A mechanical hand unboxing and bottom folding sealing box equipment

Abstract

The present application relates to a kind of mechanical hand opening box and bottom folding sealing equipment, including paper box stacking storage unit, mechanical hand opening box unit and bottom folding sealing unit, and mechanical hand opening box unit is between paper box stacking storage unit and bottom folding sealing unit.The present application is placed by setting multiple trays and stacking paper box on tray, cooperate artificial forklift loading and double loading position design, substantially save loading time, improve production efficiency.Multiple trays can place different specifications of paper box at the same time, cooperate camera transfer mechanism to drive camera to move and identify paper box specification, realize the quick switching of different specifications of paper box, without manual adjustment parameter on equipment alone, truly realize one-key switching.

Description

Technical Field

[0001] This invention relates to the field of intelligent packaging automation equipment technology, and in particular to a robotic arm for opening and sealing boxes. Background Technology

[0002] Robotic carton openers are intelligent packaging automation equipment and core functional devices in packaging production lines. They are mainly used to automatically pick up cartons, expand and form them, and fold and seal the bottoms. They are widely used in e-commerce logistics, food processing, and finished product packaging in manufacturing, where batch opening and packaging are required. With the upgrading of manufacturing automation, the market's requirements for automation and flexibility in the carton opening process are constantly increasing. Traditional semi-automatic carton openers (poor adaptability to carton specifications; not compatible with both large and small cartons; the carton hopper requires repeated manual loading, which is inconvenient; after opening each carton individually, the cartons in the hopper are prone to tipping over or slipping, requiring manual sorting and affecting opening efficiency) can no longer meet the production needs of high capacity and multiple specifications. The industry urgently needs a more stable and efficient automated carton opening solution.

[0003] Existing semi-automatic box opening equipment has the following shortcomings: 1. Poor adaptability of carton specifications; it cannot be compatible with different sizes of cartons. When it is necessary to switch to different sizes of cartons, manual adjustments to the equipment are required, which seriously affects production efficiency.

[0004] 2. The cardboard box hopper is filled manually and repeatedly, which is inconvenient. After the cardboard boxes are removed one by one, the remaining cardboard boxes in the hopper are prone to tipping over or sliding, requiring frequent manual sorting, which seriously affects the opening efficiency.

[0005] 3. The unpacking and bottom sealing processes are separated. After the carton is unpacked, it needs to be manually transferred to the sealing station, which makes it impossible to form a continuous fully automated production line operation.

[0006] 4. The bending process of the bottom flap of the carton lacks precise guidance, resulting in unstable folding quality and easily leading to unqualified sealing.

[0007] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a robotic arm for opening and sealing boxes, making it more valuable for industrial use. Summary of the Invention

[0008] To solve the above-mentioned technical problems, the purpose of this invention is to provide a robotic arm device for opening and sealing boxes.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm box opening and bottom sealing device includes a carton stacking and storage unit, a robotic arm box opening unit, and a bottom sealing unit, wherein the robotic arm box opening unit is located between the carton stacking and storage unit and the bottom sealing unit; The cardboard box stacking storage unit includes a cardboard box stacking gantry, several trays are installed side by side below the cardboard box stacking gantry, cardboard boxes are stacked on the trays, and a camera transfer mechanism is installed at the top of the cardboard box stacking gantry, which drives the camera to move. The robotic arm unpacking unit includes a robotic arm base, a robotic arm, and an unpacking mechanism. The robotic arm is mounted on the robotic arm base, and the unpacking mechanism is mounted on the robotic arm. The unpacking mechanism includes a first gripping plate and a second gripping plate. The second gripping plate is rotatably mounted on the first gripping plate via a rotating shaft. A first vacuum suction cup is mounted on the first gripping plate, and a second vacuum suction cup is mounted on the second gripping plate. A gripping plate flipping mechanism is also mounted on the first gripping plate, which drives the second gripping plate to rotate relative to the first gripping plate. The bottom-folding and sealing unit includes a sealing base, a flip-plate worktable, a bottom-folding flip plate, a bottom-folding guide frame, a clamping conveyor frame, a sealing assembly, a clamping gantry frame, and a clamping plate; A flip-plate workbench is installed on the front and rear sides of the left side of the sealing base. A folding bottom flip plate is installed on the inner side of the flip-plate workbench. A flip-plate drive mechanism is installed at the bottom of the flip-plate workbench. The flip-plate drive mechanism drives the folding bottom flip plate to flip. A folding bottom guide frame distributed in the left-right direction is set between the two folding bottom flaps; Clamping conveyor frames distributed in the left and right directions are installed on the sealing base on the right side of the two folded bottom flaps. Each clamping conveyor frame is equipped with a conveyor belt running in the left and right direction. The bottom of the clamping conveyor frame moves back and forth on the sealing base through the conveyor frame guide module. A conveyor frame drive module is installed on the sealing base, which drives the two clamping conveyor frames to move in the back and forth direction. A sealing assembly is installed on the sealing base below between the two clamping conveyors; A clamping gantry is installed on the sealing base above the clamping conveyor, and a clamping assembly is installed on the top of the clamping gantry, which is located above the sealing assembly. The clamping assembly includes a clamping mounting base, a clamping lifting mechanism, and a clamping plate. The clamping mounting base is installed on the top of the clamping gantry, and the clamping lifting mechanism is installed on the clamping mounting base. The clamping lifting mechanism drives the clamping plate to move up and down.

[0010] As a further improvement of the present invention, the first gripping plate is connected to the robotic arm via a connecting flange.

[0011] As a further improvement of the present invention, an arc-shaped end facing upward to the left is provided on the left side of the bottom folding guide, and the bottom folding guide extends to the left side of the sealing base.

[0012] As a further improvement of the present invention, folding guide rods are respectively installed on the sealing base below the right side of the two folding bottom flaps. The two folding guide rods are arranged in a figure-eight shape, with the side of the two folding guide rods with the larger opening facing the left.

[0013] As a further improvement of the present invention, a number of guide wheels are installed on the top of the clamping conveyor.

[0014] As a further improvement of the present invention, a lower blocking mechanism is installed on the sealing base on the left side of the sealing assembly. The lower blocking mechanism includes a lower blocking cylinder and a lower baffle plate. The lower blocking cylinder drives the lower baffle plate to move up and down. A side blocking mechanism is installed on the clamping conveyor near the left side. The side blocking mechanism includes a side blocking cylinder and a side baffle plate. The side blocking cylinder drives the side baffle plate to move back and forth.

[0015] As a further improvement of the present invention, a limit post is installed on the first gripping plate, and a buffer block is installed on the limit post.

[0016] As a further improvement of the present invention, a plurality of first vacuum suction cups are installed on the first gripping plate along the length and width directions of the first gripping plate, and a plurality of second vacuum suction cups are installed on the second gripping plate along the length and width directions of the second gripping plate.

[0017] As a further improvement of the present invention, the first vacuum suction cup and the second vacuum suction cup are respectively mounted on the first gripping plate and the second gripping plate through the waist-shaped hole.

[0018] As a further improvement of the present invention, a guide shaft is installed on the top of the clamping plate, and the guide shaft is connected to a linear bearing on the clamping mounting base.

[0019] By means of the above-described solution, the present invention has at least the following advantages: 1. This invention significantly reduces loading time and improves production efficiency by setting up multiple pallets and stacking cartons on them, combined with manual forklift loading and a dual loading position design. Simultaneously, multiple pallets can hold cartons of different sizes, and a camera transfer mechanism drives the camera to move and identify carton sizes, enabling rapid switching between different carton sizes without requiring manual parameter adjustments on the equipment, truly achieving one-click switching.

