Vertical case unpacking machine

Abstract

The utility model discloses a vertical case unpacking machine, and relates to the technical field of vertical case unpacking machinery. The device comprises a box blank repository, an executing mechanism, a movable suction cup set assembled on the executing mechanism and a box body fixing assembly. The executing mechanism drives the movable suction cup set to suck a box body I on one side of a box blank in the box blank repository, take the box blank out of the box blank repository and move the box blank to the box body fixing assembly, and the box body fixing assembly fixes a box body II on the other side of the box blank. The box body II on the other side refers to the box body II located on the opposite side of the box body I sucked by the movable suction cup set in the box blank forming state; the executing mechanism drives the movable suction cup set to integrally do curve track motion, the movable suction cup set sucks the box body I to drive the box body I to do curve track motion, and the box blank is opened and formed. The vertical case unpacking machine can improve the case blank forming effect and the case blank forming success rate, and is particularly suitable for case blanks made of soft materials, case blanks which become soft due to large humidity or case blanks which are repeatedly used.

Description

Technical Field

[0001] The utility model relates to the technical field of vertical box opening machinery, and more specifically to a vertical box opening machine. Background Art

[0002] Automatic packaging equipment using cartons must open the stacked carton blanks during the packaging process, and an automatic box opening mechanism is usually used to automatically open the box blanks. At present, vertical box opening means opening the stacked box blanks when the box blanks are in a vertical position. The existing box opening machine structure, such as the utility model patent with authorization announcement number CN212686057U and authorization announcement date of March 12, 2021, named "Automatic Box Opening Machine", has an auxiliary forming strip extending outward at the outlet of the box blank storage rack. When the suction cup takes the box blank out of the box blank storage rack under the drive of the actuator, the short side box blank surface of the box blank (that is, the box blank surface adjacent to the long side box blank surface sucked by the suction cup) is limited by the auxiliary forming strip, and the box blank is gradually opened and formed in the process of pulling out the box blank. That is, a suction cup is used to suck one surface of the box blank (if the cross-section of the carton is rectangular, the long side of the box blank is generally selected; if the cross-section of the carton is square, any surface of the box blank can be selected), and the box blank is pulled out from the box blank storage warehouse. During the pulling process, the box blank is opened through the guiding action of the mechanical guide structure.

[0003] For another example, the utility model patent with the authorization announcement number CN217074990U and the authorization announcement date July 29, 2022, and the name of the patent is "A suction cup unpacking device for an unpacking machine". The suction cup unpacking device uses suction cups to suck the two sides of the carton, and drives the suction cup flap to flip through the cylinder to form a 90° angle with the suction cup mounting plate to complete the unpacking action. That is, two sets of suction cups are used to suck the two adjacent box blank surfaces of the box blank respectively (if the cross-section of the carton is rectangular, the long side box blank surface and the short side box blank surface adjacent to the long side box blank surface are sucked; if the cross-section of the carton is square, the two sets of suction cups are used to suck the two adjacent box blank surfaces of the box blank respectively), and after the box blank is pulled out of the box blank storage warehouse, the suction cup sucking the short side box blank surface is rotated 90° around the connecting center axis of the two box blank surfaces to open the box blank into shape.

[0004] The above-mentioned existing box opening devices all use one box blank surface to flip around the other adjacent box blank surface by 90 degrees to complete the box blank opening and forming. This box opening method is only suitable for box blanks with relatively hard materials. In essence, it uses the material characteristics of the box blank itself to complete the box opening. The above-mentioned second box opening device must also ensure that the axis line of the suction cup flip plate flipping coincides with the center line connecting the two adjacent box blank surfaces of the box blank, otherwise it is difficult to ensure the box blank opening and forming effect.

