An automatic ground opening paperboard apparatus and method

Abstract

This application provides an automatic pallet folding device and method, relating to the field of packaging equipment technology. The device includes a robotic arm connecting flange, an octagonal tube frame, left and right claw assemblies, an automatic pallet folding ball screw assembly, a pallet folding power assembly, a suction cup assembly, an empty pallet centering left and right claw assembly, an empty pallet centering ball screw assembly, an empty pallet automatic centering power assembly, and a laser rangefinder. A servo motor drives the screw mechanism, causing the left and right claw assemblies to move towards or away from each other, cooperating with the suction cup assembly to achieve automatic pallet folding and opening of the inner corners; simultaneously, the empty pallet centering mechanism completes secondary precision positioning of the empty pallet. This device can replace manual operation, improving automation, positioning accuracy, and production efficiency, while reducing labor intensity and equipment costs.

Description

Technical Field

[0001] This application relates to the field of packaging equipment technology, and in particular to an automatic cardboard opening device and method. Background Technology

[0002] Currently, top covers and bottom covers are frequently used on the packaging production line for household paper products. The bottom cover is also commonly called floor paper. The floor paper is usually taken out of the silo manually, and the four sides of the floor paper are unfolded manually before being placed on an empty pallet on the conveyor line.

[0003] This method of operation is labor-intensive and inefficient. Furthermore, the instability of manual operation can lead to insufficient unfolding or misalignment of the cardboard folds, affecting the quality of subsequent stacking and sealing. While existing automated packaging equipment has achieved a certain degree of automation in product handling and transportation, the placement and unfolding of the cardboard folds still primarily rely on manual labor, making it difficult to meet the demands of high-speed, stable, and low-cost automated packaging production.

[0004] Therefore, there is an urgent need for an automatic pallet opening mechanism that is simple in structure, reliable in operation, and capable of automatically completing the picking and placing of pallet boards, unfolding the inner corners of the pallet boards, and secondary precision positioning of empty pallets, in order to replace manual operation, improve production efficiency and packaging quality, and reduce equipment costs. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides an automatic cardboard opening device.

[0006] Firstly, the automatic cardboard opening device provided in this application adopts the following technical solution: An automatic cardboard opening device, comprising: A robotic arm connecting flange plate, which is used to connect to a multi-axis robot or a multi-axis gantry robot. An octagonal tube frame is fixedly connected to the lower part of the connecting flange plate of the robotic arm; A left pawl assembly and a right pawl assembly are respectively disposed on the left and right sides of the octagonal tube frame; An automatic cardboard inward corner folding ball screw assembly, wherein the two ends of the automatic cardboard inward corner folding ball screw assembly are respectively connected to the left pawl assembly and the right pawl assembly for transmission; A power assembly for opening the cardboard, wherein the power assembly for opening the cardboard is connected to the ball screw assembly for automatically opening the cardboard and folding the inner corner, so as to drive the left pawl assembly and the right pawl assembly to move toward each other or away from each other; A suction cup assembly is disposed on both sides of the octagonal tube frame and connected to a vacuum generator; The empty pallet centering left claw assembly and the empty pallet centering right claw assembly are respectively disposed on the left and right sides of the empty pallet. An empty pallet centering ball screw assembly, the two ends of which are respectively connected to the empty pallet centering left pawl assembly and the empty pallet centering right pawl assembly for transmission. An automatic centering power assembly for empty pallets is connected to an automatic centering ball screw assembly for empty pallets to drive the left and right centering claw assemblies of empty pallets to move toward each other or away from each other. A laser rangefinder is installed below the connecting flange of the robotic arm or at a corresponding position on the octagonal tube frame.

[0007] Furthermore, the left pawl assembly includes a slide plate, a lead screw nut seat, and a pawl, and the right pawl assembly includes a slide plate, a lead screw nut seat, and a pawl, and the left pawl assembly and the right pawl assembly are respectively located at both ends of the automatic floor-opening cardboard inner corner ball screw assembly.

[0008] Furthermore, the suction cup assembly includes a cylinder fixing plate, a cylinder, a suction cup fixing bracket, and a suction cup. The cylinder fixing plate is fixed to the octagonal tube frame, the cylinder is connected to the suction cup fixing bracket, and the suction cup is disposed on the suction cup fixing bracket.

