting structure for limiting the box body is provided on the bottom frame.

[0013] Further improvement lies in that the limiting structure includes a symmetrically arranged first movable plate and a second movable plate. The first movable plate and the second movable plate are respectively driven to move horizontally by a third telescopic device and a second telescopic device, and the third telescopic device and the second telescopic device are both arranged on the bottom frame.

[0014] Further improvement lies in that the height of the first movable plate is greater than that of the second movable plate. A third suction cup is arranged on one side of the first movable plate through a mounting frame, and a movable opening for the third suction cup to pass through is formed on the first movable plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the blanking and unpacking robot of the present invention, the cardboard in the storage box mechanism can be adsorbed, unfolded into a three-dimensional box body and then transferred to the unpacking mechanism. During the process of transferring the box body, the blanking and unpacking robot cooperates with the bottom closing unit to fold the inner and outer covers at the bottom of the box body to close the bottom of the box body. After the transfer, the blanking and unpacking robot sucks the partition on the partition storage mechanism and the products to be packed in the box, and places the partition and the products to be packed in the box body. After the placement, the blanking and unpacking robot cooperates with the top closing unit to fold the inner and outer covers at the top of the box body to close the top of the box body, realizing a series of processes including box opening, folding of the inner and outer covers at the bottom of the box body, placing of the partition, product packing, and folding of the inner and outer covers at the top of the box body, greatly reducing the labor intensity of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Structural schematic diagram of the unpacking device of the present invention; Figure 2 Structural schematic diagram of the unpacking mechanism in the unpacking device of the present invention; Figure 3 For the present invention Figure 3 Another perspective structural schematic diagram; Figure 4 Front view of the unpacking mechanism of the unpacking device of the present invention; Figure 5 Structural schematic diagram of the blanking and unpacking robot in the unpacking device of the present invention; Figure 6 For the present invention Figure 5 Another perspective structural schematic diagram; Figure 7 For the present invention Figure 5 Enlarged view of structure A; Figure 8 Schematic diagram of the blanking and unpacking robot driving the box body to move along the guiding bottom plate towards the bottom frame; Figure 9 Schematic diagram of the blanking and unpacking robot driving the box body to move in the reverse direction along the guiding bottom plate; Figure 10 Schematic diagram of the flat cardboard box of the present invention.

[0017] In the figure: 100, storage box mechanism; 200, partition storage mechanism; 300, material-taking and box-opening robot; 301, robot main body; 302, operating head; 3021, mounting plate; 3022, suction cup 1; 3023, turning plate; 3024, suction cup 2; 3025, driving device 1; 400, carrier; 401, bottom frame; 402, top frame; 500, bottom closing unit; 501, folding part 1; 5011, guiding bottom plate; 5012, inclined plate; 5013, vertical plate; 5014, arc connecting plate; 502, bottom push plate; 503, telescopic device 1; 600, top closing unit; 601, driving device 2; 602, turning arm; 603, rotating arm; 604, driving device 3; 605, pressing rod; 606, bearing plate; 607, adjusting mechanism; 700, limiting structure; 701, movable plate 1; 702, movable plate 2; 703, telescopic device 2; 704, suction cup 3; 705, telescopic device 3. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1 Please refer to the attached Figures 1-4 , a fully automatic box-opening device, including a storage box mechanism 100 for storing cardboard boxes and a partition storage mechanism 200 for storing partitions. The storage box mechanism 100 is used to store flat cardboard boxes vertically and overlappingly, and the partition storage mechanism 200 is used to store partitions vertically and overlappingly. The above storage box mechanism 100 and partition storage mechanism 200 are both conventional mechanisms in the art and will not be described in detail here; It further includes a box-opening mechanism and a material-taking and box-opening robot 300; among them, the box-opening mechanism includes a carrier 400, the carrier 400 includes a bottom frame 401 (including a frame-shaped frame and a vertically placed frame connecting the frame-shaped frame, etc.), and a top frame 402 (including two groups of vertical frames) vertically arranged on the bottom frame 401. The box-opening mechanism further includes a bottom closing unit 500 arranged on the bottom frame 401 and a top closing unit 600 arranged on the top frame 402; The material-taking and box-opening robot 300 sucks the cardboard in the adsorption storage box mechanism 100, unfolds it into a three-dimensional box body, and then transports it to the box-opening mechanism. During the process of transporting the box body, the material-taking and box-opening robot 300 cooperates with the bottom closing unit 500 to fold the inner and outer flaps at the bottom of the box body to close the bottom of the box body. After transportation, the material-taking and box-opening robot 300 sucks the partition on the partition storage mechanism 200 and the products to be packed in the box, and places the partition and the products to be packed in the box. After placement, the material-taking and box-opening robot 300 cooperates with the top closing unit 600 to fold the inner and outer flaps at the top of the box body to close the top of the box body; The above-mentioned cardboard flap refers to the foldable cover part at the top and bottom of the cardboard box, usually composed of four extended cardboard sheets (two large outer flaps and two small inner flaps. In the prior art, when folding, the two small inner flaps are folded first, and then the two large outer flaps are folded), which is used to close the open end of the cardboard box; The placement order of the above-mentioned partition and the products to be packed in the box is, for example: after the bottom of the box body is closed, the material-taking and box-opening robot 300 sucks a partition and places it in the box body, then places the products to be packed in the box body, and then sucks a partition through the material-taking and box-opening robot 300 and places it on top of the products to be packed in the box body. The partition can effectively protect the products to be packed in the box body, and also plays a role in supporting the box body to prevent the box body from deforming; It should be noted that this box-opening device can also cooperate with an external box-sealing mechanism. After the inner and outer flaps at the top and bottom of the box body are folded, the top and bottom of the box body can be sealed by the box-sealing mechanism. The box-sealing mechanism is a conventional mechanism in the art and will not be described in detail here.