[0005] However, when the box blank material is soft or the humidity is high, the box blank will become soft or the box blank is reused, the above-mentioned opening method will cause the box blank to deform, especially for cartons with a rectangular cross-section. When the box blank material is soft, the above-mentioned opening method cannot guarantee the forming effect of the other long side box blank surface and the other short side box blank surface that are not sucked. In fact, the other long side box blank surface and the other short side box blank surface that are not sucked are forced to form by squeezing. During the forming process, the other long side box blank surface and the other short side box blank surface that are not sucked will be squeezed to a certain extent, resulting in deformation, which ultimately leads to poor forming effect of the box blank opening and even unpacking failure. Utility Model Content

[0006] In order to overcome the defects and shortcomings in the above-mentioned prior art, the utility model provides a vertical box opener. The purpose of the invention of the utility model is to solve the problem that the existing vertical box opener has poor forming effect and low forming rate when performing box opening operation on box blanks with relatively soft materials, box blanks softened by high humidity, or box blanks that are reused. The vertical box opener of the utility model includes a box blank storage warehouse, an actuator, a movable suction cup group assembled on the actuator, and a box body fixing component; the actuator drives the movable suction cup group to suck the box body I on one side of the box blank in the box blank storage warehouse, and takes the box blank out of the box blank storage warehouse and moves it to the box body fixing component, and the box body fixing component fixes the box body II on the other side of the box blank, and the box body II on the other side refers to the box body II located on the opposite side of the box body I sucked by the movable suction cup group in the box blank forming state; the actuator drives the movable suction cup group to move in a curved trajectory as a whole, and the movable suction cup group sucks the box body I and drives it to move in a curved trajectory, and the box blank is opened and formed. The vertical carton opening machine of the utility model realizes the molding of the box blank by utilizing the offset movement of the box bodies on the opposite sides during the box blank opening process. The box bodies on the opposite sides are not subjected to force during the box blank opening process and are not easily deformed, which can improve the box blank molding effect and the box blank molding success rate. The utility model is particularly suitable for box blanks made of softer materials, box blanks softened by high humidity, or reused box blanks.

[0007] In order to solve the above problems existing in the prior art, the utility model is implemented through the following technical solutions.

[0008] The utility model discloses a vertical box opening machine, comprising a box blank storage warehouse, an actuator and a movable suction cup group for sucking a box body I on one side of the box blank, which is assembled on the actuator, and also comprises a box body fixing component, wherein the actuator drives the movable suction cup group to move to the box blank storage warehouse, after the movable suction cup group sucks the box body I on one side of the box blank in the box blank storage warehouse, the actuator drives the movable suction cup group to move the sucked box blank to the box body fixing component, the actuator drives the movable suction cup group and the box body I sucked by the movable suction cup group to move in a curved track, and the box blank is opened and formed; the box body fixing component is configured to limit the displacement of the other side box body II sucked by the movable suction cup group when the actuator drives the movable suction cup group and the box body I sucked by the movable suction cup group to move in a curved track; the other side box body II refers to the box body II located on the opposite side of the box body I sucked by the movable suction cup group in the box blank forming state.

[0009] Further preferably, the curved trajectory is that the projection of box body I sucked by the movable suction cup group on the horizontal plane gradually moves outward away from the projection of box body II fixed by the box body fixing assembly on the horizontal plane; at the same time, the projection of box body I sucked by the movable suction cup group in the vertical plane gradually coincides with the projection of box body II fixed by the box body fixing assembly in the vertical plane.

[0010] More preferably, the curved trajectory is a 1 / 4 arc trajectory with the length of box body III or box body IV adjacent to box body II fixed by the box body fixing assembly as a radius and the center of the connection between box body II fixed by the box body fixing assembly and its adjacent box body III or box body IV as the center of the circle.

[0011] Further preferably, it also includes a forming box blank conveying mechanism, and the box body fixing component is arranged on one side of the input end of the forming box blank conveying mechanism.

[0012] More preferably, the box body fixing component is a fixed suction cup group.