[0020] 2. This invention achieves automatic unfolding and forming of cartons by connecting the first and second gripping plates via a rotating shaft and driving the second gripping plate to rotate relative to the first gripping plate through a gripping plate flipping mechanism. The first and second vacuum suction cups are evenly arranged along the length and width directions of the gripping plates, respectively, and are installed through oblong holes, allowing the position of the vacuum suction cups to be flexibly adjusted according to the size of the cartons, thus adapting to various sizes of cartons.

[0021] 3. This invention uses a bottom-folding guide to bend the short flaps on the left and right sides of the bottom of the carton, while simultaneously separating the long flaps on the front and rear sides of the carton onto the front and rear sides of the bottom-folding guide, providing precise guidance and positioning for the subsequent bending of the bottom-folding flaps. The arc-shaped end on the left side of the bottom-folding guide allows the carton to smoothly enter the guide. Two bottom-folding flaps simultaneously bend the long flaps on the front and rear sides, and the bottom-folding guide rod guides and shapes the bent flaps, ensuring the quality of the bottom fold.

[0022] 4. This invention uses two clamping conveyor frames that move synchronously inward under the drive of the conveyor frame drive module to clamp the carton. The conveyor belt then moves the carton to the right. During the sealing process, the lower sealing assembly seals the bottom of the carton, while the upper top plate, driven by the top lifting mechanism, moves downward to tighten the top of the carton, ensuring the stability of the carton during sealing and improving the sealing quality. The guide wheels, side blocking mechanisms, and lower blocking mechanisms at the top of the clamping conveyor frames together ensure the precise guidance and positioning of the carton during transport.

[0023] 5. This invention achieves fully automated operation from carton stacking and storage, automatic material picking, automatic identification, automatic carton opening and forming, and automatic bottom folding and sealing by working together with a carton stacking and storage unit, a robotic arm carton opening and sealing unit, and a bottom folding and sealing unit. No manual transfer is required, and the opening and sealing of the carton is truly fully automated, meeting the production needs of high-capacity production lines.

[0024] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the following are preferred embodiments of the present invention described in detail with reference to the accompanying drawings. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a robotic arm box opening and bottom sealing device according to the present invention; Figure 2 yes Figure 1 Schematic diagram of the structure of the medium-sized cardboard box stacking storage unit; Figure 3 yes Figure 1 Schematic diagram of the structure of the robotic arm unpacking unit; Figure 4 yes Figure 2 A structural schematic diagram of one side of the central box-opening mechanism; Figure 5 yes Figure 4 A structural diagram of the other side; Figure 6 yes Figure 2 A schematic diagram of the structure of the carton opening mechanism adapted to large-size cartons; Figure 7 yes Figure 2 A schematic diagram of the structure of the carton opening mechanism adapted to small-sized cartons; Figure 8 yes Figure 1 A schematic diagram of the structure of the center-folded bottom sealing unit.

[0027] The meanings of the labels in the figures are as follows.

[0028] Cardboard box stacking and storage unit 1; robotic arm box opening unit 2; bottom folding and sealing unit 3; Cardboard box stacking gantry 101, pallet 102, cardboard box 103, camera transfer mechanism 104, camera 105; Robotic arm base 201, robotic arm 202, box opening mechanism 203; First gripping plate 2031, connecting flange 2032, second gripping plate 2033, rotating shaft 2034, first vacuum suction cup 2305, second vacuum suction cup 2306, gripping plate flipping mechanism 2307, flipping connecting seat 2308; 301. Sealing base, 302. Folding workbench, 303. Folding bottom flap, 304. Folding bottom guide frame, 305. Clamping conveyor frame, 306. Folding bottom guide rod, 307. Conveyor belt, 308. Conveyor frame drive module, 309. Conveyor frame guide module, 310. Sealing assembly, 311. Lower blocking mechanism, 312. Side blocking mechanism, 313. Tightening gantry frame, 314. Tightening lifting mechanism, 315. Tightening mounting top seat, 316. Tightening plate. Detailed Implementation

[0029] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] First embodiment of the present invention: like Figure 1 As shown in the figure, a robotic arm box opening and bottom sealing device in this embodiment mainly includes a carton stacking and storage unit 1, a robotic arm box opening unit 2 and a bottom sealing unit 3, with the robotic arm box opening unit 2 located between the carton stacking and storage unit 1 and the bottom sealing unit 3.

[0032] like Figure 2 As shown, the cardboard box stacking storage unit 1 includes a cardboard box stacking gantry 101. Several trays 102 are installed side by side below the cardboard box stacking gantry 101. Several cardboard boxes 103 to be processed are stacked on the trays 102 from bottom to top. At this time, the cardboard boxes 103 are in a folded plate-like structure before processing.

[0033] There are multiple pallets 102, on which cardboard boxes of different sizes can be placed.

[0034] A camera transfer mechanism 104 is installed on top of the cardboard box stacking gantry 101, which drives the camera 105 to move at least in the left and right directions.

[0035] like Figure 3 As shown, the robotic arm unpacking unit 2 mainly includes a robotic arm 202 and an unpacking mechanism 203. The robotic arm 202 is mounted on the robotic arm base 201 below, and the unpacking mechanism 203 is mounted on the robotic arm 202.

[0036] like Figure 4 and Figure 5As shown, the unpacking mechanism 203 mainly includes a first gripping plate 2031 and a second gripping plate 2033. The outer side of the first gripping plate 2031 is connected to the robotic arm 202 through a connecting flange 2032. The second gripping plate 2033 is rotatably mounted on the first gripping plate 2031 through a rotating shaft 2034. Several first vacuum suction cups 2305 are installed on the inner side of the first gripping plate 2031, and several second vacuum suction cups 2306 are installed on the inner side of the second gripping plate 2033.

[0037] A gripping plate flipping mechanism 2307 is also installed on the inner side of the first gripping plate 2031. The driving end of the gripping plate flipping mechanism 2307 is connected to the flipping connecting seat 2308 on the second gripping plate 2033, and is used to drive the second gripping plate 2033 on one side to rotate relative to the first gripping plate 2031.

[0038] A brief description of the working process of the cardboard box stacking and storage unit 1 and the robotic arm opening unit 2: Several cardboard boxes 103 are stacked on the tray 102 from bottom to top (at this time, the cardboard boxes 103 are in a folded plate-like structure before processing). Then, the first vacuum suction cup 2305 of the first gripping plate 2031 on the robotic arm 202 grips the first side of the top of the cardboard box 103, and the second vacuum suction cup 2306 of the second gripping plate 2033 grips the second side of the top of the cardboard box. The first side and the second side of the cardboard box 103 are two adjacent sides of the cardboard box body (not the top opening and the bottom opening).

[0039] Then, the second gripping plate 2033 rotates under the drive of the gripping cylinder, making the second gripping plate 2033 perpendicular to the first gripping plate 2031. At this time, the carton 103 is stretched and formed (e.g., Figure 6 and Figure 7 (As shown).

[0040] like Figure 8 As shown, the bottom-folding and sealing unit 3 mainly includes a sealing base 301, a flip-plate workbench 302, a bottom-folding flip plate 303, a bottom-folding guide frame 304, a clamping conveyor frame 305, a sealing assembly 310, a top-tightening gantry frame 313, and a top-tightening plate 316.

[0041] A flip-plate worktable 302 is installed on the front and rear sides of the left side (i.e. the feeding end) of the sealing base 301. A flip-plate bottom flap 303 that can be flipped is installed on the inner side of the flip-plate worktable 302. A flip-plate drive mechanism (cylinder, etc.) that can drive the bottom flap 303 to flip is installed at the bottom of the flip-plate worktable 302.

