Carton top foam self-guiding positioning full-automatic robot

Abstract

The application discloses a kind of paper box dress top foam self-guided positioning full-automatic robot, belong to foam dress top technical field.The device includes: support mechanism, including bearing seat and support arm being installed on the bearing seat;Transfer mechanism, including mounting bracket being installed on the support arm, the mounting bracket has feeding area and discharging area on it, and the mounting bracket is installed with transfer piece.Compared with prior art, in the process of foam dress top to paper box in discharging area by pushing mechanism, the storage part of feeding area simultaneously completes the storage of foam, effectively saves time, and in the process that paper box moves to discharging area, transfer piece moves foam to discharging area in advance, so as to effectively avoid waste of time because of more empty stroke of equipment in the process of automatic foam dress top, under the assistance of positioning mechanism, it can effectively avoid error between paper box and foam in discharging area, ensure the accuracy of foam dress top.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of foam capping, and in particular to a paper box capping foam self-guiding positioning full-automatic robot. BACKGROUND

[0002] In the field of industrial packaging, placing protective foam on the top of the product in the paper box is a key post-process, which plays a buffering, shockproof and fixing role in transportation and storage. At present, in quite a number of production scenes, especially in flexible production lines with small and medium batch or variable product specifications, the manual method of placing foam on the top of the paper box is generally used.

[0003] The manual method of placing foam requires the operator to repeatedly perform a complete set of actions from picking up, carrying, aligning the paper box to placing the foam, which is labor-intensive, the production rhythm is limited by the manual speed, and the efficiency is relatively low. Especially when facing some larger paper boxes, the volume of the capping foam will also be larger, and the staff will delay the time when taking and placing. Although the existing technology uses a mechanical arm to realize capping foam, the mechanical arm needs to perform a series of steps such as picking up, transporting and placing during the process of placing foam. The effective operation (only placing action) time of the mechanical arm accounts for a low proportion, and most of the time is consumed in reciprocating movement and waiting. For example, after the placing action is completed, the mechanical arm must wait for the next paper box to be in place, or complete the empty stroke after returning to the feeding point, and then start the next round of work. There is a lot of invalid waiting time and empty stroke waste in between. However, when the existing mechanical arm places foam, if the position of the paper box on the conveying belt deviates, the foam is easy to be misaligned with the paper box during the execution of the program, so that the capping of the paper box cannot be completed. Although manual placement of foam does not have this problem, it is less efficient than the existing mechanical arm. In order to solve the problems of the existing automatic capping foam equipment, such as more empty strokes in the working process, wasting time, and easy errors when capping foam, the present application provides a paper box capping foam self-guiding positioning full-automatic robot to solve the existing deficiencies. SUMMARY

[0004] The present application provides a paper box capping foam self-guiding positioning full-automatic robot, which can solve the problems of the existing automatic capping foam equipment, such as more empty strokes in the working process, wasting time, and easy errors when capping foam.

[0005] A kind of carton top foam self-guided positioning full-automatic robot, comprising: support mechanism, including bearing seat and support arm installed on the bearing seat;Transfer mechanism, including mounting bracket installed on the support arm, the mounting bracket has feeding area and discharging area, the mounting bracket is installed with transfer piece, the transfer piece has multiple storage parts for storing to be placed foam, when discharging area contains one storage part of to be placed foam, feeding area now has one the storage part of not placed foam;Positioning mechanism, installed on the mounting bracket, for limiting the paper box to be loaded on the transport belt to the position directly below the discharging area;Pushing mechanism, installed on the mounting bracket, for pushing the to be placed foam in the discharging area into the carton.

[0006] Further, the transfer piece includes a rotating frame rotatably mounted on the mounting bracket, and a plurality of elastic clamps are circularly arrayed on the rotating frame, the elastic clamps being used for clamping the foam, the position directly above the mounting bracket being the feeding area, and the position directly below being the discharging area.