[0009] Furthermore, the empty pallet centering left pawl assembly and the empty pallet centering right pawl assembly each include a sliding plate, a lead screw nut seat, and a centering pawl, and the empty pallet centering left pawl assembly and the empty pallet centering right pawl assembly are respectively located at both ends of the empty pallet centering ball screw assembly.

[0010] Furthermore, the power assembly for opening the cardboard includes a servo motor, a reducer, a motor support, a synchronous belt, a synchronous pulley, a protective cover, and a synchronous belt tensioning plate. The servo motor is driven and connected to the automatic cardboard opening inner corner ball screw assembly through the reducer and the synchronous belt.

[0011] Furthermore, the automatic centering power assembly for empty pallets includes a servo motor, a reducer, a motor support, a synchronous belt, a synchronous pulley, a protective cover, and a synchronous belt tensioning plate. The servo motor is driven and connected to the ball screw assembly for empty pallet centering through the reducer and the synchronous belt.

[0012] Furthermore, the octagonal tube frame consists of an octagonal tube, a right-angle connector, an octagonal tube plug, and octagonal tube-specific screws.

[0013] Secondly, this application also discloses an automatic method for opening cardboard using the above-mentioned device, comprising the following steps: S1, the robotic arm moves the automatic floorboard opening device to a safe position above the floorboard hopper; S2, the laser rangefinder outputs a secondary positioning signal after detecting the position of the floorboard; S3, the power assembly for opening the floor linerboard drives the left and right claw assemblies to move in opposite directions, pre-opening the inner corner of the floor linerboard and reshaping it. S4, the suction cup assembly descends and adheres to the floor cardboard, completing the automatic floor cardboard removal; S5, the robotic arm moves the adsorbed floorboard to a safe position above the empty pallet; S6, the floor folding power assembly drives the left and right claw assemblies to move towards each other and then away from each other, completing the secondary opening of the inner corner of the floor folding board; S7, the empty pallet automatic centering power component drives the empty pallet centering left claw component and the empty pallet centering right claw component to move towards each other to clamp and position the empty pallet. S8, the suction cup assembly releases the floor cardboard, allowing the floor cardboard to be placed on an empty pallet, completing the automatic floor cardboard placement.

[0014] Furthermore, in step S3, the left and right pawl assemblies open the inner corner of the floorboard when moving in opposite directions, and reshape the inner corner of the floorboard when moving towards each other.

[0015] Furthermore, in step S7, the empty pallet centering left claw assembly and the empty pallet centering right claw assembly move towards each other and then move away from each other to complete the clamping, centering and release of the empty pallet.

[0016] In summary, this application includes at least one of the following beneficial technical effects: By replacing manual handling of floorboards with automated mechanical methods, labor intensity is significantly reduced. By using a claw and a suction cup in tandem, the inner corner of the floorboard is pre-opened, secondary reshaped, and automatically suctioned and released, improving the consistency of the operation; The empty pallet centering mechanism enables secondary precision positioning, improving the placement accuracy of the floorboards. It has a compact structure, is easy to assemble, and has a low manufacturing cost; It has strong compatibility and can be adapted to various product packaging needs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0018] Explanation of reference numerals in the attached drawings: 1-1, Robotic arm connecting flange plate; 1-2, Octagonal tube frame; 1-3, Left claw assembly; 1-4, Empty pallet centering left claw assembly; 1-5, Automatic floorboard opening inner corner folding ball screw assembly; 1-6, Empty pallet centering ball screw assembly; 1-7, Suction cup assembly; 1-8, Right claw assembly; 1-9, Empty pallet centering right claw assembly; 1-10, Floorboard opening power assembly; 1-11, Empty pallet automatic centering power assembly; 1-12, Laser rangefinder. Detailed Implementation

[0019] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0020] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0021] The following is in conjunction with the appendix Figure 1 This application will be described in further detail.

[0022] This application discloses an automatic pallet-opening device, which includes a robotic arm connecting flange plate 1-1, an octagonal tube frame 1-2, a claw assembly, an automatic pallet-opening inner corner folding ball screw assembly 1-5, a pallet-opening power assembly 1-10, a suction cup assembly 1-7, an empty pallet centering left claw assembly 1-4, an empty pallet centering right claw assembly 1-9, an empty pallet centering ball screw assembly 1-6, an empty pallet automatic centering power assembly 1-11, and a laser rangefinder 1-12. The claw assembly includes a left claw assembly 1-3 and a right claw assembly 1-8.

