Positioning and deviation correcting device for correcting fixing position of carton

Abstract

The invention relates to a positioning and deviation correcting device for correcting the fixing position of a carton, and relates to the technical field of carton production equipment.The positioning and deviation correcting device comprises a mounting frame, a linear conveying mechanism is arranged in the mounting frame, a primary folding mechanism and a deviation correcting and crimping mechanism are sequentially arranged on the linear conveying mechanism, and the primary folding mechanism is used for folding paperboards; the deviation rectifying and crimping mechanism comprises a fixing frame; the fixing frame is positioned above the linear conveying mechanism and is connected with the mounting frame; a grabbing and crimping assembly is arranged on the fixing frame; a fine adjustment driving assembly is arranged between the fixing frame and the grabbing and crimping assembly; a visual detection mechanism is further arranged on the fixing frame, the detection end of the visual detection mechanism is vertically arranged downwards, and the grabbing and crimping assembly and the fine adjustment driving assembly are both electrically connected with the visual detection mechanism. The alignment precision between the first paperboard and the last paperboard can be improved, and then the forming quality of cartons is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of cardboard box production equipment, and in particular to a positioning and correction device for correcting the fixed position of cardboard boxes. Background Technology

[0002] Cardboard boxes are an indispensable part of the modern logistics and packaging industry. The cardboard box manufacturing process involves multiple steps such as die-cutting, creasing, folding, and gluing or nailing.

[0003] Currently, in the existing cardboard box production process, after the die-cutting and creasing processes, a cardboard box generally consists of four pieces of cardboard connected end to end in sequence. After that, the four pieces of cardboard need to be folded so that the first piece of cardboard overlaps with the last piece of cardboard. Then, the overlap between the first piece of cardboard and the last piece of cardboard is glued or nailed together to form the box. This is how the cardboard box is produced.

[0004] In this process, to ensure the quality of the cardboard box forming, the first and last pieces of cardboard need to be aligned before gluing or nailing to control the spacing between them. In existing cardboard box production processes, the dimensions and crease accuracy of the four pieces of cardboard are usually controlled through die-cutting and creasing processes, thereby ensuring that the spacing between the first and last pieces of cardboard meets the requirements after folding.

[0005] Regarding the aforementioned technologies, in actual production, due to the inherent flexibility and elasticity of cardboard, its dimensions are easily affected by factors such as environmental humidity and temperature. Furthermore, during die-cutting, creasing, and subsequent processes, the cardboard needs to be conveyed, subjecting it to mechanical impact and stress, resulting in minor deformation or positioning deviations. Therefore, accumulated errors occur before the carton is folded and glued, leading to misalignment between the first and last pieces of cardboard during folding and gluing, resulting in gaps of varying sizes. This affects the overall quality of the carton's formation. Summary of the Invention

[0006] This application provides a positioning and correction device for correcting the fixed position of a cardboard box. Its purpose is to correct the position of the cardboard during the folding and gluing process of the cardboard box, thereby adjusting the gap between the first and last cardboard pieces after gluing, ensuring the alignment accuracy of the first and last cardboard pieces, and thus ensuring the forming quality of the cardboard box.

[0007] The positioning and correction device for correcting the fixed position of cardboard boxes provided in this application adopts the following technical solution: A positioning and correction device for correcting the fixed position of a cardboard box includes a mounting frame. A linear conveyor mechanism is disposed within the mounting frame, with its conveying direction along the length of the mounting frame. A primary folding mechanism and a correction pressing mechanism are sequentially disposed on the linear conveyor mechanism along its conveying direction. The primary folding mechanism is used to fold the cardboard. The correction pressing mechanism includes a fixed frame located above the linear conveyor mechanism and connected to the mounting frame. A gripping pressing assembly is disposed on the fixed frame, used to grip the cardboard and move it towards or away from the linear conveyor mechanism. A fine-tuning drive assembly is disposed between the fixed frame and the gripping pressing assembly, used to drive the gripping pressing assembly to move along the width of the mounting frame. A visual inspection mechanism is also disposed on the fixed frame, with its detection end vertically downwards. Both the gripping pressing assembly and the fine-tuning drive assembly are electrically connected to the visual inspection mechanism.

[0008] By adopting the above technical solution, under the synergistic effect of the linear conveying mechanism, the primary folding mechanism, the correction and pressing mechanism, and the visual inspection mechanism, the linear conveying mechanism can sequentially convey the cardboard through the primary folding mechanism and the correction and pressing mechanism.

[0009] In this process, when the cardboard passes through the primary folding mechanism, it performs a preliminary folding. Afterward, when the cardboard passes through the correction and pressing mechanism, firstly, the gripping and pressing assembly descends and grips the last piece of cardboard to be corrected. At this point, the vision detection mechanism activates, capturing an image of the last piece of cardboard from directly above and processing the image data in real time to identify its edge contour and calculate its positional deviation. Secondly, based on this deviation, the vision detection mechanism sends a motion command to the fine-tuning drive assembly. Then, the fine-tuning drive assembly drives the gripping and pressing assembly to move, thereby correcting the deviation of the last piece of cardboard. Finally, after confirming the correction is complete, the gripping and pressing assembly performs a downward pressing action, bonding the last piece of cardboard to the first piece.

[0010] Therefore, with this design, the aforementioned correction steps can be repeated continuously during the process of pressing the last piece of cardboard onto the first piece, thereby eliminating the misalignment of the last piece of cardboard before final bonding. This allows for the correction of the cardboard position during the folding and bonding process of the carton, thereby adjusting the gap between the first and last pieces of cardboard after bonding, ensuring the alignment accuracy of the first and last pieces of cardboard, and thus ensuring the forming quality of the carton.

[0011] Optionally, the gripping and crimping assembly includes a cardboard gripper located below the fixed frame and used to grip cardboard; a crimping driver is disposed between the cardboard gripper and the fixed frame, the crimping driver is connected to the cardboard gripper, and the crimping driver is used to drive the cardboard gripper to move toward or away from the linear conveyor mechanism; the crimping driver is slidably disposed on the fixed frame, and the fine-tuning drive assembly is connected to the crimping driver.

