Carton opening and sealing manipulator

Abstract

The utility model discloses a box opening and sealing manipulator, and belongs to the technical field of packaging machinery. Comprising a fixing base, a first swing arm and a second swing arm, a main suction cup is arranged on the fixing base, the main suction cup is arranged between the first swing arm and the second swing arm, a first auxiliary suction cup and a second auxiliary suction cup are arranged on the first swing arm and the second swing arm respectively, and the first swing arm and the second swing arm are connected with rotating mechanisms driving the first swing arm and the second swing arm to rotate respectively. Firstly, a main suction cup adsorbs a carton, the carton is pulled out of a carton bin, a packaging box is converted into an unfolded state from a folded state after a first swing arm swings, then a second swing arm swings to clamp the two sides of the packaging box together with the first swing arm, and it is guaranteed that the packaging box is clamped stably; due to the fact that the suction force applied to the packaging box by the first auxiliary suction cup and the second auxiliary suction cup is opposite to the stress direction after the packaging box touches the machine core of the automatic adhesive tape sealing device, deformation of the packaging box can be effectively avoided, and smooth proceeding of follow-up boxing and other work is guaranteed.

Description

Technical Field

[0001] The invention discloses a box opening and sealing robot, belonging to the technical field of packaging machinery. Background Art

[0002] Cartons or other packaging boxes are folded into a flat shape before use to facilitate transportation and storage. In the field of automated packaging, a box display device is needed to unfold the folded box and then put the product into the box. Currently, the main way to unfold the box is to use a suction cup to suck a box and then use a swinging mechanical arm to push one side of the box to change the box from a folded state to an unfolded state.

[0003] In order to control the swing amplitude of the box wall of the packaging box, the applicant previously applied for a utility model patent with application number 2023218765708, named a display box device. The display box device uses a motor to drive the box wall swing body to swing a set angle, thereby controlling the swing amplitude of the box wall. However, this display box device has only one box wall swing body, and relies entirely on the suction cup on the box wall swing body to fix the side wall of the packaging box. The clamping reliability of the packaging box is insufficient, and there is still the problem of deformation of the packaging box after touching other equipment or objects during the sealing process.

[0004] Although there are also ways for manipulators to clamp the two sides of the packaging box with two clamps to improve stability, there are no suction cups on the clamps of this type of manipulator. Relying solely on the clamps to clamp the packaging box will result in the following two problems:

[0005] 1. The clamping force is difficult to control. The robot takes an empty carton. If the clamping force is large, it is easy to cause the carton to deform. If the clamping force is small, the carton is easy to move during the movement and sealing process, affecting the smooth progress of subsequent packing and other work.

[0006] 2. The packaging box is easily deformed during the tape sealing process. After the packaging box is folded and unfolded by a robot, one side of the opening of the packaging box needs to be sealed using an automatic tape sealing device. During the tape sealing process, the packaging box needs to touch the movement of the automatic tape sealing device. If the packaging box is only clamped by a plywood, the packaging box will inevitably be deformed when it touches the movement. The packaging box is easily deformed from a rectangle to a parallelogram. After the tape sealing, the packaging box is difficult to recover, which affects the subsequent packaging work. Utility Model Content

[0007] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art and to provide a box opening and sealing robot which can stably clamp the packaging box and prevent the packaging box from being deformed.

[0008] The technical solution adopted by the utility model to solve its technical problems is: the unpacking and sealing robot comprises a fixed seat, a first swing arm and a second swing arm, the fixed seat is provided with a main suction cup, the main suction cup is arranged between the first swing arm and the second swing arm, the first swing arm is provided with a first auxiliary suction cup, the second swing arm is provided with a second auxiliary suction cup, and the first swing arm and the second swing arm are respectively connected with a rotating mechanism that drives them to rotate.

[0009] Preferably, the main suction cup, the first auxiliary suction cup and the second auxiliary suction cup are all sponge suction cups.

[0010] Preferably, a distance adjustment mechanism is provided between the first swing arm and the second swing arm.