[0023] The robotic arm connecting flange 1-1 is located at the upper end of the device and is used to fix it to the end of a multi-axis robot or multi-axis gantry robot, enabling the entire automatic floorboard opening device to move with the robot to different working positions such as floorboard hoppers and empty pallet workstations. The octagonal tube frame 1-2 is fixed below the robotic arm connecting flange 1-1 and serves as the main support for the entire device. The octagonal tube frame 1-2 is mainly composed of several octagonal tubes, right-angle connectors, octagonal tube plugs, and octagonal tube screws. The octagonal tubes are fixedly connected by right-angle connectors and octagonal tube screws, and octagonal tube plugs are installed at both ends of the octagonal tubes. The octagonal tube frame 1-2 is equipped with claw assemblies, suction cup assemblies 1-7, and various power components to ensure the rigidity of the mechanism, compact layout, and ease of assembly.

[0024] The left pawl assembly 1-3 and the right pawl assembly 1-8 are respectively located on the left and right sides of the octagonal tube frame 1-2, and are respectively connected to the two ends of the automatic floorboard inner corner folding ball screw assembly 1-5. The left pawl assembly 1-3 and the right pawl assembly 1-8 are symmetrically arranged on both sides of the center position of the automatic floorboard inner corner folding ball screw assembly 1-5. Both the left pawl assembly 1-3 and the right pawl assembly 1-8 include a slide plate, a screw nut seat and a pawl. The slide plate slides linearly along the screw guide structure. The screw nut seat is threadedly connected to the ball screw. The pawl is installed on the slide plate and is set towards the floorboard folding area. The pawl includes bent steel plate, plastic plate and other plates. The openings formed by the bending of the plates on the two pawls are opposite each other. The bottom of the plates is set horizontally. The opening position of the plates is fixed with a reinforcing plate to play a reinforcing role and prevent the plates from deforming. When the ball screw rotates forward or backward, the left and right pawl assemblies 1-8 can move in opposite directions, thereby pre-opening, secondary opening and shaping the inner corner of the floorboard.

[0025] The automatic floor-opening folding board power assembly 1-10 includes a servo motor, a reducer, a motor support, a synchronous belt, synchronous pulleys, a protective cover, and a synchronous belt tensioning plate. One synchronous pulley is coaxially and fixedly connected to the lead screw of the automatic floor-opening folding board inner corner ball screw assembly 1-5, and the other synchronous pulley is coaxially and fixedly connected to the output shaft of the reducer. The synchronous belt connects the two synchronous pulleys, and the synchronous pulleys and synchronous belt form a synchronous belt mechanism. The protective cover is used to cover the corresponding synchronous belt mechanism. The servo motor is connected to the automatic floor-opening folding board inner corner ball screw assembly 1-5 through the synchronous belt mechanism. The forward and reverse rotation of the servo motor is transmitted to the automatic floor-opening folding board inner corner ball screw assembly 1-5 after reduction, driving the left and right claws to move synchronously. The servo drive method allows for precise control of the claw opening and closing position and the action rhythm, which helps to improve the consistency of the inner corner unfolding of the floor-opening board and avoids the problem of insufficient corner unfolding caused by overshoot or undershoot.

[0026] Suction cup assemblies 1-7 are located on both sides of the octagonal tube frame 1-2, at corresponding positions in the cardboard suction station. Each suction cup assembly 1-7 comprises four parts: a cylinder fixing plate, a vertically mounted cylinder, a suction cup fixing bracket, and a suction cup. The cylinder fixing plate is fixedly mounted on the octagonal tube frame 1-2, and the suction cup fixing bracket is fixedly mounted on the lower end of the cylinder connecting rod. The cylinder drives the suction cup fixing bracket to move up and down. The suction cup is mounted below the suction cup fixing bracket and connected to a vacuum generator. When cardboard needs to be retrieved, the cylinder extends, causing the suction cup to descend. After the suction cup contacts the cardboard surface, a vacuum is activated, forming a stable suction. When cardboard needs to be placed, the cylinder retracts and, in conjunction with a vacuum-breaking action, smoothly releases the cardboard. This structure reduces the frequency of manual contact with the cardboard, minimizing the risk of cardboard deformation, misalignment, or dropping.