[0007] Further, the elastic clamps include two moving frames symmetrically slidably mounted on the rotating frame, and a plurality of clamping plates are circularly arrayed and elastically slidably mounted on each of the two moving frames, one end of each of the clamping plates away from the axis of the rotating frame being configured as an inclined surface, and two clamping plates of the same direction of the two moving frames being used for clamping the to-be-placed foam, and an adjusting assembly for driving the two moving frames to move towards or away from each other being mounted on the rotating frame.

[0008] Further, the adjusting assembly includes a bidirectional screw horizontally and rotatably mounted on the rotating frame, and the two moving frames are symmetrically threadedly sleeved on the bidirectional screw, and a motor for driving the bidirectional screw to rotate being mounted on each of the moving frames.

[0009] Further, the clamping plates are concave, the pushing mechanism includes a driving member mounted on the mounting bracket, a plurality of push plates are circularly arrayed and slidably mounted on the rotating frame, and each of the push plates passes through two clamping plates in the same horizontal direction, and the driving member drives the lowermost push plate to vertically move.

[0010] Further, a plurality of elastic telescopic rods are circularly arrayed on the rotating frame, the push plates are connected with the telescopic ends of the elastic telescopic rods, the to-be-placed foam clamped by the two clamping plates contacts with the side of the push plate away from the axis of the rotating frame, and the driving member includes a moving plate vertically slidably mounted on the mounting bracket, both free ends of the moving plate are configured with connecting plates, one end of each of the connecting plates is configured with a forcing plate, and a hollow area is formed between the connecting plates, the forcing plates and the rotating frame, and both ends of the push plate pass through the rotating frame, and when the rotating frame rotates, the push plate passes through the hollow area and is located below the forcing plate.

[0011] Further, the positioning mechanism comprises mounting plates symmetrically slidingly mounted on the mounting frame, one side of the mounting plate is horizontally inclinedly configured with a guide plate, a plurality of guide rollers are linearly arrayed and rotatably mounted on the mounting plate, and an adjusting member for driving the two guide plates to move close to or away from each other is mounted on the mounting frame.

[0012] Further, a moving seat is slidingly mounted on each of the two mounting plates, a limiting plate is rotatably mounted on the moving seat, a gas cylinder is mounted on the moving seat, a hinged rod is hingedly connected to the extension end of the gas cylinder, and the free end of the hinged rod is hingedly connected to the limiting plate, so that when the carton to be placed with foam moves to be attached to the moving seat, the rotating frame is located at the lowermost position and the foam to be placed is located directly above the carton.

[0013] Further, a plurality of positioning insertion holes are formed in the length direction of the moving seat, and a positioning insertion rod for being inserted into the positioning insertion hole is elastically slidingly mounted on the moving seat.

[0014] Further, the mounting frame is symmetrically slidingly mounted with a baffle, the sliding direction of the baffle is perpendicular to the sliding direction of the clamping plate, and the area formed between the two baffles is used for the foam to be placed to pass through and be placed on the two clamping plates in the feeding area, and a driving assembly for driving the two baffles to move synchronously and in opposite directions is mounted between the two baffles.

[0015] Advantages:

[0016] Compared with the prior art, in the process of pushing the carton in the discharging area to be filled with foam by the pushing mechanism, the storage part of the feeding area simultaneously completes the storage of the foam, effectively saving time, not only that, in the process of moving the carton to the discharging area, the transfer member moves the foam into the discharging area in advance, thereby effectively avoiding the waste of time due to the large number of empty strokes of the equipment in the process of automatic foam filling, and under the assistance of the positioning mechanism, the error between the carton and the foam in the discharging area can be effectively avoided, and the accuracy of the foam filling is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of the combination of the present application with a conveying belt;

[0018] Figure 2 is a schematic view of the combination of the present application with a conveying belt; Figure 1 partial sectional view;

[0019] Figure 3 is a schematic view of the combination of the present application with a conveying belt;

[0020] Figure 4 is a schematic view of the combination of the present application with a conveying belt; Figure 3 partial sectional view;

[0021] Figure 5An enlarged view of the structure at A in the present application Figure 4 An enlarged view of the structure at A in the present application