[0011] Preferably, the spacing adjustment mechanism includes a clamping motor and a lead screw, the first swing arm and the corresponding rotating mechanism are arranged on the first sliding seat, the second swing arm and the corresponding rotating mechanism are arranged on the second sliding seat, the first sliding seat and the second sliding seat are both slidably arranged on the fixed seat, the lead screw is threadedly connected to the first sliding seat and the second sliding seat respectively, the lead screw is connected to the clamping motor, and the lead screw drives the first sliding seat and the second sliding seat to slide relative to each other.

[0012] Preferably, the clamping motor is fixed to one end of the fixing seat, and the clamping motor is connected to one end of the lead screw via a synchronous belt.

[0013] Preferably, an anti-scratch plate is provided on the first swing arm, and a compression spring is provided between the anti-scratch plate and the first swing arm.

[0014] Preferably, the anti-scratch plate is arranged to protrude from the surface of the first auxiliary suction cup.

[0015] Preferably, a sliding shaft is slidably provided on the first swing arm, one end of the sliding shaft is fixedly connected to the anti-scratch plate, and a compression spring is sleeved on the sliding shaft.

[0016] Preferably, the anti-scratch plate is arranged on a side of the end of the first swing arm away from the main suction cup.

[0017] Preferably, the rotating mechanism includes a cylinder and a rack, the rack is slidably arranged, the piston rod of the cylinder is connected to the rack, and the first swing arm and the second swing arm are respectively provided with gears connected to the corresponding racks.

[0018] Preferably, fixed vertical plates are respectively fixed on both sides of the middle of the fixed seat, and the main suction cup is fixedly connected to the fixed vertical plates.

[0019] Compared with the prior art, the above technical solution of the box opening and sealing robot has the following beneficial effects:

[0020] The robot is provided with a first swing arm and a second swing arm on both sides of the main suction cup, and a first auxiliary suction cup and a second auxiliary suction cup are provided on the first swing arm and the second swing arm respectively. The first swing arm is firstly swung to change the packaging box from a folded state to an unfolded state, and then the second swing arm is swung to clamp both sides of the packaging box together with the first swing arm. The first auxiliary suction cup and the second auxiliary suction cup suck both sides of the packaging box with negative pressure, and the packaging box can be stably clamped without the need for the first swing arm and the second swing arm to have a very large clamping force. Since the suction force applied to the packaging box by the first auxiliary suction cup and the second auxiliary suction cup is opposite to the force direction after the packaging box touches the movement of the automatic sealing tape device, the deformation of the packaging box can be effectively avoided, and the smooth progress of subsequent packing and other work can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the front view of the unpacking and sealing robot.

[0022] Figure 2 This is a three-dimensional diagram of the unpacking and sealing robot.

[0023] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0024] Figure 4 It is a front view after the first swing arm and the second swing arm swing.

[0025] Figure 5 It is a three-dimensional diagram after the first swing arm and the second swing arm swing.

[0026] Figure 6 Schematic diagram of the main suction cup picking up the packaging box.

[0027] Figure 7 This is a schematic diagram of the first auxiliary suction cup contacting the packaging box after the first swing arm swings.

[0028] Figure 8 This is a schematic diagram of the first swing arm pushing the packaging box to unfold.

[0029] Fig. 9 This is a schematic diagram of the packaging box after it is fully unfolded.

[0030] Fig.10 It is a schematic diagram of the second swing arm after swinging.

[0031] Fig.11 It is a schematic diagram of the first swing arm and the second swing arm clamping the packaging box.

[0032] Wherein: 1, fixed seat 2, main suction cup 3, first swing arm 4, first auxiliary suction cup 5, second swing arm 6 second auxiliary suction cup 7, fixed vertical plate 8, first sliding seat 9, second sliding seat 10, cylinder 11, rack 12, gear 13, anti-scratch plate 14, compression spring 15, lead screw 16, slide rail 17, clamping motor 18, synchronous belt 19, sliding shaft 20, ear plate 21, guide seat 22, packaging box. DETAILED DESCRIPTION

[0033] Figures 1 to 11 This is the best embodiment of the unpacking and sealing robot. Figures 1 to 11 The utility model is further described.