[0013] More preferably, the box body fixing component is a stopper on a forming box blank clamping conveying belt in a forming box blank conveying mechanism; the stopper blocks the box body II from being displaced along the conveying direction of the forming box blank conveying mechanism.

[0014] Further preferably, the actuator is a serial manipulator or a two-axis parallel manipulator.

[0015] Further preferably, when the cross-section of the box blank after forming is rectangular, the box body I and the box body II are the box bodies on the long sides of the box blank.

[0016] Further preferably, the stacking direction of the box blanks in the box blank storage warehouse is perpendicular to the conveying direction of the formed box blank conveying mechanism.

[0017] Further preferably, the stacking direction of the box blanks in the box blank storage warehouse is consistent with the conveying direction of the formed box blank conveying mechanism.

[0018] Compared with the prior art, the beneficial technical effects brought by the utility model are as follows:

[0019] 1. The vertical box opener of the utility model opens the box blank in a dislocated manner by sucking the box body I on one side of the box blank by the movable suction cup group and fixing the box body II on the other side by the box body fixing assembly. Compared with the prior art method of using the adjacent box bodies to flip 90°, the box bodies III and IV that are not sucked by the box blank are not subjected to force during the box blank opening process, and the box blank opening is completely achieved by the dislocation separation of the box body I sucked by the movable suction cup group relative to the box body II fixed by the box body fixing assembly. Since the box bodies III and IV that are not sucked by the box blank are not subjected to force, they will not be deformed during the box blank opening process. The box body I is fixed by the movable suction cup group and the box body II is fixed by the box body fixing assembly. When the box blank is opened, both the box body I and the box body II are supported and will not be deformed, thereby improving the forming effect and success rate of the box blank.

[0020] 2. In the existing vertical box opening machines, the adjacent box bodies (taking box body I and box body III as an example) are adsorbed, and then the box body III is turned 90 degrees to complete the box opening (box body III is turned around box body I for 90 degrees to open the box). During the turning process, the turned box body III will squeeze the box body II on the other side, and the box body IV on the opposite side of box body III will also be squeezed by box body II, which will cause the box body II and box body IV that are not adsorbed to be deformed, resulting in poor box blank forming effect or even forming failure. The utility model uses the opposite sides (box body I and box body II) to separate the box, which is not affected by the hardness of the box blank. Even if the box blank is soft in material, soft or thin due to high humidity, it can be successfully opened and maintain a good box opening forming effect; the utility model can realize the opening of double-layer corrugated paper, and even single-layer corrugated paper, and its box opening success rate and box opening forming effect are not affected.

[0021] 3. Compared with the prior art CN212686057U, the vertical carton opening machine of the utility model can improve its carton opening success rate and forming effect, and does not require much improvement to the prior art. It only needs to add a box body fixing component, cancel the auxiliary forming strip, and set the actuator to execute according to the action relationship specified in this application. Its carton opening efficiency will not be affected, but the carton opening success rate and box blank forming effect are greatly improved.

[0022] 4. The utility model adopts a set of actuators to drive the movable suction cup group to move. During the unpacking process, the box body fixing component is fixed and motionless, which simplifies the unpacking execution action. If the box body fixing component also moves, it is difficult to coordinate the coordination of the two, and it will also increase the equipment cost of the utility model. The utility model adopts a set of actuators to complete the box blank removal and unpacking actions. It only needs to adjust the control program of the actuator, and does not require the coordination and regulation of the second set of action mechanisms, and its control is simpler.

[0023] 5. In the utility model, for the planning of the curved trajectory, only the movement trajectory of the box body I sucked by the movable suction cup group needs to be considered. The box body II fixed by the box body fixing assembly remains stationary during the unpacking process. The movement distance of the box body I sucked by the movable suction cup group in two directions is used to fit the curved motion trajectory, which can adapt to box blanks of different specifications and sizes. At the same time, when the box blank is bent and deformed, the deformed box body can be corrected through the curved trajectory to ensure the molding effect of the box blank opening and the success rate of the box blank molding.