[0042] A folding guide 304, distributed along the left-right direction, is provided between the two folding flaps 303. The folding guide 304 can extend to the left side of the sealing base 301. The left side of the folding guide 304 has an arc-shaped end facing upward to the left.

[0043] A bottom-folding guide rod 306 is installed on the sealing base 301 below the right side of the two bottom-folding flaps 303. The two bottom-folding guide rods 306 are arranged in a figure-eight shape, with the side with the larger opening facing the left.

[0044] On the sealing base 301 to the right of the two folding bottom flaps 303, a clamping conveyor belt assembly distributed along the left and right directions is installed, and the two clamping conveyor belt assemblies cooperate with each other. Each clamping conveyor belt assembly includes a clamping conveyor frame 305 and a conveyor belt 307. The conveyor belt 307 that can run along the left and right directions is installed on the clamping conveyor frame 305. The left and right sides of the bottom of the clamping conveyor frame 305 move back and forth on the sealing base 301 through the conveyor frame guide module 309 (i.e., slider guide rail mechanism). A conveyor frame drive module 308 (i.e. belt drive module) that can synchronously drive the two clamping conveyor frames 305 to run in the same direction and in opposite directions in the front and back directions is installed on the sealing base.

[0045] In addition, several guide wheels are evenly installed on the top of the clamping conveyor 305 along the left and right directions to facilitate auxiliary conveying and guiding.

[0046] A sealing assembly 310 is mounted on the sealing base 301 below the two clamping conveyors 305, and the sealing assembly 310 is located near the middle of the two.

[0047] A lower blocking mechanism 311 (material blocking cylinder + material blocking plate) is installed on the sealing base 301 on the left side of the sealing assembly 310. The material blocking cylinder drives the material blocking plate at the top to move up and down.

[0048] A side blocking mechanism 312 (blocking cylinder + blocking plate) is installed on the clamping conveyor 305 near the left side. The blocking cylinder drives the inner blocking plate to move back and forth.

[0049] A clamping gantry 313 is mounted on the sealing base above the clamping conveyor belt assembly, and a clamping component is mounted on top of the clamping gantry 313, which is located directly above the sealing assembly 310.

[0050] The clamping assembly includes a clamping lifting mechanism 314, a clamping mounting top 315, a clamping plate 316, and multiple guide shafts.

[0051] The top mounting bracket 315 is installed on the top of the top mounting gantry 313. A top mounting lifting mechanism 314 (top mounting cylinder) is installed in the middle of the top mounting bracket 315. The top mounting cylinder drives the bottom mounting plate 316 to move up and down. The main body of the top mounting plate 316 is a flat plate structure, and there are bent ends on both its left and right sides that bend upwards.

[0052] Several guide shafts are also installed on the top of the clamping plate 316, which are connected to linear bearings on the clamping mounting top seat 315.

[0053] A brief description of the working process of the robotic arm unpacking unit 2 and the bottom-folding sealing unit 3 mentioned above: After the carton 103 is unfolded and formed, the robotic arm 202 continues to move the carton 103 left and right along the bottom folding guide 304, causing the short flaps on the left and right sides of the bottom of the carton 103 to be bent. At this time, the long flaps on the front and rear sides of the carton 103 are located on the front and rear sides of the bottom folding guide 304, respectively. Then the robotic arm continues to move the carton 103 to the right. When the carton 103 moves to the position of the two bottom folding flaps, the front and rear bottom folding flaps flip, thereby bending the long flaps on the front and rear sides of the carton 103. Then the robotic arm 202 continues to move the carton 103 between the two clamping conveyor frames 305. After that, the two clamping conveyor frames 305 move inward and clamp the inner side of the carton 103. Then the carton 103 continues to move to the right under the drive of the two conveyor belts 307. During this process, the tape on the sealing assembly 310 located below seals the long flaps at the bottom of the carton 103. The sealing component 310 is a standard piece of equipment available on the market, capable of sealing and tape cutting.

[0054] Meanwhile, during the bottom sealing process, the top clamping plate 316 moves downward and tightens the top of the carton 103.

[0055] The sealed cardboard box 103 goes directly into the rolling line to the next packing station.

[0056] The second embodiment of the present invention: like Figure 1 As shown in the figure, this embodiment of a robotic arm box opening and bottom folding sealing device includes a carton stacking and storage unit 1 for storing folded cartons to be processed, a robotic arm box opening unit 2 for taking out the cartons from the carton stacking and storage unit 1 and unfolding them into shape, and a bottom folding sealing unit 3 for bending and sealing the bottom flap of the unfolded carton.

[0057] 1. Specific structure of cardboard box stacking storage unit 1: like Figure 2 As shown, the cardboard box stacking gantry 101 is a gantry frame structure, with its bottom fixedly installed on the ground.

[0058] There are multiple pallets 102 (two in this embodiment), and different pallets 102 can hold cartons 103 of the same or different specifications. When it is necessary to switch to producing cartons of different specifications, a forklift can be used to place the cartons of the corresponding specifications onto the corresponding pallet 102. The structure of multiple pallets 102 arranged side by side allows the equipment to store cartons of various specifications at the same time. With the help of a forklift to replace the carton stacks on the pallets 102 as a whole, it realizes rapid material loading and flexible switching of cartons of different specifications. There is no need to replenish cartons one by one during equipment operation, which fundamentally avoids the problem of leftover cartons easily tipping over or sliding off after being removed one by one in traditional silos.

[0059] The camera transfer mechanism 104 can employ conventional linear drive mechanisms such as synchronous belt linear modules, lead screw linear modules, or linear motors. The camera 105 is fixedly mounted on the moving end of the camera transfer mechanism 104. The camera transfer mechanism 104 drives the camera 105 to move at least in the left-right direction. The camera 105 is used to photograph and identify the cartons 103 on the lower pallet 102, obtaining their size and position information, and sending this information to the equipment's central control system. The camera transfer mechanism 104 drives the camera 105 to move above different pallets 102, identifying the cartons 103 on each pallet 102. The cooperation between the camera 105 and the camera transfer mechanism 104 enables the equipment to automatically identify the carton specifications on different pallets 102 during production, achieving automatic carton model perception and confirmation. This provides a data foundation for the subsequent automatic gripping and parameter adaptive adjustment of the robotic arm 202, and is a prerequisite for realizing the one-click switching function.

[0060] 2. Specific structure of robotic arm unpacking unit 2: like Figure 3 As shown, the robotic arm base 201 is fixedly installed on the ground, located between the carton stacking and storage unit 1 and the bottom-folding and sealing unit 3. The robotic arm 202 is a six-axis industrial robot with multiple rotary joints, capable of moving in any posture in three-dimensional space. The box-opening mechanism 203 is installed on the movable end of the robotic arm 202.

[0061] like Figure 4 and Figure 5 As shown, the box opening mechanism 203 mainly includes a first gripping plate 2031 and a second gripping plate 2033. Both the first gripping plate 2031 and the second gripping plate 2033 are flat plate structures.

[0062] The outer side of the first gripping plate 2031 (i.e., the side furthest from the carton) is fixedly connected to the movable end of the robotic arm 202 via a connecting flange 2032. One end of the connecting flange 2032 is fixedly connected to the first gripping plate 2031, and the other end is fixedly connected to the movable end of the robotic arm 202. The connecting flange 2032 serves as a standard interface component, enabling the unpacking mechanism 203 to be quickly installed on different models of robotic arms 202, thus improving the modularity and versatility of the equipment.