[0034] Reference Figures 1 to 5 The box opening and sealing robot comprises a fixed base 1, a first swing arm 3 and a second swing arm 5. The fixed base 1 is provided with a main suction cup 2, which is arranged between the first swing arm 3 and the second swing arm 5. The first swing arm 3 and the second swing arm 5 are respectively provided with a first auxiliary suction cup 4 and a second auxiliary suction cup 6. The first swing arm 3 and the second swing arm 5 are respectively connected with a rotating mechanism that drives them to rotate.

[0035] Fixed vertical plates 7 are fixed on both sides of the middle of the fixed seat 1, and the main suction cup 2 is fixedly connected to the fixed vertical plates 7. In this embodiment, the first swing arm 3 and the second swing arm 5 are respectively arranged on the first sliding seat 8 and the second sliding seat 9, and a spacing adjustment mechanism is connected between the first sliding seat 8 and the second sliding seat 9. The spacing adjustment mechanism adjusts the spacing between the first swing arm 3 and the second swing arm 5. After the first swing arm 3 swings to adjust the packaging box 22 from the folded state to the unfolded state, the second swing arm 5 swings to a vertical position with the main suction cup 2. At this time, there is usually a certain gap between the second swing arm 5 and the packaging box 22. The first swing arm 3 and the second swing arm 5 can be pushed to move relative to each other through the spacing adjustment mechanism, thereby clamping the packaging box 22.

[0036] After the first swing arm 3 and the second swing arm 5 clamp the two sides of the packaging box 22, the first auxiliary suction cup 4 and the second auxiliary suction cup 6 absorb the two opposite side walls of the packaging box 22, which not only clamps the packaging box 22 inside the box by the first swing arm 3 and the second swing arm 5, but also absorbs the packaging box 22 outwardly by the first auxiliary suction cup 4 and the second auxiliary suction cup 6, thereby ensuring that the packaging box 22 is firmly fixed on the robot arm, and the force of the first auxiliary suction cup 4 and the second auxiliary suction cup 6 to absorb the packaging box 22 is opposite to the force direction after the packaging box 22 touches foreign objects, which can prevent the packaging box 22 from deforming.

[0037] In addition, the spacing adjustment mechanism not only drives the first swing arm 3 and the second swing arm 5 to move relative to each other and clamp the packaging box 22, but also has the function of adjusting the spacing between the first swing arm 3 and the second swing arm 5 to adapt to different sizes of packaging boxes 22.

[0038] Specifically, the spacing adjustment mechanism includes a clamping motor 17 and a lead screw 15. A slide rail 16 is provided on the fixed seat 1. The rotating mechanism corresponding to the first swing arm 3 is arranged on the first sliding seat 8, and the rotating mechanism corresponding to the second swing arm 5 is arranged on the second sliding seat 9. The first sliding seat 8 and the second sliding seat 9 are both slidably connected to the slide rail 16. The lead screw 15 is respectively threadedly connected to the first sliding seat 8 and the second sliding seat 9. The lead screw 15 is connected to the clamping motor 17. The clamping motor 17 is fixed to one end of the fixed seat 1. The clamping motor 17 is connected to one end of the lead screw 15 through a synchronous belt 18. The thread directions of the first sliding seat 8 and the second sliding seat 9 are opposite, and the lead screw 15 drives the first sliding seat 8 and the second sliding seat 9 to slide relative to each other.

[0039] It should be noted that if the size of the packaging box 22 is fixed and the main suction cup 2 can be accurately moved to a fixed position of the packaging box 22, then a spacing adjustment mechanism may not be provided. After the main suction cup 2 absorbs the packaging box 22, the first swing arm 3 swings to adjust the packaging box 22 from a folded state to an unfolded state, and then the second swing arm 5 swings to a position perpendicular to the main suction cup 2 so that it can just clamp one side wall of the packaging box 22.

[0040] The rotating mechanism includes a cylinder 10 and a rack 11. The two racks 11 are slidably disposed on the first sliding seat 8 and the second sliding seat 9, respectively. The piston rod of the cylinder 10 is connected to the rack 11. The first swing arm 3 and the second swing arm 5 are respectively provided with a gear 12 connected to the corresponding rack 11. One end of the rack 11 is connected to the piston rod of the cylinder 10 through a screw, so that the position of the first swing arm 3 and the second swing arm 5 after swinging can be adjusted.