[0012] By adopting the above technical solution, the gripping and crimping assembly, through the coordinated design of the cardboard gripper and the crimping actuator, decomposes the motion of the gripping and crimping assembly into two independent movements. The fine-tuning drive assembly is dedicated to driving the entire crimping actuator for lateral correction, while the crimping actuator is dedicated to driving the cardboard gripper for crimping. This design allows the movements in the two directions to be completed by different execution units, simplifying the mechanical structure and control logic. This ensures both the accuracy of lateral fine-tuning and the stability of longitudinal crimping, improving the overall operational reliability of the mechanism.

[0013] Optionally, the cardboard gripper includes a gripping plate, the gripping plate being arranged along the length direction of the mounting frame, and the gripping plate being connected to the crimping driver; a plurality of negative pressure suction cups are provided on the lower side of the gripping plate, and the plurality of negative pressure suction cups are arranged sequentially at intervals along the length direction of the gripping plate.

[0014] By adopting the above technical solution, the cardboard gripper, through the coordinated design of several negative pressure suction cups, can adsorb and fix the cardboard when the negative pressure suction cups are working, thus fulfilling the function of the cardboard gripper.

[0015] Because the cardboard gripper uses suction to grasp the cardboard, it avoids physical damage such as indentations and scratches that mechanical clamps might cause to the cardboard surface, thus ensuring the final quality of the carton. Multiple suction cups distributed along the gripping plate work together to evenly distribute the suction force over a large area of ​​the cardboard, ensuring that the cardboard remains stable and does not slip or vibrate during subsequent high-speed lateral correction and strong downward pressure.

[0016] Optionally, the crimping driver includes a fine-tuning frame located below the fixed frame and slidably connected to it. The fine-tuning drive assembly is connected to the fine-tuning frame. The fine-tuning frame is equipped with a flipping motor, a flipping gear, and an arc-shaped rack. The arc-shaped rack is slidably connected to the fine-tuning frame along its length. The drive end of the flipping motor is coaxially connected to the flipping gear. The flipping gear meshes with the arc-shaped rack. One end of the arc-shaped rack is connected to the cardboard gripper. When the flipping motor drives the flipping gear to rotate, the arc-shaped rack drives the cardboard gripper to move toward or away from the linear conveyor mechanism.

[0017] By adopting the above technical solution, the crimping driver uses the mechanical cooperation of the flip motor, flip gear and arc rack to convert the rotational motion of the flip motor into the arc crimping motion of the cardboard gripper. This makes the motion trajectory of the cardboard gripper conform to the motion trajectory of the cardboard folding, which can provide a smooth and powerful crimping stroke, ensuring that the cardboard can be fully compressed and firmly bonded.

[0018] Optionally, two of each of the flipping gears and the arc-shaped racks are provided, with each arc-shaped rack corresponding to the other, and the two arc-shaped racks meshing with their corresponding counterparts. The two arc-shaped racks are arranged parallel to each other and spaced apart along the length of the mounting frame. A synchronous shaft is provided between the two flipping gears, and the flipping gears are coaxially connected to the synchronous shaft. Several connecting rods are provided between the two arc-shaped racks, and each end of the connecting rod is connected to one of the arc-shaped racks.

[0019] By adopting the above technical solution, the synchronous movement of the two arc-shaped racks is achieved through the coordinated cooperation of two flipping gears and two arc-shaped racks, thereby realizing the dual-point synchronous drive structure of the cardboard gripper. This effectively avoids the swaying or tilting of the cardboard gripper during movement that may be caused by single-point drive, ensuring that the cardboard gripper always performs pressing in a horizontal posture. This allows the pressure to be applied evenly to the entire cardboard bonding area, thereby improving the smoothness of the pressing action and the consistency of the bonding quality.

[0020] Optionally, the fixing frame is slidably disposed on the mounting frame, and a length adjustment drive assembly is further disposed between the fixing frame and the mounting frame, the length adjustment drive assembly being used to drive the fixing frame to move along the width direction of the mounting frame.

[0021] By adopting the above technical solution, the synergistic effect of the long-adjustment drive component and the fine-adjustment drive component enables the entire correction pressing mechanism to have a larger correction range, thereby increasing the versatility and operational efficiency of the entire device.

[0022] Optionally, the primary folding mechanism includes two folding flat frames, which are spaced apart along the width of the mounting frame. The linear conveying mechanism is located between the two folding flat frames. One side of each folding flat frame is rotatably connected to the linear conveying mechanism. A folding motor is provided between the folding flat frame and the linear conveying mechanism, and the folding motor is used to drive the corresponding folding flat frame to rotate.

[0023] By adopting the above technical solution, the primary folding mechanism, through the cooperation of two folding flat frames, enables the folding motor to start when the cardboard is conveyed to the position, driving the folding flat frame to rotate upward around the connecting axis. The rotating folding flat frame will contact and flip the corresponding cardboard upward along the pre-press crease line, thereby realizing the folding function and thus satisfying the function of the primary folding mechanism.

[0024] Optionally, the primary folding mechanism further includes a first positioning plate, which is located above the linear conveying mechanism. The length direction of the first positioning plate is arranged along the length direction of the mounting frame, and the first positioning plate is located between the two folding flat frames along the width direction of the mounting frame. The correction and pressing mechanism includes a second positioning plate, which is arranged parallel to the first positioning plate and the second positioning plate. The first positioning plate is spaced apart from the second positioning plate along its own length direction. The first positioning plate is connected to the mounting frame, and the second positioning plate is slidably connected to the mounting frame. A connecting driver is provided between the second positioning plate and the mounting frame, and the connecting driver is used to drive the second positioning plate to move along the width direction of the mounting frame.