[0063] The second gripping plate 2033 is rotatably mounted on the first gripping plate 2031 via a pivot 2034. Specifically, at one edge of the first gripping plate 2031 (with... Figure 4 (In the indicated direction) A rotating shaft seat is fixedly installed, and the rotating shaft 2034 is rotatably installed in the rotating shaft seat. The edge of the second gripping plate 2033 is fixedly connected to the rotating shaft 2034, allowing the second gripping plate 2033 to rotate relative to the first gripping plate 2031 around the rotating shaft 2034. The second gripping plate 2033 is directly rotatably mounted on the first gripping plate 2031 via the rotating shaft 2034. Compared with the existing technology that uses a movable linkage mechanism to drive the side suction cup to rotate, this structure eliminates the intermediate linkage transmission link, reduces transmission backlash and accumulated errors, makes the rotation angle of the second gripping plate 2033 more precise and controllable, and has a faster response speed. At the same time, the structure is more compact, reducing manufacturing and assembly difficulties.

[0064] Several first vacuum suction cups 2305 are installed on the inner side of the first gripping plate 2031 (i.e., the side facing the carton). Several second vacuum suction cups 2306 are installed on the inner side of the second gripping plate 2033 (i.e., the side facing the carton). Both the first vacuum suction cups 2305 and the second vacuum suction cups 2306 are connected to a vacuum generating device (such as a vacuum pump or vacuum generator) via air pipes.

[0065] Several first vacuum suction cups 2305 are evenly installed along the length and width of the first gripping plate 2031, forming an array. Several second vacuum suction cups 2306 are evenly installed along the length and width of the second gripping plate 2033, forming an array. This array-distributed suction cup structure allows the carton opening mechanism 203 to adapt to cartons of different sizes. When the carton size changes, there is always a corresponding suction cup in contact with the carton surface and generates adsorption force, ensuring reliable gripping of cartons of different specifications. At the same time, the simultaneous adsorption of multiple suction cups increases the uniformity of the gripping force distribution, preventing damage to the carton due to excessive local force during the opening process.

[0066] The first vacuum suction cup 2305 and the second vacuum suction cup 2306 are respectively mounted on the first gripping plate 2031 and the second gripping plate 2033 through oblong holes. Specifically, oblong holes are provided on the first gripping plate 2031 and the second gripping plate 2033, and the mounting screws of the vacuum suction cups pass through the oblong holes and are locked with nuts. Through this oblong hole mounting method, the mounting position of the vacuum suction cups on the gripping plates can be adjusted along the length of the oblong hole, allowing for flexible adjustment of the suction cup position according to the specific size of the carton, further improving the compatibility of the equipment. Compared with the method of providing multiple fixed mounting holes on the gripping plate, this oblong hole adjustment structure offers a more continuous adjustment range and a higher degree of adjustment freedom, enabling it to adapt to more different sizes of cartons.

[0067] A gripping plate flipping mechanism 2307 is also installed on the inner side of the first gripping plate 2031. The gripping plate flipping mechanism 2307 is a cylinder, and the cylinder body is fixedly installed on the first gripping plate 2031. A flipping connecting seat 2308 is fixedly installed on the second gripping plate 2033. The driving end of the gripping plate flipping mechanism 2307 (i.e., the piston rod end of the cylinder) is connected to the flipping connecting seat 2308 on the second gripping plate 2033. When the piston rod of the gripping plate flipping mechanism 2307 extends or retracts, it drives the second gripping plate 2033 to rotate relative to the first gripping plate 2031 around the rotating shaft 2034 through the flipping connecting seat 2308. Using a cylinder as the gripping plate flipping mechanism 2307 has the advantages of simple structure, low cost, fast response speed, and convenient maintenance compared to the solution of using a servo motor and reducer. Moreover, the output force of the cylinder is stable and controllable, which can meet the force requirements during the opening process of the carton. The flip-connector 2308 serves as a force transmission component between the cylinder and the second gripping plate 2033, converting the linear motion of the cylinder piston rod into the rotational motion of the second gripping plate 2033, thus achieving a reliable conversion of the drive mode.

[0068] Limiting posts are installed on the outer and inner sides of the first gripping plate 2031, respectively. Specifically, limiting posts are fixedly installed on the outer and inner sides of the left edge of the first gripping plate 2031, respectively. When the second gripping plate 2033 rotates to be parallel to the first gripping plate 2031 (closed state) or perpendicular to the first gripping plate 2031 (open state), corresponding to... Figure 6 and Figure 7In the state shown, the edge of the second gripping plate 2033 abuts against the corresponding limiting post, achieving forward and reverse limiting of the second gripping plate 2033 during the flipping process. Limiting posts are set on the outer and inner sides of the first gripping plate 2031, so that the rotation range of the second gripping plate 2033 is precisely limited between the closed position and the open position. This ensures that the second gripping plate 2033 can maintain a precise perpendicular relationship with the first gripping plate 2031 every time it flips to the open position, thereby ensuring that the carton 103 is opened into a standard square cylindrical structure. Compared with the method of positioning by the end of the cylinder stroke, this mechanical limiting method has the advantages of high positioning accuracy, good repeatability, and no influence from air pressure fluctuations. Moreover, the limiting post directly bears the rotational impact force of the second gripping plate 2033, protecting the rotating shaft 2034 and the gripping plate flipping mechanism 2307 from overload damage.

[0069] A buffer block made of elastic material is also installed on the limit post. The buffer block is used to cushion the impact and reduce noise when the second gripping plate 2033 comes into contact with the limit post. The elastic material of the buffer block can absorb the kinetic energy when the second gripping plate 2033 rotates to the limit position, avoiding damage to the limit post and the second gripping plate 2033 caused by rigid collision, while reducing the noise during equipment operation and extending the service life of the equipment.

[0070] 3. The coordinated operation of the first gripping plate 2031 and the second gripping plate 2033 in the unpacking mechanism 203: The first gripping plate 2031 and the second gripping plate 2033 are rotatably connected via a rotating shaft 2034 and directly driven by a gripping plate flipping mechanism 2307. These three components form a rigidly connected, fast-response unpacking execution unit. During operation, the first vacuum suction cup 2305 on the first gripping plate 2031 applies suction force to the first surface of the carton 103, and the second vacuum suction cup 2306 on the second gripping plate 2033 applies suction force to the second surface of the carton 103. The suction cups on both gripping plates simultaneously exert suction on two adjacent surfaces of the carton 103. When the gripping plate flipping mechanism 2307 drives the second gripping plate 2033 to rotate, the suction force of the second vacuum suction cup 2306 on the second side of the carton 103 provides a force transmission path for the second gripping plate 2033 to apply force to the carton 103, allowing the second side of the carton 103 to rotate synchronously with the second gripping plate 2033. Meanwhile, the suction force of the first vacuum suction cup 2305 on the first side of the carton 103 holds the first side of the carton 103 on the first gripping plate 2031. It is this differential suction principle of "one side fixed, one side rotating" that allows the folded carton 103 to be smoothly opened into a square cylindrical structure during the relative rotation of the two gripping plates. If only single-sided suction is used and the carton is opened by mechanical levers or other means, the opening action of the carton will be uncontrollable, easily causing the carton to tear or deform. Therefore, the simultaneous adsorption of the first vacuum suction cup 2305 and the second vacuum suction cup 2306 on two adjacent surfaces of the carton 103 is a key condition for the carton 103 to be reliably expanded and formed, and neither can be omitted.