[0027] The empty pallet centering left pawl assembly 1-4 and the empty pallet centering right pawl assembly 1-9 are respectively set on the left and right sides of the empty pallet and are connected to the empty pallet centering ball screw assembly 1-6 by screw drive. The structure of the two centering claw assemblies is similar to that of the floorboard claw assembly, both including a sliding plate, a screw nut seat, and centering claws. The centering claws are vertically positioned against the side wall of the empty pallet, with the claws on the same side of the empty pallet located in the same vertical plane. The automatic centering power assembly 1-11 for the empty pallet also includes a servo motor, a reducer, a motor support, a synchronous belt, a synchronous pulley, a protective cover, and a synchronous belt tensioning plate. One synchronous pulley is coaxially fixed to the screw of the empty pallet centering ball screw assembly 1-6, and the other synchronous pulley is coaxially fixed to the output shaft of the corresponding reducer. The servo motor is mounted through the motor support and is connected to the reducer for transmission. Its output power is transmitted through the empty pallet centering ball screw assembly 1-6, causing the two centering claws to move towards each other and clamp the empty pallet, or move away from each other and release the empty pallet. This secondary positioning structure can effectively correct the positional deviation of the empty pallet on the chain conveyor line, providing a more accurate benchmark for subsequent floorboard placement, thereby improving the overall accuracy and stability of packaging stacking.

[0028] The laser rangefinder 1-12 is positioned below the octagonal tube frame 1-2 or at a suitable detection location, with its ranging direction facing the surface of the floorboard hopper or the empty pallet station. The laser rangefinder 1-12 is used to detect changes in the height of the target surface, the position of the board, and the safe distance between the robot and the target. When the detection results meet preset conditions, the control system sends action commands to the relevant power components. Laser ranging enables non-contact detection, improving positioning reliability and reducing control deviations caused by changes in board thickness, stacking height fluctuations, or conveying errors. During operation, the multi-axis robot first moves the automatic floorboard opening device to a safe position above the floorboard hopper. After the laser rangefinder 1-12 detects the presence of the floorboard, the control system determines that the station is in position and then activates the floorboard opening power component 1-10. This causes the left claw component 1-3 and the right claw component 1-8 to move in opposite directions, pre-opening the inner corners of the four sides of the floorboard and further completing the initial shaping. At this point, the folded edges of the cardboard are pulled open, and the overall shape of the cardboard changes from a pre-folded state to a suction-ready state, creating conditions for the suction cup to stably adhere.

[0029] It should be noted that in this device, the left claw assembly 1-3, the right claw assembly 1-8 and the suction cup assembly 1-7 are not simply functionally superimposed, but rather constitute a time and space collaborative working relationship of "transportation - limiting - secondary shaping".

[0030] There is a common technical contradiction in the existing technology that has not been effectively resolved: if the inner corner of the pallet board is handled immediately after pre-opening, the corner will rebound or misalign uncontrollably due to vibration, gravity or material elasticity; if all corners are shaped at the hopper before handling, the cycle time will be greatly reduced and it will not be able to adapt to the positional deviation of the empty pallet.

[0031] This device resolves this contradiction through the following collaborative mechanism: During the process of the suction cup assembly 1-7 adsorbing the floor cardboard and rising to detach from the hopper, the left and right claw assemblies do not retract completely, but remain at a certain opening stroke position, forming a floating limit on the inner fold corners on both sides of the floor cardboard; when the robot arm moves the floor cardboard above the empty pallet, the floor cardboard opening power assembly 1-10 drives the claw assemblies to move towards each other and then away from each other, using the stable reference formed after the empty pallet is centered to complete the second precise opening of the inner fold corners of the floor cardboard.

[0032] The three-stage action logic of "pre-opening angle before adsorption - continuous limiting during handling - secondary fine opening angle before board placement" eliminates the mutual constraint between folding angle control accuracy and cycle time. Simultaneously, the laser rangefinders 1-12 are used not only for hopper positioning during this process but also to detect whether the floorboard's height changes due to folding angle rebound, and dynamically correct the drive stroke of the floorboard opening power assembly 1-10, achieving adaptive opening angles for floorboards of different specifications and with varying degrees of moisture.