[0024] 6. In the utility model, for box blanks with harder materials and no box body deformation, the forming effect will be better, and the planning of the curve trajectory will be more optimized, that is, without considering the deformation of the box body of the box blank, it is generally a 1 / 4 arc trajectory with the length of box body III or box body IV adjacent to box body II as the radius and the center of the connection between box body II and its adjacent box bodies III and IV as the center of the circle. This can ensure that the actuator can quickly complete the action trajectory of the movable suction cup group, carry out the unpacking operation of the next box blank, and improve the unpacking efficiency.

[0025] 7. The position of the box body fixing assembly in the utility model is adjustable, and the adjustment of the position is determined according to the folding state of the box blank and the size of the box blank. Under the condition of not affecting the normal taking out and unpacking of the box blank, the moving distance of the box blank from the box blank storage warehouse to the box body fixing assembly is shortened as much as possible. By shortening the moving distance, the unpacking efficiency can be further improved.

[0026] 8. The role of the box body fixing assembly in the present invention is to limit the displacement of the box blank along the conveying direction of the forming box blank conveying path. During the opening process of the box blank, the box body II basically will not be displaced in the direction perpendicular to the conveying path of the forming box blank. Based on this consideration, the function of the box body fixing assembly can be achieved by using the block on the forming box blank clamping conveying belt of the forming box blank conveying mechanism. There is no need to add additional fixing components or the implementation of the box body fixing assembly does not require too much increase in equipment cost, thereby reducing the equipment cost of the present invention.

[0027] 9. The function of the box body fixing assembly in the utility model is realized by the fixed suction cup group arranged in the box body fixing assembly. The fixed suction cup group can not only limit the displacement of the box blank along the conveying direction of the forming box blank conveying path, but also limit the displacement of the box blank in the direction perpendicular to the conveying path of the forming box blank; when the box body III and / or the box body IV are bent and deformed, the box body I can be pulled outward by the movable suction cup group, so as to correct the bending deformation of the box body III and / or the box body IV.

[0028] 10. In the vertical carton opening machine of the utility model, the position of the box blank when it is opened and formed is based on a reference datum. No matter what the size of the box blank is, the reference datum will not change, so there is no need to adjust the position of subsequent box leaf folding mechanisms, which is more conducive to the implementation and layout of the structure.

[0029] 11. The utility model uses only one actuator from the time the box blank is taken out to the time it is opened, so the action is simpler, and the realization of the box taking action and the box opening action is simpler and more coherent. There is no action interval between the box taking action and the box opening action. The box opening action is performed immediately after the box taking is completed, and there is no need to wait until the relevant mechanisms are in place. There is no waiting interval, which makes the box opening efficiency of the utility model higher.

[0030] 12. The utility model is not affected by the stacking state of the box blanks and can be applied to forward and reverse unpacking. The switching between forward and reverse unpacking is only the difference in the moving direction of box body I relative to box body II. There is no need to change the implementation structure. Only the corresponding selection and switching of the control program is required to achieve one-touch switching of forward and reverse unpacking.

[0031] 13. The utility model can adjust the position of the box body fixing parts relative to the forming station according to the size of the box blank, and fit and calculate the curve trajectory of the box body I adsorbed by the movable suction cup group driven by the actuator, so as to achieve customized menu control of the box blank size, and also realize input control of the box blank size, so as to realize intelligent adaptation of different sizes of box blanks. The utility model is not affected by the stacking state of the box blanks, and can be applied to forward and reverse unpacking. The switching between forward and reverse unpacking is only the difference in the moving direction of the box body I relative to the box body II. There is no need to change the implementation structure, but only need to select and switch the control program accordingly, so as to achieve one-key switching of forward and reverse unpacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional structural schematic diagram of the vertical box opening machine of the utility model;

[0033] Figure 2 This is a schematic diagram of the main structure of the vertical box opener of the utility model;