[0071] 4. Coordinated operation between cardboard box stacking and storage unit 1 and robotic arm unpacking unit 2: After the camera transfer mechanism 104 drives the camera 105 to identify the carton 103 on the tray 102, it sends the size and position information of the carton 103 to the central control system. The central control system controls the movement trajectory, gripping position, and action parameters of the gripping plate flipping mechanism 2307 of the robotic arm 202 based on the identification results. This closed-loop control chain of "identification-positioning-gripping" enables the equipment to automatically switch between different sizes of cartons without any manual adjustment. Specifically, after the camera 105 identifies the size of the carton 103, the central control system calculates the contact positions that the first vacuum suction cup 2305 and the second vacuum suction cup 2306 should make with the surface of the carton 103, and controls the robotic arm 202 to move the carton opening mechanism 203 to the precise gripping position. After the carton 103 is opened, the central control system controls the robotic arm 202 to transport the carton 103 to the corresponding position in the bottom folding and sealing unit 3 according to the size of the carton 103. This visual recognition-based adaptive control mechanism enables the equipment to automatically select and adapt to the corresponding carton specifications when multiple pallets 102 are placed with cartons of different sizes, truly realizing the production modes of "one-click switching" and "switching with the production line".

[0072] 5. Specific structure of bottom-folding sealing unit 3: like Figure 8 As shown, the sealing base 301 is a horizontally arranged frame structure, fixedly installed on the ground. The left side of the sealing base 301 is the feeding end, and the right side is the discharging end.

[0073] Flip-plate worktables 302 are installed on the front and rear sides of the left side of the sealing base 301. The flip-plate worktables 302 are vertically arranged plate-shaped supports, fixedly installed on the sealing base 301. A foldable bottom flap 303 is installed on the inner side of the flip-plate worktable 302 (i.e., the side facing the center of the sealing base 301). The bottom flap 303 has a flat structure, with one end rotatably connected to the flip-plate worktable 302 via a pivot. A flip-plate drive mechanism is installed at the bottom of the flip-plate worktable 302. The flip-plate drive mechanism is a cylinder; the cylinder body is hinged to the bottom of the flip-plate worktable 302, and the piston rod end of the cylinder is hinged to the bottom of the bottom flap 303. The flip-plate drive mechanism drives the bottom flap 303 to rotate around the pivot, causing the bottom flap 303 to flip from a vertical state to a horizontal state. The flip-board drive mechanism is driven by a cylinder. It has a simple structure, large output force, and fast response speed. After the cylinder extends to the position, it has a certain buffering effect due to the compressibility of the gas. This can prevent the bottom flip-board 303 from causing a rigid impact on the long flap of the carton 103 when it flips to the position, thus protecting the carton from damage.

[0074] A bottom-folding guide 304, distributed along the left-right direction, is provided between two bottom-folding flaps 303. The bottom-folding guide 304 is a long strip structure with a trapezoidal or triangular cross-section that is narrower at the top and wider at the bottom. The bottom of the bottom-folding guide 304 is fixedly installed on the sealing base 301, and the left end of the bottom-folding guide 304 extends to the outer left side of the sealing base 301. An arc-shaped end facing upward to the left is provided on the left side of the bottom-folding guide 304, which makes the left end of the bottom-folding guide 304 form a smoothly transitioning guide slope. The bottom-folding guide 304 adopts a trapezoidal or triangular cross-section that is narrower at the top and wider at the bottom, so that as the carton 103 moves to the right along the bottom-folding guide 304, the short flaps on the left and right sides of the bottom of the carton 103 are smoothly pushed upward and bent under the action of the gradually increasing width of the slope of the bottom-folding guide 304, avoiding tearing of the cardboard caused by sudden bending. The curved end on the left side of the bottom folding guide 304 allows the carton 103 to smoothly transition when entering the bottom folding guide 304, avoiding rigid collision and damage between the bottom of the carton 103 and the left end of the bottom folding guide 304. The bottom folding guide 304 extends to the left side of the sealing base 301, allowing the robotic arm 202 to start moving along the bottom folding guide 304 from the outside with the carton 103. The bottom folding guide 304 begins to pre-fold the short flap at the bottom of the carton 103 before the carton 103 enters the sealing base 301, shortening the time occupied by the bottom folding process and improving the overall work efficiency.

[0075] A folding guide rod 306 is installed on the sealing base 301 below the right side of each of the two folding flaps 303. Both folding guide rods 306 extend in the left-right direction. The two folding guide rods 306 are arranged in a V-shape, that is, the distance between the two folding guide rods 306 in the left-right direction gradually increases from right to left, and the side with the larger opening of the two folding guide rods 306 faces to the left. Specifically, the front end of the left folding guide rod 306 (i.e., the end away from the center of the sealing base 301) is further forward than the rear end (i.e., the end closer to the center of the sealing base 301), and the front end of the right folding guide rod 306 is further backward than the rear end. The V-shape arrangement of the two folding guide rods 306 with the side with the larger opening facing to the left ensures that the long flaps on both sides, after being bent by the folding flaps 303, are gradually pressed and kept in a bent state under the guidance of the V-shaped guide surface when they enter between the two folding guide rods 306. The continuous guiding and pressing action of the bottom guide rod 306 on the long flap prevents the long flap from returning to its unbent state due to the elastic rebound of the cardboard after bending, ensuring that the long flap can remain in the bent position and enter the subsequent sealing process.

[0076] On the sealing base 301 to the right of the two folding bottom flaps 303, a clamping conveyor frame 305 distributed along the left and right direction is installed. The two clamping conveyor frames 305 are located on the front and rear sides of the sealing base 301, respectively, forming a conveying channel for the carton to pass through. The two clamping conveyor frames 305 are arranged opposite each other and cooperate with each other.

[0077] Each clamping conveyor 305 is a long, narrow frame structure. Each clamping conveyor 305 is equipped with a conveyor belt 307 that can run in the left-right direction. The conveyor belt 307 is a loop belt that is wound around pulleys installed at both ends of the clamping conveyor 305. The pulleys are driven to rotate by a motor, thereby driving the conveyor belt 307.

[0078] The bottom left and right sides of the clamping conveyor 305 move back and forth on the sealing base 301 via the conveyor guide module 309. The conveyor guide module 309 is a slider guide rail mechanism, including a guide rail fixedly installed on the sealing base 301 and a slider fixedly installed on the bottom of the clamping conveyor 305. The slider slides in cooperation with the guide rail, allowing the clamping conveyor 305 to slide along the guide rail in the back and forth direction. Using a slider guide rail mechanism as the conveyor guide module 309 has the advantages of high guiding accuracy, low frictional resistance, and strong load-bearing capacity. It can ensure the motion accuracy and stability of the two clamping conveyors 305 during the back and forth movement, and ensure that the clamping force of the two clamping conveyors 305 on the carton 103 is uniform.

[0079] A conveyor drive module 308 is mounted on the sealing base 301. The conveyor drive module 308 is used to synchronously drive two clamping conveyors 305 to move in the front-to-back direction. Specifically, the conveyor drive module 308 is a belt drive module, including a drive motor, a drive pulley, a driven pulley, and a synchronous belt. The drive motor is mounted on the sealing base 301, the drive pulley is mounted on the output shaft of the drive motor, the driven pulley is rotatably mounted on the sealing base 301, and the synchronous belt is wound between the drive pulley and the driven pulley. The two clamping conveyors 305 are fixedly connected to different sections of the synchronous belt. When the drive motor drives the synchronous belt, the two clamping conveyors 305 move simultaneously inward (closer to each other) or simultaneously outward (away from each other) under the drive of the synchronous belt, that is, the two clamping conveyors 305 achieve synchronous reverse movement. A belt drive module is used as the conveyor drive module 308. Two clamping conveyors 305 are driven simultaneously via the same synchronous belt, achieving completely synchronized movement of the two clamping conveyors 305. This ensures that the carton 103 remains centered in the conveying channel when clamped, avoiding problems such as skewing or misalignment of the carton 103 caused by asynchronous movement of the two clamping conveyors 305. Synchronous belt drives also offer advantages such as smooth transmission, low noise, and no need for lubrication or maintenance.