[0041] A guide seat 21 is provided on the first sliding seat 8 and the second sliding seat 9, the rack 11 is slidably set in the groove of the guide seat 21, the gear 12 is rotatably set between the two ear plates 20 of the first sliding seat 8 and the second sliding seat 9, the cylinder 10 pushes the rack 11 to move back and forth, and the rack 11 drives the first swing arm 3 or the second swing arm 5 to swing through the gear 12.

[0042] The main suction cup 2, the first auxiliary suction cup 4 and the second auxiliary suction cup 6 in this embodiment are all sponge suction cups, which can better adapt to cartons with uneven or soft surfaces. The first swing arm 3 is provided with a scratch plate 13, and a compression spring 14 is provided between the scratch plate 13 and the first swing arm 3. When the first swing arm 3 pushes a side wall of the packaging box 22 to swing, the first auxiliary suction cup 4 on the first swing arm 3 will slide relative to the side wall of the packaging box 22, which will cause wear on the first auxiliary suction cup 4, especially when the first auxiliary suction cup 4 contacts the side ridge of the packaging box 22 away from the main suction cup 2, the side ridge will scratch the first auxiliary suction cup 4 during the unfolding of the packaging box 22, causing the first auxiliary suction cup 4 to wear quickly. The scratch plate 13 of this embodiment can reduce the wear of the first auxiliary suction cup 4 when the first auxiliary suction cup 4 moves relative to the side wall of the packaging box 22.

[0043] The anti-scratch plate 13 is arranged on the side of the end of the first swing arm 3 away from the main suction cup 2. This is because the anti-scratch plate is mainly used to prevent the side ridges of the packaging box 22 from scratching the first auxiliary suction cup 4, and the side ridge scratching position is the end of the first auxiliary suction cup 4 away from the main suction cup 2, so in this embodiment, the anti-scratch plate 13 is arranged on the end of the first swing arm 3 away from the main suction cup 2.

[0044] The anti-scratch plate 13 is protruded from the surface of the first auxiliary suction cup 4. First, the anti-scratch plate 13 contacts the side wall of the packaging box 22. Then, the compression spring 14 is compressed, and the first auxiliary suction cup 4 contacts the side wall of the packaging box 22, ensuring that the anti-scratch plate 13 always contacts the packaging box 22. A sliding shaft 19 is slidably provided on the first swing arm 3. One end of the sliding shaft 19 is fixedly connected to the anti-scratch plate 13. The compression spring 14 is sleeved on the sliding shaft 19.

[0045] Working process: see Figure 6 In the initial position, the first swing arm 3 and the second swing arm 5 swing away from the main suction cup 2, and the first auxiliary suction cup 4 and the second auxiliary suction cup 6 are lower than the surface of the main suction cup 2, so as to prevent the first auxiliary suction cup 4 and the second auxiliary suction cup 6 from hindering the main suction cup 2 from sucking the packaging box 22. The main suction cup 2 is attached to a side wall of the packaging box 22, and a packaging box 22 is taken out after suction.

[0046] See also Figure 7 The first swing arm 3 swings, and first the anti-scratch plate 13 contacts the other side wall of the packaging box 22 . After the compression spring 14 is compressed, the first auxiliary suction cup 4 contacts the side wall of the packaging box 22 .

[0047] See also Figure 8 The first swing arm 3 continues to rotate, pushing the packaging box 22 to be gradually unfolded. During the unfolding process, the anti-scratch plate 13 contacts the side ridge of the other side of the packaging box 22 away from the main suction cup 2 to prevent the side ridge from wearing the first auxiliary suction cup 4.

[0048] See also Fig. 9After the first swing arm 3 rotates to be perpendicular to the main suction cup 2, the packaging box 22 is basically unfolded.

[0049] See also Fig.10 , the second swing arm 5 rotates to be perpendicular to the main suction cup 2.