[0034] Figure 3It is a rear view structural schematic diagram of the vertical box opener of the utility model;

[0035] Figure 4 It is a schematic diagram of the top view of the vertical box opener of the utility model;

[0036] Figure 5 The unpacking process of the vertical unpacking machine of the utility model is shown as follows Figure 1 ;

[0037] Figure 6 The unpacking process of the vertical unpacking machine of the utility model is shown as follows Figure 2 ;

[0038] Figure 7 The unpacking process of the vertical unpacking machine of the utility model is shown as follows Figure 3 ;

[0039] Figure 8 The unpacking process of the vertical unpacking machine of the utility model is shown as follows Figure 4 ;

[0040] Figure numerals: 1. frame, 2. box blank, 3. box blank storage warehouse, 4. actuator, 5. movable suction cup group, 6. box body fixing component, 7. formed box blank conveying mechanism, 8. formed box blank clamping conveying belt, 9 block, 10. fixed suction cup group, 11. box body I, 12. box body II, 13. box body III, 14. box body IV. DETAILED DESCRIPTION

[0041] The following are exemplary embodiments of the present invention that are combined with the accompanying drawings to help fully understand the claims and their equivalents, wherein the specific details are only considered as exemplary and do not limit the scope of the present invention. Therefore, those of ordinary skill in the art can make various changes and modifications to the embodiments without departing from the scope and spirit of the present invention.

[0042] Example 1

[0043] As a preferred embodiment of the present invention, refer to the attached specification Figure 1 , Attachment Figure 2 , Attachment Figure 3 and attached Figure 4As shown, this embodiment discloses a vertical box opening machine, including a box blank storage warehouse 3, an actuator 4, and a movable suction cup group 5 mounted on the actuator 4 for sucking the box body Ⅰ11 on one side of the box blank 2, and also includes a box body fixing component 6. The actuator 4 drives the movable suction cup group 5 to move to the box blank storage warehouse 3. After the movable suction cup group 5 sucks the box body Ⅰ11 on one side of the box blank 2 in the box blank storage warehouse 3, the actuator 4 drives the movable suction cup group 5 to move the sucked box blank 2 to the box body fixing component 6, and the actuator 4 drives the movable suction cup group 5 and the box body Ⅰ11 sucked by the movable suction cup group 5 to move in a curved trajectory, and the box blank 2 is opened and formed; the box body fixing component 6 is configured to limit the displacement of the other side box body Ⅱ12 of the box blank 2 sucked by the movable suction cup group 5 when the actuator 4 drives the movable suction cup group 5 and the box body Ⅰ11 sucked by the movable suction cup group 5 to move in a curved trajectory; the other side box body Ⅱ12 refers to the box body Ⅱ12 located on the opposite side of the box body Ⅰ11 sucked by the movable suction cup group 5 in the forming state of the box blank 2.

[0044] The specific working principle of this embodiment is as follows Figure 5 As shown in Figure 6, the actuator 4 (not shown in the figure) drives the movable suction cup group 5 to move to the position of the box blank storage warehouse 3, and presses the movable suction cup group 5 onto the outermost box blank 2 in the box blank storage warehouse 3. The movable suction cup group 5 sucks the box body Ⅰ11 of one side of the box blank 2. After the movable suction cup group 5 firmly sucks the box body Ⅰ11 of the box blank 2, the actuator 4 drives the movable suction cup group 5 to take out the sucked box blank 2 from the box blank storage warehouse 3 and moves it to the position of the box body fixing component 6. After moving to the position, the box body fixing component 6 fixes the box body Ⅱ12 on the other side of the box blank 2. The fixing here refers to limiting the displacement of the box body Ⅱ12, so that the box body Ⅱ12 is fixed when the movable suction cup group 5 performs the opening action. After the box body Ⅱ12 is fixed, the actuator 4 drives the movable suction cup group 5 and the box body Ⅰ11 sucked by the movable suction cup group 5 to move in a curved trajectory, that is, the box body Ⅰ11 moves relative to the box body Ⅱ12, and the box blank 2 is opened and formed. The box body II12 refers to the box body II12 located on the opposite side of the box body I11 sucked by the movable suction cup group 5 when the box blank 2 is in the formed state.