[0080] A sealing assembly 310 is installed on the sealing base 301 below the two clamping conveyors 305. The sealing assembly 310 is located below the center of the two clamping conveyors 305. The sealing assembly 310 is a commercially available conventional sealing device, including components such as a tape mounting base, tape roller, pressure roller, and cutter, which can complete the tape feeding, pressing, and cutting processes. The sealing assembly 310 is located below the center of the two clamping conveyors 305, so that the sealing position of the sealing assembly 310 corresponds to the middle section of the conveyor belt 307. The carton 103 has a stable conveying speed when it passes through the sealing assembly 310 under the drive of the conveyor belt 307, which is conducive to the stability of the sealing quality.

[0081] A lower blocking mechanism 311 is installed on the sealing base 301 on the left side of the sealing assembly 310. The lower blocking mechanism 311 includes a lower blocking cylinder and a lower baffle plate. The lower blocking cylinder is vertically mounted on the sealing base 301, and the lower baffle plate is fixedly mounted on the top of the piston rod of the lower blocking cylinder. The lower blocking cylinder drives the lower baffle plate to move up and down. When the lower blocking cylinder drives the lower baffle plate to move upward, the lower baffle plate extends upward into the conveyor channel to block and position the bottom of the carton; when the lower blocking cylinder drives the lower baffle plate to move downward, the lower baffle plate retracts downward below the conveyor channel, releasing the obstruction of the carton.

[0082] A side blocking mechanism 312 is installed on the clamping conveyor 305 near the left side. The side blocking mechanism 312 includes a side blocking cylinder and a side baffle plate. The side blocking cylinder is horizontally mounted on the clamping conveyor 305, and the side baffle plate is fixedly mounted on the piston rod end of the side blocking cylinder. The side blocking cylinder drives the side baffle plate to move in the front-back direction. When the side blocking cylinder drives the side baffle plate to move inward (toward the center of the sealing base 301), the side baffle plate extends into the conveying channel and blocks and positions the carton from the side; when the side blocking cylinder drives the side baffle plate to move outward, the side baffle plate exits the conveying channel and releases the blockage on the carton. The lower blocking mechanism 311 and the side blocking mechanism 312 block and position the carton 103 from the bottom and side, respectively. The two cooperate to form an "L"-shaped positioning reference, which can accurately position the carton 103 between the two clamping conveyors 305 with the robotic arm 202 in the predetermined clamping position. The lower blocking mechanism 311 and the side blocking mechanism 312 are driven independently by their respective cylinders. The timing of blocking and releasing can be flexibly controlled according to the size and position of the carton 103, ensuring that the carton 103 maintains an accurate position before being clamped by the clamping conveyor 305 and can be released smoothly after clamping.

[0083] Several guide wheels are evenly installed on the top of the clamping conveyor frame 305 along the left-right direction. The guide wheels are rotatably mounted on the top of the clamping conveyor frame 305, with their axes vertically aligned. When the carton moves to the right under the drive of the conveyor belt 307, the left and right sides of the carton contact the wheel surfaces of the guide wheels, which assist in guiding the movement of the carton. The guide wheels ensure that when the carton 103 moves on the conveyor belt 307, the front and rear side walls of the carton 103 are in rolling contact with the guide wheels. Compared to sliding contact, rolling contact has less friction, preventing wear on the side walls of the carton 103 during conveying. Simultaneously, the rotation of the guide wheels automatically corrects the direction of movement of the carton 103, ensuring that the carton 103 moves in a straight line and that the sealing assembly 310 accurately seals the bottom of the carton 103.

[0084] A clamping gantry 313 is installed on the sealing base 301 above the clamping conveyor 305. The clamping gantry 313 is a portal frame structure that spans above the two clamping conveyors 305, and its bottom is fixedly installed on the sealing base 301.

[0085] The top mounting base 315 is a flat plate structure, horizontally fixed on the top crossbeam of the top mounting gantry 313. The top lifting mechanism 314 is a cylinder, the cylinder body of which is fixedly mounted on the top mounting base 315, and the piston rod of the cylinder extends vertically downward.

[0086] The driving end (i.e., the piston rod end) of the tightening lifting mechanism 314 is fixedly connected to the tightening plate 316 below. The tightening lifting mechanism 314 drives the tightening plate 316 to move up and down. The main body of the tightening plate 316 is a flat plate structure. Both sides of the tightening plate 316 are provided with bent ends that bend downwards, that is, the cross-section of the tightening plate 316 is U-shaped or concave. The bent ends on the left and right sides of the tightening plate 316 bend upwards, so that when the tightening plate 316 presses down on the top of the carton 103, the bent ends form a smooth transition pressing edge, avoiding the right-angled edge of the tightening plate 316 from causing indentations or damage to the top of the carton 103. At the same time, the structure of the bent ends improves the structural strength and rigidity of the tightening plate 316 itself, making the tightening plate 316 less prone to bending deformation when subjected to the downward thrust of the tightening lifting mechanism 314, ensuring the uniform distribution of pressure on the top of the carton 103.

[0087] The guide shaft is vertically positioned, with its lower end fixedly connected to the top clamping plate 316. The guide shaft is connected to a linear bearing on the top clamping mounting seat 315, and the guide shaft slidably passes through the linear bearing. When the top clamping plate 316 moves up and down, the guide shaft slides within the linear bearing, guiding and stabilizing the movement of the top clamping plate 316. The cooperation between the guide shaft and the linear bearing ensures that the top clamping plate 316 remains horizontal during its up-and-down movement, preventing uneven pressure on the top of the carton 103 due to tilting. Multiple guide shafts are arranged at different positions on the top of the top clamping plate 316, collectively constraining the two rotational degrees of freedom of the top clamping plate 316 in the horizontal plane, ensuring that the top clamping plate 316 always moves up and down in a horizontal posture.

[0088] 6. Coordination and cooperation among the components of the bottom-folding sealing unit 3: (1) Coordination between the bottom-folding guide frame 304 and the bottom-folding flap 303 As the carton 103 moves to the right along the bottom folding guide 304, driven by the robotic arm 202, the bottom folding guide 304 first bends the short flaps on the left and right sides of the bottom of the carton 103. Simultaneously, the left and right sides of the bottom folding guide 304 separate the long flaps on the front and rear sides of the carton 103. This sequence of "folding the short flaps first, then separating the long flaps" ensures that when the bottom folding flap 303 subsequently bends the long flaps, the long flaps on the front and rear sides are already separated by the bottom folding guide 304 and are positioned on opposite sides of the bottom folding guide 304, preventing interference or overlap. Subsequently, the robotic arm 202 moves the carton 103 to the position of the two bottom folding flaps 303, which simultaneously flip from a vertical position to a horizontal position, bending the long flaps on both the front and rear sides simultaneously. The bottom folding guide 304 and the bottom folding flap 303 are spatially connected (the bottom folding guide 304 is located to the left of the bottom folding flap 303), and their actions are coordinated sequentially (the bottom folding guide 304 first completes the bending of the short flap and the separation of the long flap, and the bottom folding flap 303 then completes the bending of the long flap). There is no functional overlap between the two, and they must be executed in a specific order of "short before long, guide before fold," otherwise the four flaps at the bottom of the carton 103 will not be folded correctly. This specific folding sequence is the optimal folding sequence derived from extensive practical experience; any adjustment or omission of the sequence of any step will lead to folding failure. Therefore, the coordination between the bottom folding guide 304 and the bottom folding flap 303 is not a simple functional superposition, but a synergistic relationship with strict sequential dependence and spatial connection.