[0022] Figure 6 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0023] An enlarged view of the structure at A in the present application Figure 7 An enlarged view of the structure at A in the present application Figure 6 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0024] An enlarged view of the structure at A in the present application Figure 8 An enlarged view of the structure at A in the present application Figure 6 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0025] An enlarged view of the structure at A in the present application Figure 9 An enlarged view of the structure at A in the present application Figure 8 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0026] An enlarged view of the structure at A in the present application Figure 10 An enlarged view of the structure at A in the present application Figure 7 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0027] An enlarged view of the structure at A in the present application Figure 11 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0028] An enlarged view of the structure at A in the present application Figure 12 An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0029] An enlarged view of the structure at A in the present application An enlarged view of the structure at A in the present application

[0030] 1, support mechanism; 101, bearing seat; 102, support arm; 2, transfer mechanism; 201, mounting frame; 202, transfer piece; 2021, rotating frame; 2022, elastic clamp; 20221, moving frame; 20222, clamping plate; 20223, inclined surface; 3, positioning mechanism; 301, mounting plate; 302, guide plate; 303, guide roller; 304, adjusting piece; 4, pushing mechanism; 401, driving piece; 4011, elastic telescopic rod; 4012, moving plate; 4013, connecting plate; 4014, forcing plate; 4015, hollow area; 402, push plate; 5, adjusting assembly; 501, bidirectional screw; 6, moving seat; 7, limiting plate; 8, hinged rod; 9, positioning hole; 10, positioning rod; 11, baffle; 12, driving assembly; 1201, rack; 1202, gear; 1203, rotating frame plate; 1204, column; 13, suction cup assembly. DETAILED DESCRIPTION

[0031] The specific embodiments of the present application are described in detail below, but it should be understood that the scope of protection of the present application is not limited by the specific embodiments.

[0032] As Figures 1 to 12 shown, the paper box top foam self-guiding positioning full-automatic robot provided by the embodiment of the present application comprises:

[0033] The support mechanism 1 comprises a bearing seat 101 and a support arm 102 installed on the bearing seat 101;

[0034] The transfer mechanism 2 comprises a mounting frame 201 installed on the support arm 102, the mounting frame 201 is provided with a feeding area and a discharging area, and a transfer piece 202 is installed on the mounting frame 201, the transfer piece 202 has a plurality of storage parts for storing the foam to be placed, when the discharging area contains one storage part for storing the foam to be placed, the feeding area contains one storage part for storing the foam not to be placed at this time, the structure of the support arm 102 is not limited in the application, which can be any moving structure that can meet the movement of the mounting frame 201, in the application, the support arm 102 is a mechanical arm in the prior art, the number of the mechanical arm is two, and the connecting end of the mechanical arm is connected with the mounting frame 201 (as shown in Figure 1 The two mechanical arms are symmetrically distributed relative to the mounting frame 201 and are installed on the bearing seat 101, the support effect of the mounting frame 201 can be further improved by the two mechanical arms, and the use is more stable, the transportation of the carton in the application adopts the mode of the existing transportation belt or roller transportation, the design of the mechanical arm can adjust the height of the mounting frame 201 according to the actual height of the transported carton, and in addition, the mechanical arm can move the mounting frame 201 to the middle position above the transportation belt (as shown in Figure 2 The carton can smoothly enter the position below the discharging area;

[0035] The application does not limit how to place the foam on the storage part, which can be any feeding structure that can meet the placement of the foam on the storage part in the feeding area, for example, in the embodiment, a placing box with an open top is installed on the bearing seat 101, the foam is stacked in one corner of the placing box, a mechanical arm is installed on the bearing seat 101, a suction cup assembly 13 is installed on the free end of the mechanical arm for adsorbing the foam, and it should be noted that the foam mentioned in the application is a foam board used for the top of the existing carton,

[0036] The positioning mechanism 3 is installed on the mounting frame 201, which is used for limiting the carton to be topped on the transportation belt to be directly below the discharging area, in the embodiment, the transportation belt is a belt conveyor in the prior art;