[0025] By adopting the above technical solution, under the synergistic action of the first and second positioning plates, when the last piece of cardboard is flipped up by the primary folding mechanism, it rests against the first positioning plate, thus maintaining this posture during transport. As the cardboard continues to move forward, the last piece of cardboard transitions from the first positioning plate to the second positioning plate, allowing it to be transported in a fixed posture to the alignment and pressing mechanism. This enables the folding of the carton while preventing the last piece of cardboard from directly adhering to the first piece during transport, ensuring that the alignment and pressing mechanism can correct the deviation of the last piece of cardboard.

[0026] Based on this, the second positioning plate can be adjusted in position under the action of the connecting driver. This allows the second positioning plate to move and make way when the correction and pressing mechanism needs to correct the last piece of paperboard, thereby ensuring that the last piece of paperboard can be corrected and pressed and bonded normally.

[0027] Optionally, the first positioning plate is inclined downward along one side of its width direction.

[0028] By adopting the above technical solution, the slanted setting of the first positioning plate allows the last piece of cardboard to fit snugly against the first positioning plate when it is folded over, thus reducing the impact of the first positioning plate on the last piece of cardboard and effectively preventing damage or jamming of the edge of the last piece of cardboard.

[0029] Optionally, the visual inspection mechanism includes a visual sensor and a feedback controller. The visual sensor is vertically arranged and connected to the fixed frame, with the detection end of the visual sensor facing downwards. The visual sensor, the gripping and pressing assembly, and the fine-tuning drive assembly are all electrically connected to the feedback controller.

[0030] By adopting the above technical solution, the vision inspection mechanism utilizes a combination of vision sensors and a feedback controller. The vision sensors enable high-precision image data acquisition of the cardboard, while the feedback controller receives the image data, performs high-speed calculations to analyze, compare, and make decisions, calculating correction commands. This feedback controller then drives the fine-tuning drive component and the gripping and pressing component to achieve the corresponding correction actions. Furthermore, this correction process can be performed in real time without manual intervention, thus ensuring extremely high correction accuracy and production efficiency.

[0031] In summary, this application includes at least one of the following beneficial technical effects: 1. This application, through the combined design of a visual inspection mechanism and a correction and pressing mechanism, can perform real-time correction of the cardboard position during the folding and gluing process of the carton, thereby adjusting the gap between the first and last cardboard pieces after gluing, ensuring the alignment accuracy of the first and last cardboard pieces, and thus ensuring the forming quality of the carton.

[0032] 2. Through the structural design of the gripping and pressing assembly, this application can ensure the stability of cardboard gripping and pressing, while reducing the possibility of damage to the cardboard, thereby ensuring the forming quality of the carton.

[0033] 3. The design of the first positioning plate and the second positioning plate in this application enables the cardboard to be conveyed in a specific posture, thereby avoiding shaking or rebound of the cardboard during the conveying process, and thus creating stable conditions for the accurate identification of the vision inspection system and the reliable gripping of the gripping and pressing components. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the positioning and correction device of this application.

[0035] Figure 2 This is a schematic diagram of the overall structure of the vision sensor of this application.

[0036] Figure 3This is a schematic diagram of the overall structure of the linear conveying mechanism of this application.

[0037] Figure 4 This is a schematic diagram of the overall structure of the feed guide assembly and the first elastic pressure plate of this application.

[0038] Figure 5 yes Figure 3 A magnified schematic diagram of part A in the middle.

[0039] Figure 6 This is a schematic diagram of the overall structure of the primary folding mechanism of this application.

[0040] Figure 7 This is a schematic diagram of the overall structure of the folding retaining component and the connecting support component of this application.

[0041] Figure 8 This is a schematic diagram of the overall structure of the folding retaining component of this application.

[0042] Figure 9 This is a schematic diagram of the overall structure of the connecting support component of this application.

[0043] Figure 10 This is a schematic diagram of the overall structure of the gripping and pressing assembly, the fixing frame, the fine-tuning drive assembly and the long-tuning drive assembly of this application.

[0044] Figure 11 This is another perspective of the overall structure of the gripping and pressing assembly, the fixing frame, the fine-tuning drive assembly, and the long-tuning drive assembly of this application.

[0045] Figure 12 This is a control block diagram of the visual inspection agency in this application.

[0046] In the diagram, 1. Mounting frame; 11. Mounting upright plate; 2. Linear conveyor mechanism; 21. Feeding station; 22. Folding station; 23. Correction station; 24. Output station; 25. Conveyor belt; 26. Central support rod; 27. Feeding guide assembly; 271. Guide roller; 272. Mounting base; 28. First elastic pressure plate; 281. Mounting upright plate; 282. Elastic bending plate; 283. Pressing straight plate; 29. ​​Second elastic pressure plate; 210. Limiting plate; 3. Primary folding mechanism; 31. Folding flat frame; 32. Folding motor; 33. Folding holding assembly; 331. First positioning plate; 332. First suspension frame; 4. Correction pressing mechanism; 41. 411. Connecting support assembly; 412. Second positioning plate; 413. Second suspension frame; 414. Connecting driver; 42. Gripping and pressing assembly; 421. Cardboard gripper; 4211. Gripping connecting plate; 4212. Negative pressure suction cup; 422. Pressing driver; 4221. Fine-tuning frame; 4222. Tilting motor; 4223. Tilting gear; 4224. Arc rack; 4225. Synchronous shaft; 4226. Connecting rod; 43. Fixing frame; 44. Fine-tuning drive assembly; 441. Fine-tuning motor; 442. Linear module; 443. Synchronous plate; 45. Long-term adjustment drive assembly; 5. Vision inspection mechanism; 51. Vision sensor; 52. Feedback controller. Detailed Implementation

[0047] The following is in conjunction with the appendix Figure 1 - Appendix Figure 12 This application will be described in further detail below.