[0020] Please refer to the appendix Figures 5-7 As a preferred embodiment, the material-taking and box-opening robot 300 of this embodiment includes a robot main body 301 and an operating head 302 provided at the output end of the robot main body 301; the above-mentioned robot main body 301 preferably adopts a multi-degree-of-freedom robotic arm structure to realize the precise movement and posture adjustment of the operating head 302 in three-dimensional space; Among them, the operating head 302 includes a mounting plate 3021, a suction cup one 3022 provided on the mounting plate 3021, a flip plate 3023 rotatably provided on one side of the mounting plate 3021, a suction cup two 3024 provided on the flip plate 3023, and a driving device one 3025 provided on the side of the mounting plate 3021 away from the adsorption end of the suction cup one 3022 for driving the flip plate 3023 to rotate to be horizontal or vertical with the mounting plate 3021; There are at least four groups of suction cups 3022, which are respectively arranged at the four corners of the mounting plate 3021. The flipping plate 3023 is hinged to the mounting plate 3021 by a rotating shaft. The length of the flipping plate 3023 is less than that of the mounting plate 3021. The suction cup 3024 is specifically arranged at one end of the flipping plate 3023 away from the mounting plate 3021. The driving device 3025 is, for example, a hydraulic cylinder and a connecting rod, etc. One end of it is rotatably connected to the rotating shaft of the mounting plate 3021, and the other end is rotatably connected to the flipping plate 3023; In actual situations, the flat cardboard box is placed on the storage box mechanism 100, and one side of it is in the state as shown in the figure. Two adjacent sides of the flat cardboard box are in the same plane and correspond to the mounting plate 3021 and the flipping plate 3023 respectively. Initially, the flipping plate 3023 and the mounting plate 3021 are horizontal. The suction cup 3022 on the mounting plate 3021 contacts one side of a flat cardboard box on the storage box mechanism 100. Then, the driving device 3025 drives the flipping plate 3023 to be perpendicular to the mounting plate 3021. When the flipping plate 3023 flips, the flat cardboard box deforms into a three-dimensional box body. Subsequently, the suction cup 3024 adsorbs the corresponding side of the box body. Both the above-mentioned suction cup 3022 and the suction cup 3024 are connected to an external vacuum device through pipelines; Figure 10 As shown in the figure, Preferably, the bottom closing unit 500 of this embodiment includes a folding member 501 for cooperating with the material taking and box opening robot 300 to fold the inner swing cover at the bottom of the box body when the material taking and box opening robot 300 transfers the box body, and a folding member 502 for folding the outer swing cover at the bottom of the box body. Both the folding member 501 and the folding member 502 are connected to the bottom frame 401; The inner and outer swing covers at the bottom of the box body are folded by the folding member 501 and the folding member 502, so as to close the opening at the bottom of the box body.