[0037] The pushing mechanism 4 is installed on the mounting frame 201 and is used to push the foam to be placed in the paper box in the unloading area. In use, when the paper box on the conveying belt moves to a position directly below the unloading area, the positioning mechanism 3 positions the paper box at this time, and the conveying belt is in a moving state. The paper box in the unloading area slips on the conveying belt, and at this time, a storage part is located directly above the paper box. Then, the pushing mechanism 4 pushes the foam to be placed on the storage part into the paper box. In this process, the storage part in the feeding area is simultaneously fed. The suction cup assembly 13 on the mechanical arm absorbs and places the foam in the placing box on the storage part in the feeding area. After the foam in the paper box is placed, the positioning mechanism 3 releases the positioning of the paper box, so that the paper box with the placed foam continues to move. At this time, the storage part in the feeding area has placed the foam. When the next paper box moves to the feeding area, the transfer part 202 moves to move the storage part with the foam inside to the unloading area, so that when the next paper box moves to the unloading area and is positioned by the positioning mechanism 3, the foam can be directly pushed into the paper box by the pushing mechanism 4. Compared with the prior art, in the process of pushing the foam in the unloading area into the paper box by the pushing mechanism 4, the storage part in the feeding area simultaneously completes the storage of the foam, effectively saving time. Moreover, in the process of moving the paper box to the unloading area, the transfer part 202 moves the foam to the unloading area in advance, thereby effectively avoiding the waste of time due to the large empty stroke of the equipment in the process of automatic foam topping, and under the assistance of the positioning mechanism 3, the error between the paper box and the foam in the unloading area can be effectively avoided, thereby ensuring the accuracy of the foam topping.

[0038] As shown in Figure 1 , Figure 3 and Figure 6 , in the present embodiment, the foam is placed on the storage part in the feeding area by the mechanical arm cooperating with the suction cup. The transfer part 202 includes a rotating frame 2021 rotatably installed on the mounting frame 201. The mounting frame 201 is provided with a motor, and the output shaft of the motor is connected with the rotating frame 2021 to realize the rotation of the rotating frame 2021. A plurality of elastic clamps 2022 are circularly arranged on the rotating frame 2021. The elastic clamps 2022 are used to clamp the foam, that is, in the present embodiment, the storage part is the elastic clamp 2022. The design of the elastic clamp 2022 makes the foam placed in the elastic clamp 2022 not easy to deviate or move during the rotation of the rotating frame 2021, thereby well positioning the foam and preventing the foam from being clamped and broken due to excessive clamping force. The position directly above the mounting frame 201 is the feeding area, and the position directly below is the unloading area (as shown in Figure 2As shown, at this time, the carton on the conveying belt is in the position of the unloading area, and the mechanical arm moves the foam close to the loading area through the suction cup assembly 13. In this embodiment, the number of elastic clamps 2022 is four. Because the distance between the cartons on the conveying belt is relatively close in the actual working process, the time taken by the carton to move to the unloading area is relatively short, and the number of elastic clamps 2022 is four, which can effectively reduce the rotation angle of the rotating frame 2021, so as to ensure that the elastic clamp 2022 clamping the foam can be moved to the position of the unloading area exactly or in advance when the carton moves to the unloading area. It should be noted that the rotating frame 2021 continuously rotates in one direction during work, so as to ensure that the multiple elastic clamps 2022 not clamping the foam can be moved to the loading area in turn, and the elastic clamps 2022 clamping the foam can be moved to the unloading area in turn.

[0039] As shown in Figure 1 , Figure 3 and Figure 6 , in some embodiments, the elastic clamp 2022 includes two moving frames 20221 symmetrically and horizontally slidingly installed on the rotating frame 2021. The two moving frames 20221 are circularly arrayed and elastically slidingly installed with multiple clamping plates 20222. Specifically, one end of the clamping plate 20222 is sleeved on the moving frame 20221, and a spring is installed between the clamping plate 20222 and the moving frame 20221. The end of the clamping plate 20222 away from the axis of the rotating frame 2021 is configured as an inclined surface 20223, which is used to assist the movement of the foam to the planar position of the two clamping plates 20222 for clamping. The two clamping plates 20222 in the same direction of the two moving frames 20221 are used to clamp the foam to be placed. In the normal state, the distance between the two clamping plates 20222 is less than the foam to be placed. When the foam moves between the two clamping plates 20222, the inclined surface 20223 of the two clamping plates 20222 will contact the foam, thereby forcing the two clamping plates 20222 to move away from each other. As the foam continues to move, the foam will transition from contact with the inclined surface 20223 of the clamping plate 20222 to contact with the plane. At this time, the suction cup assembly 13 releases the suction of the foam, and the resistance of the spring ensures that the foam can be effectively prevented from falling off accidentally. That is, the two clamping plates 20222 form a group, and there are a total of four groups. The rotating frame 2021 is installed with an adjusting assembly 5 for driving the two moving frames 20221 to move close to or away from each other. Through the adjusting assembly 5, the distance between the two moving frames 20221 can be changed, so as to clamp different models of foam and improve the application range.