[0048] A positioning and correction device for correcting the fixed position of a cardboard box, as described in the following figure. Figure 1 and Figure 2 The system includes a mounting frame 1, which is horizontally oriented along its length. A linear conveyor mechanism 2 is installed within the mounting frame 1, with its conveying direction aligned with the length of the mounting frame 1. The linear conveyor mechanism 2 has, sequentially along its conveying direction, an infeed station 21, a folding station 22, a correction station 23, and an output station 24. The mounting frame 1 also includes a primary folding mechanism 3, a correction and pressing mechanism 4, and a visual inspection mechanism 5. The primary folding mechanism 3 is located at the folding station 22, while the correction and pressing mechanism 4 and the visual inspection mechanism 5 are both located at the correction station 23. The visual inspection mechanism 5 is positioned directly above the linear conveyor mechanism 2 and is electrically connected to the correction and pressing mechanism 4.

[0049] In this design, the glued cardboard is fed into the linear conveyor 2 from the infeed station 21. Under the action of the linear conveyor 2, the cardboard passes through the folding station 22 and the correction station 23 in sequence, and is finally output from the output station 24. During this process, when the cardboard is at the folding station 22, the primary folding mechanism 3 folds the first piece of cardboard into place and folds the last piece of cardboard at a certain angle, so that the last piece of cardboard is separated from the first piece of cardboard. When the cardboard is at the correction station 23, the correction and pressing mechanism 4 grabs the last piece of cardboard, and the vision detection mechanism 5 detects the position of the last piece of cardboard in real time, thereby controlling the correction and pressing mechanism 4 to adjust the position of the last piece of cardboard so that the last piece of cardboard is aligned with the first piece of cardboard. Then, the last piece of cardboard is pressed together with the first piece of cardboard, at which time the glue on the first piece of cardboard bonds the last piece of cardboard.

[0050] Therefore, this design enables automatic correction of the cardboard during the folding and gluing process of the carton, thereby ensuring the processing accuracy of the carton.

[0051] Reference Figure 1 and Figure 3 The mounting frame 1 is provided with two mounting uprights 11. Both mounting uprights 11 are located inside the mounting frame 1. The mounting uprights 11 are vertically arranged and their length direction is along the length direction of the mounting frame 1. The lower side of the mounting uprights 11 is connected to the mounting frame 1. The two mounting uprights 11 are arranged parallel to each other and spaced apart along the width direction of the mounting frame 1.

[0052] Reference Figure 1 and Figure 3 The linear conveyor mechanism 2 includes two conveyor belts 25, each corresponding to a mounting plate 11. The conveying direction of the conveyor belts 25 is along the length of the mounting plate 11, and the conveyor belts 25 are mounted on the corresponding mounting plates 11. The conveyor belts 25 provide continuous and stable conveying power for the cardboard, ensuring the flow of the cardboard between various workstations.

[0053] Reference Figure 3 The linear conveyor mechanism 2 also includes a central support rod 26, which is positioned along the length of the mounting plate 11 and located between two mounting plates 11 symmetrically arranged on both sides of the central support rod 26. The lower side of the central support rod 26 is connected to the mounting frame 1, and the upper side of the central support rod 26 is flush with the top of the conveyor belt 25. The central support rod 26 provides effective support for the central area of ​​the cardboard, preventing wider or softer cardboard from sagging or deforming during conveying, thus ensuring the flatness of the cardboard.

[0054] Reference Figure 1 and Figure 3 The linear conveyor 2 also includes a feed guide assembly 27, which is located at the feed station 21.

[0055] Reference Figure 3 and Figure 4 The feed guiding assembly 27 includes a guide roller 271, which is located above a conveyor belt 25. The guide roller 271 is axially arranged along the width direction of the mounting frame 1, and is spaced apart from or in contact with the upper sidewall of the corresponding conveyor belt 25. A mounting seat 272 is provided on the guide roller 271, connected to the mounting frame 1, and located above the guide roller 271. The mounting seat 272 is rotatably connected to the guide roller 271. Under the action of the guide roller 271, when the cardboard is fed into the conveyor belt 25, the guide roller 271 presses and guides the incoming cardboard, ensuring that the cardboard can be transported smoothly.

[0056] Reference Figure 1 and Figure 3 The linear conveying mechanism 2 also includes a first elastic pressure plate 28, which is located at the folding station 22.

[0057] Reference Figure 4 The first elastic pressure plate 28 includes a mounting vertical plate 281, an elastic bending plate 282, and a pressing straight plate 283, which are connected in sequence and integrally formed.

[0058] Reference Figure 3 and Figure 4 The mounting vertical plate 281 is set vertically, and the pressing straight plate 283 is set horizontally. The length direction of the pressing straight plate 283 is set along the length direction of the mounting frame 1. The pressing straight plate 283 is spaced apart from the mounting vertical plate 281 along its own length direction. The mounting vertical plate 281 is spaced above the pressing straight plate 283. The elastic bending plate 282 is located between the mounting vertical plate 281 and the pressing straight plate 283. One end of the elastic bending plate 282 is fixedly connected to the lower end of the mounting vertical plate 281 along its own length direction, and the other end is connected to the pressing straight plate 283.

[0059] Reference Figure 3 and Figure 4 The mounting plate 281 is connected to the mounting base 272. The pressing plate 283 is located on the side of the mounting plate 281 facing the output station 24. The pressing plate 283 is located directly above the corresponding conveyor belt 25. The pressing plate 283 is either in contact with or spaced apart from the upper side wall of the corresponding conveyor belt 25.

[0060] Based on the structural design of the first elastic pressure plate 28, the elasticity of the first elastic pressure plate 28 itself causes the pressing plate 283 to apply downward pressure to the cardboard conveyed on the conveyor belt 25, so that the cardboard can stick tightly to the conveyor belt 25. This design, on the one hand, can prevent slippage between the cardboard and the conveyor belt 25, ensuring friction and thus ensuring conveying; on the other hand, it can also ensure the cardboard conveying and reduce the possibility of cardboard deviation during conveying; in addition, it can also prevent warping or positional deviation of the cardboard due to force during folding, ensuring the accuracy of the folding action.

[0061] Reference Figure 1 and Figure 5 The linear conveying mechanism 2 also includes a second elastic pressure plate 29, which is located at the correction station 23.