[0021] Preferably, the folding member 501 of this embodiment includes a guiding bottom plate 5011, an inclined plate 5012, a vertical plate 5013 and an arc-shaped connecting plate 5014. Among them, one end of the guiding bottom plate 5011 is connected to the bottom frame 401, and the other end extends along the length direction of the bottom frame 401 to the outside of the bottom frame 401 and is integrally provided with the inclined plate 5012. A vertical plate 5013 is spaced on one side of the inclined plate 5012. The top of the vertical plate 5013 and the inclined plate 5012 are connected by an arc-shaped connecting plate 5014. The included angle between the inclined plate 5012 and the bottom frame 401 is an obtuse angle; As shown in the figure Figures 8-9As shown, when the material-taking and box-opening robot 300 drives the box body to move along the guiding bottom plate 5011 towards the bottom frame 401, an inner flap at the bottom of the box body folds under the guidance of the vertical plate 5013 and the arc-shaped connecting plate 5014. Subsequently, the material-taking and box-opening robot 300 drives the box body to move in the reverse direction along the guiding bottom plate 5011, so that the other inner flap at the bottom of the box body folds under the cooperation of the inclined plate 5012 and the arc-shaped connecting plate 5014. Finally, the material-taking and box-opening robot 300 drives the box body to move along the guiding bottom plate 5011 towards the bottom frame 401 to a preset position on the bottom frame 401. During this process, the robot main body 301 in the material-taking and box-opening robot 300 not only adjusts the operating head 302 to drive the box body to move, but also drives the box body to move up or down to better cooperate with the folding member 501 to fold the inner flap at the bottom of the box body. It should be noted that during this process, the outer flap at the bottom of the box body is outside the folding member 501 and will not be affected.

[0022] Preferably, the folding member 2 of this embodiment includes bottom pushing plates 502 symmetrically and spaced on both sides of the guiding bottom plate 5011. When the material-taking and box-opening robot 300 drives the box body to move to a preset position on the bottom frame 401, the two outer flaps at the bottom of the box body are respectively attached to the opposite side surfaces of the two bottom pushing plates 502 (in the vertical state). One end of the bottom pushing plate 502 is rotatably connected to the inner wall of the bottom frame 401 by a rotating shaft, and the other end is rotatably connected to the output end of the telescopic device 503 (such as a hydraulic cylinder or a pneumatic cylinder, etc.). The telescopic device 503 is arranged on the bottom frame 401. When the box body moves to a preset position on the bottom frame 401, the telescopic device 503 drives the bottom pushing plate 502 to rotate from the vertical state to the horizontal state, thereby driving the two outer flaps at the bottom of the box body to fold.

[0023] Preferably, the top closing unit 600 of this embodiment includes a bearing plate 606 arranged in the top frame 402, two rotating arms 603 rotatably connected to one side of the bearing plate 606 (one end of which is rotatably connected to the bearing plate 606 by a rotating shaft), a pressing rod 605 arranged on the rotating arm 603 (specifically arranged at the other end of the rotating arm 603), a driving device 604 arranged on the bearing plate 606 for driving the two rotating arms 603 to rotate in opposite directions. The driving device 604 is, for example, two hydraulic cylinders or pneumatic cylinders arranged on the bearing plate 606 and respectively connected to the two rotating arms 603, a support frame arranged on the bearing plate 606 and between the two rotating arms 603, a turning arm 602 rotatably arranged in the support frame through a rotating shaft, and a driving device 601 arranged on the bearing plate 606 for driving the rotating shaft to drive the turning arm 602 to rotate (such as including a hydraulic cylinder or a connecting rod, etc.). The axis of the above-mentioned pressing rod 605 is perpendicular to the length direction of the bearing plate 606, and the axis of the rotating shaft in the support frame is parallel to the length direction of the bearing plate 606; When the material taking and unpacking robot 300 drives the box body to move to a preset position on the bottom frame 401, an inner swing cover at the top of the box body corresponds to the flipping arm 602, and the two pressing rods 605 are respectively located outside the two outer swing covers at the top of the box body. After the products to be packed and partitions are loaded, the driving device two 601 is started. The driving device two 601 is used to drive the rotating shaft to make the flipping arm 602 rotate to push an inner swing cover at the top of the box body to fold inward. Then, the material taking and unpacking robot 300 is controlled. The robot body 301 in the material taking and unpacking robot 300 drives the operating head 302 to press another inner swing cover at the top of the box body to fold the other inner swing cover at the top of the box body. Subsequently, the driving device three 604 drives the rotating arm 603 to drive the pressing rods 605 to move to fold the two outer swing covers at the top of the box body, thus completing the sealing of the top of the box body.