[0033] This application also discloses an automatic board-opening method using the above-mentioned automatic board-opening device, comprising the following steps: S1, the robotic arm carries the automatic floor cardboard opening device to a safe position above the floor cardboard hopper and maintains a preset distance from the hopper surface; S2, the laser rangefinder 1-12 detects the height or positioning status of the floor linerboard surface. When the preset conditions are met, it outputs a secondary positioning signal for the floor linerboard and allows subsequent claw opening actions to be executed. S3, the power assembly 1-10 for opening the floorboard drives the ball screw assembly 1-5 for opening the inner corner of the floorboard to rotate in the opposite direction, which drives the left claw assembly 1-3 and the right claw assembly 1-8 to move in opposite directions, so that the left and right claws open and pre-open the inner corner of the floorboard. S4. When the left and right claws reach the predetermined position, the cylinders of the suction cup assembly 1-7 extend, causing the suction cup to descend to the surface of the floor cardboard. The vacuum generator is turned on, and the suction cup adsorbs the floor cardboard and completes the automatic floor cardboard removal action. S5, the robotic arm moves the adsorbed floorboard to a safe position above the empty pallet, and keeps the floorboard and the empty pallet at the preset placement height; S6, the power assembly 1-10 for opening the floorboards drives the ball screw assembly 1-5 for opening the inner corner of the floorboards again to cooperate in the forward and reverse directions. First, the left claw assembly 1-3 and the right claw assembly 1-8 move towards each other to close, and then the reverse drive makes them move away from each other to complete the secondary opening of the inner corner of the floorboards and the posture correction. S7, the empty pallet automatic centering power component 1-11 drives the empty pallet centering ball screw component 1-6 to rotate in the forward direction, which drives the empty pallet centering left claw component 1-4 and the empty pallet centering right claw component 1-9 to move in opposite directions, clamping the empty pallet and achieving secondary precision positioning. S8. After the empty pallet is aligned, the empty pallet automatic alignment power component 1-11 drives the empty pallet alignment ball screw component 1-6 to rotate in the opposite direction, causing the empty pallet alignment left pawl component 1-4 and the empty pallet alignment right pawl component 1-9 to move in opposite directions and release the empty pallet. S9, the cylinders of suction cup assembly 1-7 retract, causing the suction cups to rise. At the same time, the vacuum generator is turned off and the vacuum is broken, and the floor cardboard is smoothly released and placed on the empty pallet, completing the automatic floor cardboard placement action. S10, the control system determines whether the current action cycle has ended. If it has not ended, it returns to step S1 to continue the next cycle, thereby realizing continuous automated operation.

[0034] The above are merely preferred embodiments of this application. The scope of protection of this application is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in this application should be included within the scope of protection recorded in the claims.

Claims

1. An automatic cardboard opening device, characterized in that, include: A robotic arm connecting flange plate (1-1) is used to connect to a multi-axis robot or a multi-axis gantry robot. An octagonal tube frame (1-2) is fixedly connected to the lower part of the robotic arm connecting flange plate (1-1); A left pawl assembly (1-3) and a right pawl assembly (1-8) are respectively disposed on the left and right sides of the octagonal tube frame (1-2); Automatic paperboard opening and internal corner folding ball screw assembly (1-5), the two ends of which are respectively connected to the left pawl assembly (1-3) and the right pawl assembly (1-8); The power assembly for opening the cardboard is (1-10), which is connected to the ball screw assembly for automatic opening the cardboard inner folding corner (1-5) to drive the left claw assembly (1-3) and the right claw assembly (1-8) to move towards each other or away from each other. Suction cup assembly (1-7), the suction cup assembly (1-7) is disposed on both sides of the octagonal tube frame (1-2) and connected to the vacuum generator; Empty pallet centering left claw assembly (1-4) and empty pallet centering right claw assembly (1-9) are respectively disposed on the left and right sides of the empty pallet; Empty pallet centering ball screw assembly (1-6), the two ends of which are respectively connected to the empty pallet centering left pawl assembly (1-4) and the empty pallet centering right pawl assembly (1-9); An automatic centering power assembly for empty pallets (1-11) is connected to the ball screw assembly for empty pallet centering (1-6) to drive the left pawl assembly (1-4) and the right pawl assembly (1-9) for empty pallet centering to move toward each other or away from each other. A laser rangefinder (1-12) is provided, which is located below the connecting flange plate (1-1) of the robotic arm or at the corresponding position of the octagonal tube frame (1-2).