[0062] Reference Figure 4 and Figure 5 The first elastic pressure plate 28 and the second elastic pressure plate 29 have the same structure. The first elastic pressure plate 28 and the second elastic pressure plate 29 are spaced apart along the length of the mounting frame 1, and the first elastic pressure plate 28 and the second elastic pressure plate 29 are located above the same conveyor belt 25. In this embodiment, the second elastic pressure plate 29 is connected to the corresponding mounting upright plate 11.

[0063] The second elastic pressure plate 29 has the same structure as the first elastic pressure plate 28. Therefore, the second elastic pressure plate 29 plays a similar role to the first elastic pressure plate 28 in the correction station 23. By applying stable pressure to the paperboard, it ensures that the paperboard remains stable during visual inspection and gripping and pressing, and prevents visual inspection errors or deviations caused by the shaking of the paperboard.

[0064] Reference Figure 1 and Figure 5 The linear conveyor mechanism 2 also includes two limiting plates 210, both located at the correction station 23. The length of the limiting plates 210 is along the length of the mounting frame 1, and the two limiting plates 210 are spaced apart along the width of the mounting frame 1. Each limiting plate 210 corresponds to a mounting plate 11, and the limiting plates 210 are connected to the corresponding mounting plates 11. The second elastic pressure plate 29 and the conveyor belt 25 are located between the two limiting plates 210.

[0065] Reference Figure 6The primary folding mechanism 3 includes two folding flat frames 31, which are arranged one-to-one with the mounting plates 11. The folding flat frame 31 is located on the side of the corresponding mounting plate 11 away from the other mounting plate 11, and the side of the folding flat frame 31 closest to the corresponding mounting plate 11 is rotatably connected to the corresponding mounting plate 11. A folding motor 32 is provided on the mounting plate 11, and the folding motor 32 and the folding flat frame 31 are arranged sequentially along the length direction of the corresponding mounting plate 11, and the drive end of the folding motor 32 is connected to the corresponding folding flat frame 31.

[0066] With the cooperation of the two folding flat frames 31 and the corresponding folding motors 32, the folding motors 32 provide power for the folding action, and drive the folding flat frames 31 to rotate around the connecting shaft between them and the mounting plate 11, thereby realizing the folding of the cardboard.

[0067] Reference Figure 6 and Figure 7 The primary folding mechanism 3 also includes a folding retaining component 33, which is located directly above the linear conveying mechanism 2 and between the two folding flat frames 31.

[0068] Reference Figure 6 and Figure 8 The folding and retaining assembly 33 includes a first positioning plate 331, which is located directly above the central support rod 26. The length of the first positioning plate 331 is along the length of the mounting frame 1. The first positioning plate 331 extends downward at an angle on one side along its width, and two first suspension frames 332 are provided on the other side. The two first suspension frames 332 are spaced apart along the length of the first positioning plate 331, and the first suspension frames 332 are vertically arranged. The lower end of the first suspension frame 332 is connected to the lower side of the first positioning plate 331, and the upper end is connected to the mounting frame 1.

[0069] The folding and holding assembly 33, through the setting of the first positioning plate 331, has one end of the first positioning plate 331 tilted downwards along its width direction and facing the last piece of cardboard. This allows the folded last piece of cardboard to rotate onto the first positioning plate 331, at which point the first positioning plate 331 limits the last piece of cardboard, preventing it from sticking to the first piece of cardboard after direct contact. At the same time, the first positioning plate 331 also guides the last piece of cardboard, ensuring that it is conveyed at a fixed angle and that it enters the next station in the correct posture, preventing the folded last piece of cardboard from springing back or shaking excessively during conveying.

[0070] Reference Figure 7 and Figure 9The correction and pressing mechanism 4 includes a connecting support assembly 41, which includes a second positioning plate 411. A first positioning plate 331 is arranged parallel to the second positioning plate 411, and the first positioning plate 331 is spaced apart from the second positioning plate 411 along its own length direction. The second positioning plate 411 is inclined downward on one side along its own width direction, and two second suspension frames 412 are arranged on the other side. The two second suspension frames 412 are spaced apart along the length direction of the second positioning plate 411. The second suspension frames 412 are vertically arranged, and the lower end of the second suspension frame 412 is connected to the lower side of the second positioning plate 411, and the upper end is connected to the mounting bracket 1.

[0071] The connecting support component 41 is designed with a second positioning plate 411, which cooperates with the first positioning plate 331. When the cardboard is conveyed to the correction station 23, the second positioning plate 411 can continue to limit and guide the last piece of cardboard, ensuring that the last piece of cardboard maintains a stable posture after entering the correction station 23 from the folding station 22.

[0072] Reference Figure 7 and Figure 9 The second suspension frame 412 is slidably connected to the mounting frame 1 along the width direction of the mounting frame 1. Specifically, the second suspension frame 412 and the mounting frame 1 are slidably connected through a guide rail and a guide slide. The mounting frame 1 is provided with two connecting actuators 413, which are cylinders. The connecting actuators 413 are arranged one-to-one with the second suspension frames 412, and the connecting actuators 413 are connected to the corresponding second suspension frames 412.

[0073] Under the action of the connecting driver 413, the second suspension frame 412 can move along the width direction of the mounting frame 1, thereby driving the second positioning plate 411 to adjust its position along the width direction of the mounting frame 1. Under this action, the second positioning plate 411 can switch positions, so that when conveying the cardboard, the second positioning plate 411 can move to align with the first positioning plate 331, at which time the cardboard can be conveyed from the folding station 22 to the correction station 23 in a fixed posture; when grabbing the last piece of cardboard and correcting the deviation of the last piece of cardboard, the second positioning plate 411 can be moved away to prevent the second positioning plate 411 from interfering with the movement of the last piece of cardboard.

[0074] Reference Figure 1 and Figure 10 The correction and crimping mechanism 4 also includes a gripping and crimping assembly 42, which is located directly above the linear conveyor 2. The gripping and crimping assembly 42 includes a cardboard gripper 421 and a crimping driver 422.