[0024] Preferably, the bearing plate 606 of this embodiment is slidably arranged in the top frame 402. The top frame 402 is provided with an adjusting mechanism 607 for driving the bearing plate 606 to move up and down. The adjusting mechanism 607 includes, for example, a screw rod arranged in the top frame 402, a slider threadedly sleeved on the screw rod and connected to the bearing plate 606, and a motor or a hand wheel for driving the screw rod to rotate. Of course, the above adjusting mechanism 607 is not limited to this type, which is convenient for adjusting the use height of the bearing plate 606.

[0025] Embodiment 2 Please refer to the appendix Figures 2-4 , on the basis of Embodiment 1, the bottom frame 401 of this embodiment is provided with a limiting structure 700 for limiting the box body. The limiting structure 700 is used to limit the position of the box body on the bottom frame 401; Preferably, the limiting structure 700 of this embodiment includes a symmetrically arranged movable plate one 701 and a movable plate two 702. The movable plate one 701 and the movable plate two 702 are located above the bottom push plate 502. The movable plate one 701 and the movable plate two 702 are respectively driven to move horizontally by a telescopic device three 705 (such as a hydraulic cylinder or an air cylinder) and a telescopic device two 703 (such as a hydraulic cylinder or an air cylinder). The telescopic device three 705 and the telescopic device two 703 are both arranged on the bottom frame 401. In order to ensure the stable horizontal movement of the movable plate one 701 and the movable plate two 702, the movable plate one 701 and the movable plate two 702 can also be connected to the bottom frame 401 through a guiding structure (including a guiding seat and a guiding rod, etc.); Preferably, the height of the first movable plate 701 in this embodiment is greater than that of the second movable plate 702, which facilitates the installation structure of the first movable plate 701 and increases its contact area with the box body. A third suction cup 704 is provided on one side of the first movable plate 701 through an installation frame. There are four groups of the third suction cups 704, and the third suction cups 704 are connected to an external vacuum device through pipelines. An activity port for the third suction cups 704 to pass through is opened on the first movable plate 701. In actual situations, the activity port can be rectangular, and the third suction cups 704 can be connected to the installation frame in a detachable manner, which facilitates flexible adjustment of the positions of the third suction cups 704; When the box body moving robot 300 drives the box body to move to a preset position on the bottom frame 401, the first movable plate 701 and the second movable plate 702 are driven to move into contact with the box body through the second telescopic device 703 and the third telescopic device 705. At the same time, the third suction cups 704 are opened to adsorb the box body, continuously providing restraint for the box body to prevent the box body from displacing or vibrating.

[0026] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic box opening device, comprising a storage mechanism (100) for storing cardboard boxes and a partition storage mechanism (200) for storing partitions, characterized in that: It also includes an unpacking mechanism and a picking and unpacking robot (300); wherein, the unpacking mechanism includes a bottom closing unit (500) and a top closing unit (600); The picking and unpacking robot (300) adsorbs the cardboard box in the storage box mechanism (100), unfolds it into a three-dimensional box body and transports it to the unpacking mechanism. During the process of transporting the box body, the picking and unpacking robot (300) cooperates with the bottom closing unit (500) to fold the inner and outer flaps at the bottom of the box body to close the bottom of the box body. After transportation, the picking and unpacking robot (300) sucks the partition on the partition storage mechanism (200) and the products to be packed in the box, and places the partition and the products to be packed in the box. After placement, the picking and unpacking robot (300) cooperates with the top closing unit (600) to fold the inner and outer flaps at the top of the box body to close the top of the box body.

2. The unpacking device according to claim 1, wherein: The picking and unpacking robot (300) includes a robot main body (301) and an operating head (302) provided at the output end of the robot main body (301); Wherein, the operating head (302) includes a mounting plate (3021), a suction cup one (3022) provided on the mounting plate (3021), a flip plate (3023) rotatably provided on one side of the mounting plate (3021), a suction cup two (3024) provided on the flip plate (3023), and a driving device one (3025) provided on the side of the mounting plate (3021) away from the adsorption end of the suction cup one (3022) for driving the flip plate (3023) to rotate to be horizontal or vertical with the mounting plate (3021).