[0040] As shown in Figure 1 , Figure 3 and Figure 6As shown, in order to ensure the stability of the moving frame 20221 during movement, the adjusting assembly 5 comprises a bidirectional screw 501 horizontally and rotatably installed on the rotating frame 2021, the two moving frames 20221 are symmetrically screwed on the bidirectional screw 501, and a motor for driving the bidirectional screw 501 to rotate is installed on the moving frame 20221. The motor drives the bidirectional screw 501 to rotate, and because the bidirectional screw 501 has left-handed threads and right-handed threads, during the rotation of the bidirectional screw 501, the two moving frames 20221 will move closer to or away from each other, so that the moving frames 20221 are symmetrically distributed on the rotating frame 2021 during movement, and the screw thread cooperation has self-locking property, and when the foam is placed between the two clamping plates 20222, the moving frames 20221 will not be moved.

[0041] As shown in Figure 1 , Figure 3 、 Figure 6 and Figure 9 , in some embodiments, the clamping plate 20222 is concave, as shown in Figure 6 , the concave design of the clamping plate 20222 makes the number of inclined surfaces 20223 on the clamping plate 20222 become two, the pushing mechanism 4 comprises a driving member 401 installed on the mounting frame 201, and a plurality of push plates 402 are rotatably installed on the rotating frame 2021 in a circular array, and the plurality of push plates 402 respectively pass through the two clamping plates 20222 in the same horizontal direction. By driving the driving member 401 to drive the lowermost push plate 402 to move vertically, that is, except for the push plate 402 located in the discharging area, the other push plates 402 will not move under the action of the driving member 401. The push plate 402 passes through the two clamping plates 20222, and the push plate 402 is located at the middle position of the clamping plate 20222. In this way, after the foam is clamped by the two clamping plates 20222, the push plate 402 exerts force more uniformly during movement, avoiding the situation that the push plate 402 deviates when pushing the foam.

[0042] As shown in Figures 6 to 9As shown, in some embodiments, the rotating frame 2021 is provided with a plurality of elastic telescopic rods 4011, and a push plate 402 is connected to the telescopic end of the elastic telescopic rod 4011. The foam to be placed in the two clamping plates 20222 is in contact with the side of the push plate 402 away from the axis of the rotating frame 2021. The driving member 401 includes a moving plate 4012 vertically slidingly installed on the mounting frame 201. The movement of the moving plate 4012 is not specifically limited in the present application, and it can be any driving structure that meets the movement requirements of the moving plate 4012. For example, in the present embodiment, two air cylinders are installed on the mounting frame 201, and the two air cylinders are communicated through an air pipe to ensure that the two air cylinders can be extended or retracted synchronously. The telescopic end of the air cylinder is connected to the moving plate 4012. Both free ends of the moving plate 4012 are provided with a connecting plate 4013. One end of the connecting plate 4013 is provided with a forcing plate 4014. The connecting plate 4013, the forcing plate 4014, and the rotating frame 2021 form a hollow area 4015. Both ends of the push plate 402 pass through the rotating frame 2021. When the rotating frame 2021 rotates, the push plate 402 passes through the hollow area 4015 and is located below the forcing plate 4014. The design of the hollow area 4015 ensures that the rotating frame 2021 does not contact the forcing plate 4014 during rotation, avoiding accidental driving of the push plate 402 by the forcing plate 4014 during rotation of the rotating frame 2021. When the moving plate 4012 moves downward, the two forcing plates 4014 on the moving plate 4012 will move downward at the same time. When the forcing plate 4014 contacts the push plate 402, it will push the push plate 402 in the discharging area to move downward. The foam in contact with the push plate 402 will move downward under the action of the push plate 402. When the foam separates from the inclined surface 20223 of the clamping plate 20222, the foam will move downward and be pushed into the carton directly below, thereby completing the foam topping. The moving plate 4012 moves downward and then moves upward for one stroke, completing the process of foam entering the corresponding carton, effectively reducing the time required for discharging. It should be noted that, as Figure 2 As shown, the inclined surface 20223 of the clamping plate 20222 is close to the carton in the discharging area, which can guide the foam well and avoid deviation during falling. In actual use, the height of the rotating frame 2021 can be adjusted by the support arm 102 installed on the mounting frame 201 to control the clamping plate 20222 close to the top opening of the carton.