[0075] Reference Figure 1 and Figure 10The cardboard gripper 421 includes a gripping plate 4211, which is arranged along the length of the mounting frame 1. The gripping plate 4211 is horizontally positioned, and a plurality of negative pressure suction cups 4212 are arranged on the lower side of the gripping plate 4211, sequentially along the length of the gripping plate 4211. Through the coordinated design of the plurality of negative pressure suction cups 4212, the cardboard gripper 421 can achieve the function of gripping cardboard by negative pressure adsorption.

[0076] Reference Figure 1 and Figure 10 The gripping and pressing assembly 42 also includes a pressing driver 422, which includes a fine-tuning frame 4221, a flip motor 4222, a flip gear 4223, and an arc-shaped rack 4224. The fine-tuning frame 4221 is horizontally arranged, and the flip motor 4222 is mounted on the fine-tuning frame 4221. The driving end of the flip motor 4222 is coaxially connected to the flip gear 4223, which is axially arranged along the length direction of the mounting frame 1. The arc-shaped rack 4224 is located below the flip gear 4223 and meshes with the flip gear 4223. Along the length direction of the arc-shaped rack 4224, the arc-shaped rack 4224 is arc-shaped and is slidably connected to the fine-tuning frame 4221 along its own length direction. The cardboard gripper 421 is located below the fine-tuning frame 4221, and the arc-shaped rack 4224 is located at one end of the gripping connecting plate 4211. One end of the arc-shaped rack 4224 along its own length is connected to the corresponding end of the gripping connecting plate 4211.

[0077] When the flipping motor 4222 is working, it drives the flipping gear 4223 to rotate synchronously. At this time, the flipping gear 4223 can drive the flipping gear 4223 to rotate. Since the flipping gear 4223 meshes with the arc rack 4224, the rotation of the flipping gear 4223 drives the arc rack 4224 to move along its own arc trajectory. This can drive the cardboard gripper 421 to complete the downward pressing or upward reset action, so that the cardboard gripper 421 can move downward toward the linear conveyor 2 or upward away from the linear conveyor 2.

[0078] With the cooperation of the cardboard gripper 421 and the pressing driver 422, after the linear conveyor 2 transports the cardboard to the correction station 23, the flip motor 4222 works and drives the arc rack 4224 to move toward the cardboard being transported on the linear conveyor 2. At this time, the cardboard gripper 421 can adsorb and grab the corresponding last piece of cardboard, and at the same time, it can also realize the pressing and bonding action between the last piece of cardboard and the first piece of cardboard.

[0079] Reference Figure 10In this embodiment, two rotating gears 4223 and arc-shaped racks 4224 are provided, with each rotating gear 4223 corresponding to a corresponding arc-shaped rack 4224, and the rotating gear 4223 meshing with the corresponding arc-shaped rack 4224. The two rotating gears 4223 are coaxially spaced apart, and a synchronous shaft 4225 is provided between the two rotating gears 4223, with each rotating gear 4223 coaxially connected to the synchronous shaft 4225. The two arc-shaped racks 4224 are parallel and spaced apart along the length direction of the gripping connecting plate 4211, and each arc-shaped rack 4224 is slidably connected to the fine-tuning frame 4221 along its own length direction. The gripping connecting plate 4211 is located between the two arc-shaped racks 4224 along its own length direction, and both ends of the gripping connecting plate 4211 are connected to the corresponding arc-shaped rack 4224 respectively along its own length direction. Several connecting rods 4226 are also provided between the two arc-shaped racks 4224. The connecting rods 4226 are arranged parallel to the gripping connecting plate 4211, and the two ends of the connecting rods 4226 are respectively connected to the corresponding arc-shaped racks 4224.

[0080] The combination of the double flip gear 4223 and the double arc rack 4224 ensures the stability of the crimping driver 422 structure, thereby ensuring the stability of the cardboard gripper 421 movement.

[0081] Reference Figure 1 and Figure 11 The correction and pressing mechanism 4 also includes a fixed frame 43, which is located directly above the fine-tuning frame 4221. The fixed frame 43 is connected to the mounting frame 1, and the fine-tuning frame 4221 is slidably connected to the fixed frame 43 along the width direction of the mounting frame 1. A fine-tuning drive assembly 44 is also provided between the fixed frame 43 and the fine-tuning frame 4221. Specifically, the fine-tuning frame 4221 and the fixed frame 43 are also slidably connected through a guide rail and a guide slide.

[0082] The fixed frame 43 provides a stable mounting reference for the entire web-aligning and crimping mechanism 4, while the design of the fine-tuning drive assembly 44 between the fixed frame 43 and the fine-tuning frame 4221 allows the fine-tuning frame 4221 to move along the width direction of the mounting frame 1. Thus, after the cardboard gripper 421 grips the last piece of cardboard, the fine-tuning drive assembly 44 can drive the fine-tuning frame 4221 to move, which in turn drives the cardboard gripper 421 to achieve the fine-tuning and web-aligning function of the last piece of cardboard.

[0083] It should be noted that the reason why this fine-tuning correction function can achieve independent correction of the last piece of paperboard without causing the entire paperboard to shift is due to the synergistic effect of the following two points: Firstly, there is state separation and selective control. Before the correction action occurs, only the last piece of cardboard to be corrected is flipped up by the primary folding mechanism 3, while the main body consisting of the remaining three pieces of cardboard remains on the conveyor belt 25 of the linear conveyor mechanism 2. The cardboard gripper 421 has a high degree of selectivity in its gripping action. It contacts and firmly controls only the flipped-up last piece of cardboard through the negative pressure suction cup 4212, and has no direct mechanical connection with the main body of the cardboard below.

[0084] Secondly, the relative motion is based on a flexible connection. The pre-set crease line connecting the last piece of cardboard to the main body of the cardboard acts as a flexible hinge in this process. When the fine-tuning drive assembly 44 drives the gripping and pressing assembly 42 to make lateral fine adjustments, the driving force only acts directly on the independently gripped last piece of cardboard. Due to the flexible connection characteristics of the crease line, and the static friction generated between the main body of the cardboard and the conveyor belt 25 due to its own weight, this small lateral driving force is insufficient to overcome the static friction and move the main body of the cardboard. Therefore, the fine-tuning drive assembly 44 ultimately achieves an independent and precise relative position adjustment of the last piece of cardboard relative to the stationary main body of the cardboard, thereby completing the correction task.