3. The unpacking device according to claim 1, wherein: The unpacking mechanism further includes a carrier (400), and the carrier (400) includes a bottom frame (401) and a top frame (402) vertically provided on the bottom frame (401). The bottom closing unit (500) is provided on the bottom frame (401), and the top closing unit (600) is provided on the top frame (402).

4. The unpacking device according to claim 3, characterized in that: The bottom closing unit (500) includes a folding part one (501) for cooperating with the picking and unpacking robot (300) to fold the inner flap at the bottom of the box body when the picking and unpacking robot (300) transports the box body, and a folding part two for folding the outer flap at the bottom of the box body. Both the folding part one (501) and the folding part two are connected to the bottom frame (401).

5. The unpacking device according to claim 4, characterized in that: The folding part one (501) includes a guiding bottom plate (5011), an inclined plate (5012), a vertical plate (5013) and an arc-shaped connecting plate (5014); wherein, one end of the guiding bottom plate (5011) is connected to the bottom frame (401), the other end extends to the outside of the bottom frame (401) and is integrally provided with an inclined plate (5012). A vertical plate (5013) is spaced on one side of the inclined plate (5012), and the top of the vertical plate (5013) and the inclined plate (5012) are connected by an arc-shaped connecting plate (5014); When the material-taking and box-opening robot (300) drives the box body to move along the guiding bottom plate (5011) towards the bottom frame (401), an inner flap at the bottom of the box body folds under the guidance of the vertical plate (5013) and the arc-shaped connecting plate (5014). Subsequently, the material-taking and box-opening robot (300) drives the box body to move in the reverse direction along the guiding bottom plate (5011), so that another inner flap at the bottom of the box body folds under the cooperation of the inclined plate (5012) and the arc-shaped connecting plate (5014). Finally, the material-taking and box-opening robot (300) drives the box body to move along the guiding bottom plate (5011) towards the bottom frame (401) to a preset position on the bottom frame (401).

6. The unpacking device according to claim 5, characterized in that: The second folding member includes bottom pushing plates (502) symmetrically and spaced on both sides of the guiding bottom plate (5011). One side of the bottom pushing plate (502) is rotatably connected to the inner wall of the bottom frame (401) by a rotating shaft, and the other end is rotatably connected to the output end of the first telescopic device (503). When the box body moves to the preset position on the bottom frame (401), the first telescopic device (503) drives the bottom pushing plate (502) to rotate to a horizontal state, thereby driving the two outer flaps at the bottom of the box body to fold.

7. The unpacking device according to claim 3, characterized in that: The top closing unit (600) includes a bearing plate (606) provided in the top frame (402), two rotating arms (603) rotatably connected to one side of the bearing plate (606), a pressing rod (605) provided on the rotating arm (603), a third driving device (604) provided on the bearing plate (606) for driving the two rotating arms (603) to rotate in opposite directions, a support frame provided on the bearing plate (606) and between the two rotating arms (603), a flipping arm (602) rotatably provided in the support frame through a rotating shaft, and a second driving device (601) provided on the bearing plate (606) for driving the rotating shaft to drive the flipping arm (602) to rotate; The second driving device (601) is used to drive the rotating shaft to make the flipping arm (602) rotate to fold an inner flap at the top of the box body. The material-taking and box-opening robot (300) moves to fold the other inner flap at the top of the box body. Subsequently, the third driving device (604) drives the rotating arm (603) to drive the pressing rod (605) to move to fold the two outer flaps at the top of the box body.

8. The unpacking device according to claim 7, characterized in that: The bearing plate (606) is slidably provided in the top frame (402), and an adjusting mechanism (607) for driving the bearing plate (606) to move up and down is provided on the top frame (402).

9. The unpacking device according to claim 3, characterized in that: A limiting structure (700) for limiting the box body is provided on the bottom frame (401). The limiting structure (700) includes a first movable plate (701) and a second movable plate (702) which are symmetrically arranged. The first movable plate (701) and the second movable plate (702) are respectively driven to move horizontally by a third telescopic device (705) and a second telescopic device (703). The third telescopic device (705) and the second telescopic device (703) are both provided on the bottom frame (401).

10. The unpacking device according to claim 9, wherein: The height of the first movable plate (701) is greater than that of the second movable plate (702). One side of the first movable plate (701) is provided with a third suction cup (704) through a mounting bracket, and a movable opening for the third suction cup (704) to pass through is formed on the first movable plate (701).

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