[0043] As Figure 3 , Figure 11 and Figure 12As shown, in some embodiments, the positioning mechanism 3 comprises a mounting plate 301 symmetrically slidingly mounted on the mounting frame 201, one side of the mounting plate 301 is horizontally inclinedly configured with a guide plate 302, a plurality of guide rollers 303 are linearly arrayed and rotatably mounted on the mounting plate 301, and an adjusting member 304 is mounted on the mounting frame 201 to drive the two guide plates 302 to move closer to or farther away from each other, such as Figure 1 In combination Figure 3As shown, the conveying belt is located between the free ends of the two guide plates 302, and in actual use, the side limiting bars of the conveying belt have a certain distance from the cartons when the cartons are conveyed on the conveying belt, which causes the cartons to deviate during conveying on the conveying belt. The guide plates 302 and the guide rollers 303 on the mounting plates 301 can guide the cartons on the conveying belt, so that when the cartons contact the guide rollers 303 on the guide plates 302, the cartons can move to between the two mounting plates 301 under the action of the guide rollers 303, and the cartons between the two mounting plates 301 are guided to move to the unloading area by the mounting plates 301. In this embodiment, when the cartons move to the unloading area, the conveying belt can be temporarily closed at this time, and after the foam is topped, the conveying belt is started to continue to move. In order to further save time, the moving seat 6 is slidably installed on the two mounting plates 301, the limiting plate 7 is rotatably installed on the moving seat 6, the air cylinder is installed on the moving seat 6, the hinged rod 8 is hinged to the extension end of the air cylinder, and the free end of the hinged rod 8 is hinged to the limiting plate 7. When the carton to be placed with foam moves to be attached to the moving seat 6, the rotating frame 2021 is located at the lowermost position, and the carton to be placed with foam is located directly above the carton. In this way, the conveying belt does not need to be closed, and when a plurality of cartons continuously move on the conveying belt, the carton at the head contacts the limiting plate 7 at this time, and the carton is located in the unloading area. After the carton in contact with the limiting plate 7 is topped with foam, the air cylinder is retracted to drive the hinged rod 8 to move, because the hinged rod 8 is hinged to the limiting plate 7, so the limiting plate 7 at this time will rotate to no longer contact the carton. When the carton after topping is passed between the two limiting plates 7, the air cylinder is extended at this time to make the two limiting plates 7 rotate to be perpendicular to the conveying belt to limit the next carton. The design of the limiting plate 7 plays a positioning role, avoiding deviation of the carton and the foam in the unloading area. It should be noted that when the cartons are conveyed on the conveying belt, there is a certain distance between the cartons to avoid the cartons being attached together. After the carton is topped, a gap is left between the carton after topping and the next carton to be topped to ensure that the limiting plate 7 can pass through the gap to limit and guide the next carton. In other embodiments, an infrared sensor is installed between the two moving seats 6. When the carton passes through the infrared ray, the two limiting plates 7 rotate to limit the carton. When the carton is topped with foam, the limiting plate 7 rotates to no longer limit the carton. When the carton after topping passes through the two limiting plates 7, the infrared rays are not blocked at this time, and the next carton is blocked after the carton. The air cylinder is started to make the limiting plate 7 rotate to limit the carton. In this way, the action of the air cylinder and the limiting plate 7 is automatically controlled by infrared sensing to automatically limit the carton.