[0085] Reference Figure 11 In this embodiment, the fine-tuning drive assembly 44 includes a fine-tuning motor 441 and a linear module 442. Both the fine-tuning motor 441 and the linear module 442 are mounted on the fine-tuning frame 4221. The fine-tuning motor 441 is a servo motor, and the linear module 442 is a ball screw type. The fine-tuning motor 441 and the linear module 442 are connected in a transmission connection. A synchronization plate 443 is provided on the slider of the linear module 442. The synchronization plate 443 is fixedly connected to the slider of the linear module 442, and both ends of the synchronization plate 443 along its own length direction are connected to the fixed frame 43. Specifically, the fine-tuning motor 441 is axially arranged along the width direction of the mounting frame 1, and the fine-tuning motor 441 and the ball screw in the linear module 442 are driven by a synchronous belt.

[0086] The fine-tuning drive component 44 adopts a combination of a servo motor and a ball screw linear module 442, which can achieve high-precision position control, fast response speed, and high repeatability, thus ensuring the accuracy and speed of the correction of the last piece of paperboard.

[0087] Reference Figure 1 and Figure 11 The fixed frame 43 is slidably connected to the mounting frame 1 along the width direction of the mounting frame 1, and a long adjustment drive assembly 45 is provided between the fixed frame 43 and the mounting frame 1. The long adjustment drive assembly 45 enables the fixed frame 43 to move along the mounting frame 1, thereby, with the cooperation of the long adjustment drive assembly 45 and the fine adjustment drive assembly 44, the entire correction pressing mechanism 4 has a larger correction range, thus enhancing the versatility and operational efficiency of the entire device.

[0088] In this embodiment, the long-range drive assembly 45 adopts a ball screw linear module driven by a servo motor. The fixed bracket 43 and the mounting bracket 1 are also slidably connected through the cooperation of guide rails and guide slides.

[0089] Reference Figure 2 and Figure 11 The positioning and correction device also includes a visual inspection mechanism 5, which includes a visual sensor 51. The visual sensor 51 is connected to the fixed frame 43 and is located on the lower side of the fixed frame 43. The detection end of the visual sensor 51 is vertically downward and is spaced apart from the fine-tuning frame 4221 along the width direction of the mounting frame 1.

[0090] The positioning and correction device, through the setting of vision sensor 51, can take pictures of the cardboard being transported to the correction station 23 from top to bottom, and can also take pictures of the position and status of the last piece of cardboard grasped by the positioning and correction pressing mechanism 4.

[0091] Furthermore, since the vision sensor 51 is mounted on the mounting bracket 43, it can move synchronously with the mounting bracket 43 under the action of the long-adjustment drive assembly 45. On the one hand, this design facilitates the adjustment of the position of the vision sensor 51 and prevents other structures from obstructing it; on the other hand, this design ensures that regardless of the movement of the mounting bracket 43, the detection area of ​​the vision sensor 51 always maintains a fixed relative position with the working area of ​​the gripping and pressing assembly 42, thus eliminating the need to recalibrate the vision sensor 51 after each operation of the gripping and pressing assembly 42, thereby improving operational convenience while ensuring the accuracy of the detection results.

[0092] Reference Figure 12 The visual inspection mechanism 5 also includes a feedback controller 52, a visual sensor 51, a fine-tuning drive assembly 44, a long-tuning drive assembly 45, a crimping driver 422, and a cardboard gripper 421, all of which are electrically connected to the feedback controller 52.

[0093] The feedback controller 52 is designed to receive real-time image data from the vision sensor 51 and, through built-in image processing and control algorithms, calculate the deviation between the actual position and the target position of the last piece of cardboard in real time. Subsequently, based on the calculation results, the feedback controller 52 coordinates with the fine-tuning drive component 44 and the long-tuning drive component 45 to perform position compensation, achieving automatic correction of the last piece of cardboard. This allows the gripping and pressing component 42 to acquire the relative position between the last and first pieces of cardboard in real time as it flips the last piece towards the first piece, thus correcting the deviation of the last piece in real time and ensuring that the last and first pieces of cardboard are properly aligned before being pressed and bonded together.

[0094] The implementation principle of this application embodiment is as follows: when the cardboard is fed into the positioning and correction device, glue is applied to the first cardboard of the four cardboard pieces, and then the cardboard is fed into the positioning and correction device.

[0095] Under the action of the linear conveyor 2, the cardboard enters from the feeding station 21 and passes through the folding station 22 and the correction station 23, and is finally output from the output station 24.

[0096] In the folding station 22, the primary folding mechanism 3 folds the first and last pieces of cardboard according to a predetermined procedure. The last piece of cardboard is limited and guided by the first positioning plate 331, maintaining a preset distance from the first piece of cardboard. Subsequently, the cardboard is conveyed from the folding station 22 to the correction station 23.

[0097] Within the correction station 23, the pressing driver 422 is activated, causing the cardboard gripper 421 to move downwards to grasp the last piece of cardboard. Then, the connecting driver 413 drives the second positioning plate 411 to move aside to allow for repositioning. Afterwards, the vision sensor 51 captures an edge image of the last piece of cardboard and transmits it to the feedback controller 52. The feedback controller 52 analyzes the image, calculates the precise positional deviation of the last piece of cardboard in the width direction, and immediately sends a command to the fine-tuning drive assembly 44, driving the fine-tuning frame 4221 to move and fully compensate for the deviation. Finally, the pressing driver 422 is activated, causing the cardboard gripper 421 to move downwards, pressing the last piece of cardboard downwards until it is firmly bonded to the adhesive on the first piece of cardboard. After bonding, the cardboard gripper 421 returns to its original position, and the folded and bonded carton is conveyed to the output station 24 and finally output from the output station 24.