[0089] (2) Coordination between the bottom-folding flap 303 and the bottom-folding guide rod 306 After the bottom folding flap 303 completes the bending of the long flaps on both sides of the carton 103, the long flaps tend to spring back towards the unbent direction due to the elasticity of the cardboard material itself. The bottom folding guide rods 306 on the lower right side of the two bottom folding flaps 303 are arranged in a V-shape with the side with the larger opening facing left. As the carton 103 continues to move to the right, the bent long flaps enter between the two bottom folding guide rods 306. As the carton 103 continues to move to the right, the distance between the two bottom folding guide rods 306 gradually decreases, applying a gradually increasing clamping force to the long flaps, causing the long flaps to be gradually pressed from a free bending state to the final bending position that fits against the bottom of the carton 103. The bottom folding flap 303 completes the "coarse bending" action of the long flaps, while the bottom folding guide rods 306 complete the "fine clamping" action of the long flaps. The two form a division of labor and cooperation relationship of "coarse bending + fine clamping" in terms of function. If only the bottom folding flap 303 exists without the bottom folding guide rod 306, the long flap will partially recover due to elastic rebound after bending, failing to maintain its position against the bottom of the carton. If only the bottom folding guide rod 306 exists without the bottom folding flap 303, the long flap cannot achieve its initial bending angle, and the bottom folding guide rod 306 cannot achieve proper clamping. Therefore, the bottom folding flap 303 and the bottom folding guide rod 306 form a complementary and indispensable synergistic relationship.

[0090] (3) Coordination between clamping conveyor 305, sealing assembly 310 and clamping assembly The clamping conveyor 305, the sealing assembly 310, and the top clamping assembly form a three-in-one coordinated relationship of "clamping and conveying - bottom sealing - top pressing". Specifically: First, the two clamping conveyor frames 305 move inward synchronously under the drive of the conveyor frame drive module 308, applying clamping force to the carton 103 from both the front and rear sides. This clamping force ensures that as the carton 103 moves to the right under the drive of the conveyor belt 307, the front and rear side walls of the carton 103 are clamped by the clamping conveyor frames 305, preventing the carton 103 from shifting or swaying in the left or right direction, thus ensuring that the carton 103 moves accurately in a straight line.

[0091] Secondly, the sealing assembly 310 is located below the middle of the two clamping conveyors 305, sealing the long flap at the bottom of the carton 103. The sealing position of the sealing assembly 310 corresponds vertically to the middle area of ​​the two clamping conveyors 305, at which point the bottom of the carton 103 is suspended. The pressure rollers of the sealing assembly 310 press the tape firmly against the bottom of the carton 103 from below. The bottom of the carton 103 is subjected to a downward pressure, which causes the carton 103 to tend to move upwards.

[0092] Secondly, the clamping assembly is located directly above the sealing assembly 310. The clamping plate 316 moves downward under the drive of the clamping lifting mechanism 314, applying downward pressure to the top of the carton 103 from above. This pressure is opposite to the clamping force applied from below by the sealing assembly 310 in the vertical direction. The two are opposite in direction and their positions are directly opposite each other in the vertical direction, acting together on the bottom and top of the carton 103. If there is only the clamping force applied from below by the sealing assembly 310 and lacks the clamping force applied from above by the clamping assembly, the carton 103 will jump or shift upward under the clamping force of the sealing assembly 310, resulting in a misalignment of the sealing position, poor tape adhesion, or the carton 103 being lifted by the clamping roller and detached from the conveyor belt 307. If there is only the clamping force applied from above by the clamping assembly and lacks the clamping force applied from both sides by the clamping conveyor frame 305, the carton 103 will shift or tilt in the front-to-back direction under the clamping force, which also cannot guarantee the sealing quality.

[0093] The synergistic relationship among the three components is manifested as follows: the horizontal clamping force provided by the clamping conveyor 305 ensures the positional stability of the carton 103 in the horizontal plane; the upward pressing force provided by the sealing assembly 310 and the downward pressing force provided by the clamping assembly ensure the positional stability of the carton 103 in the vertical direction. These three components jointly constrain the carton 103 in both the horizontal and vertical dimensions, ensuring that the carton 103 is in a completely controlled and stable state during the sealing process, guaranteeing the accuracy of the sealing position and the firmness of the tape adhesion. This spatial constraint method of "horizontal clamping + vertical pressure" is the structural foundation for ensuring the quality of high-speed sealing. All three components are indispensable; the absence or failure of any component will lead to a serious decline in sealing quality.

[0094] (4) Fitting conditions between clamping conveyor 305 and top clamping plate 316 The clamping force of the clamping conveyor 305 on the carton 103 needs to match the clamping force of the top clamping plate 316 on the carton 103. Specifically, the clamping force provided by the clamping conveyor 305 should be sufficient to overcome the upward jumping tendency of the carton 103 caused by the pressure of the pressure roller of the sealing component 310 during the sealing process. At the same time, the clamping force provided by the top clamping plate 316 should be basically balanced with the pressure force provided by the sealing component 310. It should not be too large, which would cause the carton 103 to be crushed, nor too small, which would fail to suppress the upward displacement of the carton 103. This force matching relationship is achieved by controlling the output torque of the drive motor of the conveyor drive module 308 and the air supply pressure of the cylinder of the top clamping lifting mechanism 314. In this embodiment, the drive motor of the conveyor drive module 308 is a servo motor, whose output torque can be precisely controlled. The top clamping lifting mechanism 314 is an adjustable pressure cylinder, whose air supply pressure can be adjusted by a precision pressure regulating valve, thereby ensuring the precise matching of the clamping and clamping forces provided by the two.

[0095] (5) Timing coordination of the lower blocking mechanism 311, the side blocking mechanism 312 and the clamping conveyor 305 The lower blocking mechanism 311 and the side blocking mechanism 312 provide a positioning reference before the clamping conveyor 305 clamps the carton 103, and release the positioning constraint after the clamping conveyor 305 clamps the carton 103. The specific timing sequence is as follows: the robotic arm 202 places the carton 103 at a predetermined position between the two clamping conveyors 305 → the lower baffle of the lower blocking mechanism 311 extends upward to block the bottom left side of the carton 103 → the side baffle of the side blocking mechanism 312 extends inward to block the carton 103 from the side → the two clamping conveyors 305 move inward under the drive of the conveyor drive module 308 and clamp the carton 103 → the lower baffle of the lower blocking mechanism 311 retracts downward to release the block → the side baffle of the side blocking mechanism 312 retracts outward to release the block → the conveyor belt 307 starts running, and the carton 103 moves to the right. This timing control ensures that the carton 103 is accurately positioned in the predetermined location before being clamped by the clamping conveyor 305, and that the carton 103 can be smoothly released and conveyed to the next station after clamping. If the blocking release timing of the lower blocking mechanism 311 and the side blocking mechanism 312 is earlier than the clamping action of the clamping conveyor 305, the carton 103 will start moving in an unclamped state, resulting in positioning failure; if the blocking release timing of the lower blocking mechanism 311 and the side blocking mechanism 312 is later than the start of the conveyor belt 307, the carton 103 will be stuck by the blocking mechanism and unable to move. Therefore, the timing coordination of the three is one of the key conditions for ensuring that the carton 103 passes smoothly through the bottom sealing unit 3.