[0044] The structure of the adjusting member 304 is not limited, and it can be any drive structure capable of driving the two guide plates 302 to move close to or away from each other. In the embodiment, a double-threaded rod is horizontally and rotatably installed on the mounting frame 201, the double-threaded rod has left and right threads, and threaded blocks are installed on the guide plates 302. One threaded block is threadedly sleeved on the left thread of the double-threaded rod, and the other threaded block is threadedly sleeved on the right thread of the double-threaded rod. One end of the double-threaded rod can be provided with a knob or a hand wheel for manual adjustment, or a motor can be installed to drive the double-threaded rod to rotate, which is not limited here.

[0045] As shown in Figure 11 and Figure 12 In some embodiments, a plurality of positioning insertion holes 9 are formed in the moving seat 6 along the length direction thereof, and a positioning insertion rod 10 for being inserted into the positioning insertion holes 9 is elastically and slidably installed on the moving seat 6. Specifically, a spring is installed between the positioning insertion rod 10 and the moving seat 6. The movement of the moving seat 6 indirectly changes the position of the limiting plate 7. When the foam is filled and topped on cartons of different models, the moving seat 6 can be moved, and then the positioning insertion rod 10 is inserted into the corresponding positioning insertion hole 9. In the embodiment, each positioning insertion hole 9 corresponds to a model of carton, so that the worker can quickly adjust the position of the moving seat 6 according to the model of the carton, and quickly adapt to cartons of different models.

[0046] As shown in Figures 1 to 3As shown, in some embodiments, the mounting frame 201 is symmetrically slidably mounted with the baffle plates 11, the sliding direction of the baffle plates 11 is perpendicular to the sliding direction of the clamping plates 20222, the area formed between the two baffle plates 11 is used for the foam to be placed to pass through and placed on the two clamping plates 20222 in the feeding area, the driving assembly 12 for synchronously and oppositely moving the two baffle plates 11 is mounted between the two baffle plates 11, the structure of the driving assembly 12 is not specifically limited in the present application, which can be any driving structure capable of synchronously and oppositely moving the two baffle plates 11, for example, in the present embodiment, the driving assembly 12 comprises the two racks 1201 mounted on the two clamping plates, the gear 1202 engaged with the two racks 1201 is rotatably mounted on the mounting frame 201, the two racks 1201 are distributed in an up-down manner, the rotating frame plate 1203 is rotatably mounted on the mounting frame 201, one of the baffle plates 11 is configured with the column 1204 tangent to the internal sliding groove of the rotating frame plate 1203, the electric push rod is hingedly mounted between the rotating frame 2021 and the rotating frame plate 1203, the distance between the two baffle plates 11 is controlled by driving the extension end of the electric push rod, the baffle plate 11 plays a guiding role, after the suction disc assembly 13 on the mechanical arm adsorbs the foam, the foam can be elastically clamped by the corresponding clamping plate 20222 only after passing through the two baffle plates 11, the design of the baffle plate 11 can ensure that the foam is placed at the middle position of the two clamping plates 20222, avoiding deviation.