2. The automatic cardboard opening device according to claim 1, characterized in that: The left pawl assembly (1-3) includes a slide plate, a lead screw nut seat, and a pawl. The right pawl assembly (1-8) includes a slide plate, a lead screw nut seat, and a pawl. The left pawl assembly (1-3) and the right pawl assembly (1-8) are located at the two ends of the automatic floor-opening cardboard inner corner ball screw assembly (1-5), respectively.

3. The automatic cardboard opening device according to claim 1, characterized in that: The suction cup assembly (1-7) includes a cylinder fixing plate, a cylinder, a suction cup fixing bracket, and a suction cup. The cylinder fixing plate is fixed on the octagonal tube frame (1-2), the cylinder is connected to the suction cup fixing bracket, and the suction cup is mounted on the suction cup fixing bracket.

4. The automatic cardboard opening device according to claim 1, characterized in that: The empty pallet centering left pawl assembly (1-4) and the empty pallet centering right pawl assembly (1-9) each include a sliding plate, a lead screw nut seat, and a centering pawl, and the empty pallet centering left pawl assembly (1-4) and the empty pallet centering right pawl assembly (1-9) are located at both ends of the empty pallet centering ball screw assembly (1-6).

5. An automatic cardboard opening device according to claim 1, characterized in that: The power assembly (1-10) for opening the cardboard includes a servo motor, a reducer, a motor support, a synchronous belt, a synchronous pulley, a protective cover, and a synchronous belt tensioning plate. The servo motor is driven and connected to the automatic cardboard inner folding ball screw assembly (1-5) through the reducer and the synchronous belt.

6. The automatic cardboard opening device according to claim 1, characterized in that: The automatic centering power assembly (1-11) for empty pallets includes a servo motor, a reducer, a motor support, a synchronous belt, a synchronous pulley, a protective cover, and a synchronous belt tensioning plate. The servo motor is driven and connected to the ball screw assembly (1-6) for empty pallet centering through the reducer and the synchronous belt.

7. An automatic cardboard opening device according to claim 1, characterized in that: The octagonal tube frame (1-2) consists of an octagonal tube, a right-angle connector, an octagonal tube plug, and octagonal tube screws.

8. An automatic method for opening cardboard using the apparatus according to any one of claims 1 to 7, characterized in that, Includes the following steps: S1, the robotic arm moves the automatic floorboard opening device to a safe position above the floorboard hopper; S2, the laser rangefinder (1-12) outputs a secondary positioning signal after detecting the position of the floorboard; S3, the power assembly (1-10) drives the left claw assembly (1-3) and the right claw assembly (1-8) to move in opposite directions, pre-opening the inner corner of the floor folding board and reshaping it. S4, the suction cup assembly (1-7) moves down and attaches to the floor cardboard, completing the automatic floor cardboard removal; S5, the robotic arm moves the adsorbed floorboard to a safe position above the empty pallet; S6, the floor folding power assembly (1-10) drives the left claw assembly (1-3) and the right claw assembly (1-8) to move towards each other and then away from each other, completing the secondary opening of the inner corner of the floor folding board; S7, the empty pallet automatic centering power component (1-11) drives the empty pallet centering left claw component (1-4) and the empty pallet centering right claw component (1-9) to move towards each other to clamp and position the empty pallet; S8, the suction cup assembly (1-7) releases the floor cardboard, allowing the floor cardboard to be placed on an empty pallet, completing the automatic placement of the floor cardboard.

9. The automatic cardboard opening method according to claim 8, characterized in that, In step S3, the left claw assembly (1-3) and the right claw assembly (1-8) open the inner corner of the floorboard when moving in opposite directions, and reshape the inner corner of the floorboard when moving in opposite directions.

10. The automatic cardboard opening method according to claim 8, characterized in that, In step S7, the empty pallet centering left claw assembly (1-4) and the empty pallet centering right claw assembly (1-9) move towards each other and then away from each other to complete the clamping, centering and release of the empty pallet.

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