[0098] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A positioning and correction device for correcting the fixed position of a cardboard box, characterized in that, include: Mounting frame (1), the mounting frame (1) is provided with a linear conveying mechanism (2), the conveying direction of the linear conveying mechanism (2) is set along the length direction of the mounting frame (1), the linear conveying mechanism (2) is provided with a primary folding mechanism (3) and a correction pressing mechanism (4) in sequence along its own conveying direction, the primary folding mechanism (3) is used to fold the cardboard; The correction and pressing mechanism (4) includes a fixed frame (43), which is located above the linear conveying mechanism (2) and connected to the mounting frame (1); a gripping and pressing assembly (42) is provided on the fixed frame (43), which is used to grip the cardboard and drive the cardboard to move toward or away from the linear conveying mechanism (2); a fine-tuning drive assembly (44) is provided between the fixed frame (43) and the gripping and pressing assembly (42), which is used to drive the gripping and pressing assembly (42) to move along the width direction of the mounting frame (1); The fixed frame (43) is also provided with a visual inspection mechanism (5). The detection end of the visual inspection mechanism (5) is set vertically downward. The gripping and pressing assembly (42) and the fine-tuning drive assembly (44) are both electrically connected to the visual inspection mechanism (5).

2. The positioning and correction device for correcting the fixed position of a cardboard box according to claim 1, characterized in that, The gripping and pressing assembly (42) includes a cardboard gripper (421) located below the fixture (43) and used to grip cardboard. A crimping driver (422) is provided between the cardboard gripper (421) and the fixed frame (43). The crimping driver (422) is connected to the cardboard gripper (421). The crimping driver (422) is used to drive the cardboard gripper (421) to move toward or away from the linear conveyor (2). The crimping driver (422) is slidably mounted on the fixed frame (43), and the fine-tuning drive assembly (44) is connected to the crimping driver (422).

3. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 2, characterized in that, The cardboard gripper (421) includes a gripping plate (4211), the gripping plate (4211) is arranged along the length direction of the mounting frame (1), and the gripping plate (4211) is connected to the crimping driver (422); A plurality of negative pressure suction cups (4212) are provided on the lower side of the gripping connecting plate (4211), and the plurality of negative pressure suction cups (4212) are arranged at intervals along the length direction of the gripping connecting plate (4211).

4. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 2, characterized in that, The crimping driver (422) includes a fine-tuning frame (4221), which is located below the fixed frame (43). The fine-tuning frame (4221) is slidably connected to the fixed frame (43), and the fine-tuning drive assembly (44) is connected to the fine-tuning frame (4221). The fine-tuning frame (4221) is equipped with a flip motor (4222), a flip gear (4223), and an arc rack (4224). The arc rack (4224) is slidably connected to the fine-tuning frame (4221) along its own length direction. The driving end of the flip motor (4222) is coaxially connected to the flip gear (4223). The flip gear (4223) meshes with the arc rack (4224). One end of the arc rack (4224) is connected to the cardboard gripper (421). When the flipping motor (4222) drives the flipping gear (4223) to rotate, the arc-shaped rack (4224) is used to drive the cardboard gripper (421) to move toward or away from the linear conveying mechanism (2).

5. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 4, characterized in that, Two of each of the flip gear (4223) and the arc rack (4224) are provided. The arc rack (4224) is provided in a one-to-one correspondence with the arc rack (4224). The arc rack (4224) meshes with the corresponding arc rack (4224). The two arc racks (4224) are provided in parallel and spaced apart along the length direction of the mounting frame (1). A synchronous shaft (4225) is provided between the two flip gears (4223), and the flip gears (4223) are coaxially connected to the synchronous shaft (4225); A plurality of connecting rods (4226) are provided between the two arc-shaped racks (4224), and the two ends of the connecting rods (4226) are respectively connected to one of the arc-shaped racks (4224).

6. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 1, characterized in that, The fixed frame (43) is slidably disposed on the mounting frame (1). A long adjustment drive assembly (45) is also provided between the fixed frame (43) and the mounting frame (1). The long adjustment drive assembly (45) is used to drive the fixed frame (43) to move along the width direction of the mounting frame (1).

7. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 1, characterized in that, The primary folding mechanism (3) includes two folding flat frames (31), which are spaced apart along the width direction of the mounting frame (1). The linear conveying mechanism (2) is located between the two folding flat frames (31). One side of the folding flat frame (31) is rotatably connected to the linear conveying mechanism (2). A folding motor (32) is provided between the folding flat frame (31) and the linear conveying mechanism (2). The folding motor (32) is used to drive the corresponding folding flat frame (31) to rotate.

8. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 7, characterized in that, The primary folding mechanism (3) further includes a first positioning plate (331), which is located above the linear conveying mechanism (2). The length direction of the first positioning plate (331) is arranged along the length direction of the mounting frame (1), and the first positioning plate (331) is located between the two folding flat frames (31) along the width direction of the mounting frame (1). The correction pressing mechanism (4) includes a second positioning plate (411), the first positioning plate (331) and the second positioning plate (411) are arranged in parallel, and the first positioning plate (331) is spaced apart from the second positioning plate (411) along its own length direction; The first positioning plate (331) is connected to the mounting bracket (1), the second positioning plate (411) is slidably connected to the mounting bracket (1), and a connecting driver (413) is provided between the second positioning plate (411) and the mounting bracket (1). The connecting driver (413) is used to drive the second positioning plate (411) to move along the width direction of the mounting bracket (1).

9. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 8, characterized in that, The first positioning plate (331) is inclined downward along one side of its own width direction.

10. A positioning and correction device for correcting the fixed position of a cardboard box according to claim 1, characterized in that, The visual inspection mechanism (5) includes a visual sensor (51) and a feedback controller (52). The visual sensor (51) is vertically arranged and connected to the fixing frame (43). The detection end of the visual sensor (51) is vertically downward. The visual sensor (51), the gripping and pressing assembly (42), and the fine-tuning drive assembly (44) are all electrically connected to the feedback controller (52).

Images