[0045] As an implementation of this embodiment, the box body fixing assembly 6 is a fixed suction cup group 10, which sucks the box body II 12 on the other side of the box blank 2 to fix the box body II 12. The fixed suction cup group 10 of this embodiment can not only limit the displacement of the box body II 12 in the length direction when the box blank 2 is folded, but also limit the displacement of the box body II 12 in the thickness direction when the box blank 2 is folded; when the box body III 138 and / or the box body IV 149 are bent and deformed, the box body I 11 can be pulled outward by the movable suction cup group 5, so as to correct the bending deformation of the box body III 13 and / or the box body IV 14.

[0046] As an example of this embodiment, in order to ensure the firmness of the movable suction cup group 5 and the fixed suction cup group 10 to suck the box body, multiple suction cups are provided on the movable suction cup group 5 and the fixed suction cup group 10. On the one hand, the stability of the movable suction cup group 5 and the fixed suction cup group 10 to suck the box body can be ensured, and on the other hand, the suction area of ​​the movable suction cup group 5 and the fixed suction cup group 10 is increased to prevent the box body sucked by the movable suction cup group 5 and the fixed suction cup group 10 from being deformed during the unpacking process.

[0047] As another implementation method of this embodiment, refer to the attached Figure 7 and attached Figure 8 As shown, the box body fixing component 6 is a block 9 structure on the molded box blank clamping conveying belt 8 in the molded box blank conveying mechanism 7. The block 9 blocks the connection between the box body Ⅱ 12 and its adjacent box body Ⅲ 13 or box body Ⅳ 14. The block 9 prevents the box body Ⅱ 12 from producing displacement in the length direction when the box blank 2 is in the folded state or displacement along the conveying direction of the molded box blank conveying mechanism 7.

[0048] As an example of this embodiment, refer to the attached Figure 7 As shown, taking the conveying direction of the formed box blank conveying mechanism 7 as a reference, when the box blank 2 is in the folded state and the box body Ⅱ12 is located at the front end of the box body Ⅰ11, the actuator 4 drives the movable suction cup group 5 and the box body Ⅰ11 sucked by the movable suction cup group 5 to move forward in a curved trajectory. At this time, the block 9 is located at the front end of the box body Ⅱ12; after the box blank 2 is formed, the formed box blank is clamped and conveyed by the formed box blank conveying mechanism 7 on both sides to convey the formed box blank 2 forward.

[0049] As another example of this embodiment, refer to the attached Figure 8 As shown, taking the conveying direction of the formed box blank conveying mechanism 7 as a reference, when the box blank 2 is in the folded state and the box body Ⅱ12 is located at the rear end of the box body Ⅰ11, the actuator 4 drives the movable suction cup group 5 and the box body Ⅰ11 sucked by the movable suction cup group 5 to move in a backward curved trajectory. At this time, the block 9 is located at the rear end of the box body Ⅱ12. After the box blank 2 is formed, the formed box blank is clamped and conveyed by the formed box blank conveying mechanism 7. The conveying belt 8 conveys the formed box blank 2 forward.

[0050] As another implementation of this embodiment (not shown in the figure), the box body fixing assembly 6 is a retractable baffle member, which is similar to the implementation of the above-mentioned block 9. The baffle member can be driven by the cylinder to be retracted to prevent the box body II 12 from being displaced along the conveying direction of the forming box blank conveying mechanism 7.

[0051] Among the above three implementations, it is preferred that the box body fixing component 6 is an implementation of a fixed suction cup group 10 .