[0050] See also Fig.11 The clamping motor 17 drives the lead screw 15 to rotate through the synchronous belt 18, and the lead screw 15 drives the first sliding block and the second sliding block to move toward each other. The first auxiliary suction cup 4 on the first swing arm 3 and the second auxiliary suction cup 6 on the second swing arm 5 clamp the packaging box 22 together. At the same time, the first auxiliary suction cup 4 and the second auxiliary suction cup 6 negatively absorb the packaging box 22 to ensure that the packaging box 22 is stably clamped.

[0051] The robot is not only used to unfold the packaging box 22 , but also used for the subsequent packing and sealing of the packaging box 22 .

[0052] When the robot is used to seal the packaging box 22, the specific process is that after the robot unfolds the packaging box, it uses the guide structure on the sealing device to cover the bottom of the packaging box, and then cooperates with the horizontal sealing machine to seal the bottom of the packaging box to achieve a straight seal on the bottom; after the product is loaded into the packaging box, the robot drives the packaging box to cooperate with the guide structure on the sealing device again to achieve the cover on the top of the packaging box, and then cooperates with the horizontal sealing machine to achieve the sealing of the top of the packaging box to achieve a straight seal on the top, and finally cooperates with the vertical sealing machine to achieve the re-sealing of the top and bottom of the packaging box to achieve an I-shaped seal.

[0053] The above are only the preferred embodiments of the utility model, and are not intended to limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. A carton opening and sealing robot, Features: The invention comprises a fixed seat (1), a first swing arm (3) and a second swing arm (5); the fixed seat (1) is provided with a main suction cup (2); the main suction cup (2) is arranged between the first swing arm (3) and the second swing arm (5); the first swing arm (3) is provided with a first auxiliary suction cup (4); the second swing arm (5) is provided with a second auxiliary suction cup (6); the first swing arm (3) and the second swing arm (5) are respectively connected to a rotating mechanism for driving them to rotate.

2. The box opening and sealing robot according to claim 1, Features: The main suction cup (2), the first auxiliary suction cup (4) and the second auxiliary suction cup (6) are all sponge suction cups.

3. The box opening and sealing robot according to claim 1, Features: A spacing adjustment mechanism is also provided between the first swing arm (3) and the second swing arm (5).

4. The box opening and sealing robot according to claim 3, Features: The spacing adjustment mechanism comprises a clamping motor (17) and a lead screw (15); a first swing arm (3) and a corresponding rotating mechanism are arranged on a first sliding seat (8); a second swing arm (5) and a corresponding rotating mechanism are arranged on a second sliding seat (9); the first sliding seat (8) and the second sliding seat (9) are both slidably arranged on a fixed seat (1); the lead screw (15) is respectively threadedly connected to the first sliding seat (8) and the second sliding seat (9); the lead screw (15) is connected to the clamping motor (17); and the lead screw (15) drives the first sliding seat (8) and the second sliding seat (9) to slide relative to each other.

5. The box opening and sealing robot according to claim 1, Features: An anti-scratch plate (13) is provided on the first swing arm (3), and a compression spring (14) is provided between the anti-scratch plate (13) and the first swing arm (3).

6. The box opening and sealing robot according to claim 5, Features: The anti-scratch plate (13) is arranged to protrude from the surface of the first auxiliary suction cup (4).

7. The box opening and sealing robot according to claim 5, Features: A sliding shaft (19) is slidably provided on the first swing arm (3), one end of the sliding shaft (19) is fixedly connected to the anti-scratch plate (13), and the compression spring (14) is sleeved on the sliding shaft (19).

8. The box opening and sealing robot according to claim 5, Features: The anti-scratch plate (13) is arranged on one side of the end of the first swing arm (3) away from the main suction cup (2).

9. The box opening and sealing robot according to claim 1, Features: The rotating mechanism comprises a cylinder (10) and a rack (11); the rack (11) is slidably arranged; a piston rod of the cylinder (10) is connected to the rack (11); and gears (12) connected to corresponding racks (11) are respectively provided on the first swing arm (3) and the second swing arm (5).

10. The box opening and sealing robot according to claim 1, Features: Fixed upright plates (7) are respectively fixed on both sides of the middle of the fixed seat (1), and the main suction cup (2) is fixedly connected to the fixed upright plates (7).

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