[0096] 7. The overall coordinated operation of the cardboard box stacking and storage unit 1, the robotic arm opening unit 2, and the bottom folding and sealing unit 3: The cardboard box stacking and storage unit 1, the robotic arm opening unit 2, and the bottom-folding and sealing unit 3 are arranged sequentially in the spatial order of "storage-opening-sealing". The continuous handling action of the robotic arm 202 enables the automatic transfer of cardboard boxes 103 between different workstations, eliminating the need for manual transfer. Specifically: The tray 102 in the carton stacking and storage unit 1 provides stacking and storage space for cartons 103, and multiple trays 102 provide parallel storage capacity for cartons of various sizes. After the camera transfer mechanism 104 drives the camera 105 to identify the cartons 103 on the tray 102, the robotic arm 202 drives the carton opening mechanism 203 to remove the corresponding size of carton 103 from the tray 102 and unfold it into shape. In this process, the carton stacking and storage unit 1 provides the "storage and identification" function of the carton 103, and the robotic arm opening unit 2 provides the "removal and shaping" function of the carton 103. The cooperation between the two enables the equipment to automatically select and remove the required size of carton from multiple trays 102.

[0097] After the carton 103 is unfolded and formed, the robotic arm 202 continues to move the carton 103 to the right into the bottom-folding and sealing unit 3. The continuous handling action of the robotic arm 202 realizes the direct transfer of the carton 103 from the opening station to the bottom-folding and sealing station, without the need for an intermediate transition conveyor. During the process of transferring the carton 103 to the bottom-folding and sealing unit 3, the robotic arm 202 simultaneously completes the action of moving the carton 103 along the bottom-folding guide 304 to bend the short flap. That is, the transfer action of the robotic arm 202 simultaneously undertakes the dual functions of "carrying the carton" and "assisting in bottom folding". This "one arm, multiple uses" collaborative working method eliminates the need to set up a separate carton conveying device between the opening unit and the bottom-folding and sealing unit, simplifies the equipment structure, reduces the equipment footprint, and avoids the risk of deformation or damage to the carton during the transfer process.

[0098] After the bottom folding and sealing unit 3 completes the bottom folding and sealing of the carton 103, the carton 103 is conveyed out from the right side of the sealing base 301 by the conveyor belt 307 and directly enters the subsequent roller line for the next packing station. Thus, the entire process of the carton 103 from a folded board structure to a finished carton with a sealed bottom is completed automatically on the equipment without any manual operation or transfer.

[0099] Therefore, the carton stacking and storage unit 1, the robotic arm opening unit 2, and the bottom folding and sealing unit 3 form a complete automated production line of "storage and feeding - opening and forming - bottom folding and sealing". The three units are connected sequentially in space, complement each other in function, and flow continuously in time, realizing full automation from carton stacking and storage to opening and forming and then bottom folding and sealing. This is something that cannot be achieved by a single unit working independently or by any two units working in combination.

[0100] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0101] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robotic arm device for opening and sealing boxes, characterized in that: It includes a carton stacking and storage unit (1), a robotic arm opening unit (2), and a bottom folding and sealing unit (3), wherein the robotic arm opening unit (2) is located between the carton stacking and storage unit (1) and the bottom folding and sealing unit (3); The cardboard box stacking storage unit (1) includes a cardboard box stacking gantry (101), several trays (102) are installed side by side below the cardboard box stacking gantry (101), cardboard boxes (103) are stacked on the trays (102), and a camera transfer mechanism (104) is installed on the top of the cardboard box stacking gantry (101), which drives the camera (105) to move. The robotic arm unpacking unit (2) includes a robotic arm base (201), a robotic arm (202), and an unpacking mechanism (203). The robotic arm (202) is mounted on the robotic arm base (201), and the unpacking mechanism (203) is mounted on the robotic arm (202). The box opening mechanism (203) includes a first gripping plate (2031) and a second gripping plate (2033). The second gripping plate (2033) is rotatably mounted on the first gripping plate (2031) via a rotating shaft (2034). A first vacuum suction cup (2305) is mounted on the first gripping plate (2031), and a second vacuum suction cup (2306) is mounted on the second gripping plate (2033). A gripping plate flipping mechanism (2307) is also mounted on the first gripping plate (2031). The gripping plate flipping mechanism (2307) drives the second gripping plate (2033) to rotate relative to the first gripping plate (2031). The bottom-folding and sealing unit (3) includes a sealing base (301), a flip-board workbench (302), a bottom-folding flip-board (303), a bottom-folding guide frame (304), a clamping conveyor frame (305), a sealing assembly (310), a top-tightening gantry frame (313), and a top-tightening plate (316). A flip-plate workbench (302) is installed on the front and rear sides of the left side of the sealing base (301). A folding bottom flip plate (303) is installed on the inner side of the flip-plate workbench (302). A flip-plate driving mechanism is installed at the bottom of the flip-plate workbench (302). The flip-plate driving mechanism drives the folding bottom flip plate (303) to flip. A folding bottom guide frame (304) distributed in the left-right direction is provided between the two folding bottom flaps (303). Clamping conveyor frames (305) distributed in the left and right directions are respectively installed on the sealing base (301) on the right side of the two folding bottom flaps (303). Each clamping conveyor frame (305) is equipped with a conveyor belt (307) running in the left and right directions. The bottom of the clamping conveyor frame (305) moves back and forth on the sealing base (301) through the conveyor frame guide module (309). The sealing base (301) is equipped with a conveyor frame drive module (308), which drives the two clamping conveyor frames (305) to move in the front and back directions. A sealing assembly (310) is installed on the sealing base (301) below the two clamping conveyors (305). A clamping gantry (313) is installed on the sealing base (301) above the clamping conveyor (305). A clamping assembly is installed on the top of the clamping gantry (313), and the clamping assembly is located above the sealing assembly (310). The clamping assembly includes a clamping mounting top seat (315), a clamping lifting mechanism (314), and a clamping plate (316). The clamping mounting top seat (315) is installed on the top of the clamping gantry (313). The clamping lifting mechanism (314) is installed on the clamping mounting top seat (315), and the clamping lifting mechanism (314) drives the clamping plate (316) to move up and down.

2. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, The first gripping plate (2031) is connected to the robotic arm (202) via a connecting flange (2032).

3. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, An arc-shaped end facing upward to the left is provided on the left side of the bottom folding guide (304), and the bottom folding guide (304) extends to the left side of the sealing base (301).

4. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, Folding guide rods (306) are respectively installed on the sealing base (301) below the right side of the two folding bottom flaps (303). The two folding bottom guide rods (306) are arranged in a figure-eight shape, and the side with the larger opening of the two folding bottom guide rods (306) faces to the left.

5. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, Several guide wheels are installed on the top of the clamping conveyor (305).

6. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, A lower blocking mechanism (311) is installed on the sealing base (301) on the left side of the sealing assembly (310). The lower blocking mechanism (311) includes a lower blocking cylinder and a lower baffle plate. The lower blocking cylinder drives the lower baffle plate to move up and down. A side blocking mechanism (312) is installed on the clamping conveyor frame (305) near the left side. The side blocking mechanism (312) includes a side blocking cylinder and a side baffle plate. The side blocking cylinder drives the side baffle plate to move back and forth.

7. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, A limit post is installed on the first gripping plate (2031), and a buffer block is installed on the limit post.

8. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, A plurality of first vacuum suction cups (2305) are installed on the first gripping plate (2031) along the length and width directions of the first gripping plate (2031), and a plurality of second vacuum suction cups (2306) are installed on the second gripping plate (2033) along the length and width directions of the second gripping plate (2033).

9. The robotic arm box opening and bottom sealing device as described in claim 8, characterized in that, The first vacuum suction cup (2305) and the second vacuum suction cup (2306) are respectively installed on the first gripping plate (2031) and the second gripping plate (2033) through the waist-shaped hole.

10. The robotic arm box opening and bottom sealing device as described in claim 1, characterized in that, The top of the clamping plate (316) is equipped with a guide shaft, which is connected to a linear bearing on the clamping mounting base (315).

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