[0047] The above disclosure is only some specific embodiments of the present application, but the embodiments of the present application are not limited thereto, and any changes that can be thought of by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. A fully automated robot for self-guiding and positioning foam tops on cardboard boxes, characterized in that, include: The support mechanism (1) includes a support base (101) and a support arm (102) mounted on the support base (101). The transfer mechanism (2) includes a mounting frame (201) mounted on the support arm (102), the mounting frame (201) having a loading area and a unloading area, and a transfer component (202) mounted on the mounting frame (201). The transfer component (202) has multiple storage sections for storing foam to be placed. When the unloading area contains a storage section for storing foam to be placed, the loading area at this time has a storage section without foam. The positioning mechanism (3) is installed on the mounting frame (201) and is used to limit the top carton to be loaded on the conveyor belt to the area directly below the unloading area; A pushing mechanism (4), mounted on the mounting frame (201), is used to push the foam to be placed in the unloading area into the carton; The transfer component (202) includes a rotating frame (2021) rotatably mounted on the mounting frame (201). Multiple elastic clamps (2022) are mounted in a circular array on the rotating frame (2021). The elastic clamps (2022) are used to clamp the foam. The loading area is located directly above the mounting frame (201), and the unloading area is located directly below it. The elastic clamp (2022) includes two movable frames (20221) symmetrically slidably mounted on the rotating frame (2021). Both movable frames (20221) are elastically slidably mounted with multiple clamping plates (20222) in a circular array. The end of the clamping plate (20222) away from the axis of the rotating frame (2021) is constructed as an inclined surface (20223). The two clamping plates (20222) in the same direction of the two movable frames (20221) are used to clamp the foam to be placed. An adjustment component (5) is installed on the rotating frame (2021) to drive the two movable frames (20221) to move closer or further away from each other. The clamping plate (20222) is concave. The pushing mechanism (4) includes a driving member (401) mounted on the mounting frame (201). Multiple push plates (402) are slidably mounted in a circular array on the rotating frame (2021). The multiple push plates (402) pass through two clamping plates (20222) in the same horizontal direction respectively. The driving member (401) drives the lowermost push plate (402) to move vertically.

2. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 1, characterized in that, The adjustment assembly (5) includes a bidirectional screw (501) that is horizontally and rotatably mounted on the rotating frame (2021), and two movable frames (20221) that are symmetrically threaded onto the bidirectional screw (501). A motor for driving the bidirectional screw (501) to rotate is mounted on the movable frame (20221).

3. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 2, characterized in that, The rotating frame (2021) is equipped with a circular array of multiple elastic telescopic rods (4011). The push plate (402) is connected to the telescopic ends of the elastic telescopic rods (4011). The foam to be placed, held by two clamping plates (20222), contacts the side of the push plate (402) away from the axis of the rotating frame (2021). The driving component (401) includes a moving plate (4012) that is vertically slidably mounted on the mounting frame (201). The moving plate (4012) has... Both free ends are equipped with connecting plates (4013), and one end of the connecting plate (4013) is equipped with a forcing plate (4014). A hollow area (4015) is formed between the connecting plate (4013), the forcing plate (4014) and the rotating frame (2021). Both ends of the push plate (402) pass through the rotating frame (2021). When the rotating frame (2021) rotates, the push plate (402) passes through the hollow area (4015) and is located below the forcing plate (4014).

4. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 1, characterized in that, The positioning mechanism (3) includes a mounting plate (301) symmetrically slidably mounted on the mounting frame (201). A guide plate (302) is horizontally inclined on one side of the mounting plate (301). Multiple guide rollers (303) are linearly arrayed and rotatably mounted on the guide plate (302) and the mounting plate (301). An adjusting member (304) is mounted on the mounting frame (201) to drive the two guide plates (302) to move closer or further away from each other.

5. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 4, characterized in that, Both mounting plates (301) are slidably mounted with movable seats (6), and limit plates (7) are rotatably mounted on the movable seats (6). A cylinder is mounted on the movable seats (6), and a hinge rod (8) is hinged to the telescopic end of the cylinder. The free end of the hinge rod (8) is hinged to the limit plate (7). When the carton to be placed with foam moves to fit against the movable seat (6), the foam to be placed at the bottom of the rotating frame (2021) is located directly above the carton.

6. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 5, characterized in that, The movable base (6) has multiple positioning holes (9) along its length direction, and a positioning rod (10) for insertion into the positioning hole (9) is elastically slidably mounted on the movable base (6).

7. The fully automated robot for self-guiding and positioning of foam top packing for cardboard boxes as described in claim 6, characterized in that, The mounting bracket (201) is symmetrically slidably mounted with baffles (11). The sliding direction of the baffles (11) is perpendicular to the sliding direction of the clamping plate (20222). The area formed between the two baffles (11) is used for the foam to be placed to pass through and be placed on the two clamping plates (20222) in the feeding area. A drive assembly (12) is installed between the two baffles (11) to drive the two baffles (11) to move synchronously and in opposite directions.

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