[0052] Example 2

[0053] As another preferred embodiment of the present utility model, this embodiment is based on the above-mentioned embodiment 1, taking the implementation method of the box body fixing component 6 as a fixed suction cup group 10 as an example, to further supplement and explain the technical solution of the present utility model in detail.

[0054] As an implementation method of this embodiment, refer to the attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 and attached Figure 4 As shown, when the stacking direction of the box blanks 2 in the box blank storage warehouse 3 is perpendicular to the conveying direction of the formed box blank conveying mechanism 7, the actuator 4 drives the movable suction cup group 5 to move to the front end of the box blank storage warehouse 3, and sucks the box blank 2 located at the front end of the box blank storage warehouse 3, specifically sucks the box body Ⅰ11 of the box blank 2 (if the cross-section of the box blank 2 after molding is a rectangle, the box body Ⅰ11 preferably sucks the long side box body of the box blank 2, and can choose to suck the short side box body of the box blank 2. In comparison, the unpacking and molding effect and unpacking success rate of sucking the long side box body are higher).

[0055] The actuator 4 drives the movable suction cup to convey the sucked box blank 2 forward along the formed box blank conveying mechanism 7 for a distance until the box body II 12 on the other side can be sucked by the fixed suction cup group 10 .

[0056] In specific implementation, if the structure allows, Figure 5 The box body Ⅰ11 sucked by the movable suction cup group 5 shown in the figure can overlap a part with the box blank 2 forming library. It is only necessary to ensure that the box body Ⅱ12 on the opposite side of the box body Ⅰ11 sucked by the movable suction cup group 5 can be sucked by the fixed suction cup group 10, and shorten the moving distance of the box blank 2 relative to the fixed suction cup group 10 as much as possible to improve the unpacking efficiency of the box blank 2.

[0057] When the actuator 4 drives the movable suction cup group 5 to move the box blank 2 it has sucked to the position of the fixed suction cup group 10, the actuator 4 can drive the movable suction cup group 5 to move a set distance in the direction of the fixed suction cup group 10, that is, the box blank 2 applies a certain force to the fixed suction cup group 10 to ensure that the fixed suction cup group 10 can firmly suck the box body Ⅱ12 of the box blank 2; or the fixed suction cup group 10 extends a certain length in the direction of the box body Ⅱ12 (maintaining this position after sucking, or resetting after sucking) to ensure that the fixed suction cup group 10 can firmly suck the box body Ⅱ12 of the box blank 2.

[0058] After the fixed suction cup group 10 sucks the box body II 12, the actuator 4 is actuated to drive the box body I 11 sucked by the movable suction cup group 5 to move in a curved track, and the box blank 2 is opened and formed.

[0059] Example 3

[0060] As another preferred embodiment of the utility model, this embodiment is based on the above-mentioned embodiment 2, and further supplements and explains the technical solution of the utility model in detail. Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 and attached Figure 5 As shown, the stacked state of the box blank 2 is that the box body I 11 and the box body IV 14 are located outside the box body III 13 and the box body II 12, and the box body I 11 is located at the rear end of the box body II 12. The curved trajectory of the overall movement of the movable suction cup group 5 is as follows: Figure 5 As shown, it is a front offset box, that is, the curved trajectory of the movable suction cup group 5 can be decomposed into two directions of movement, namely, the forward direction along the conveying direction of the forming box blank conveying mechanism 7 and the outward direction along the width of the forming box blank conveying mechanism 7.

[0061] Refer to the instruction manual Figure 6 As shown, the folded state of the box blank 2 is: the box body I 11 is located at the front end of the box body II 12, and the curved trajectory of the overall movement of the movable suction cup group 5 is as follows: Figure 6 As shown, it is a rear staggered box, that is, the curved trajectory of the movable suction cup group 5 can be decomposed into two directions of movement: backward along the conveying direction of the forming box blank conveying mechanism 7 and outward along the width of the forming box blank conveying mechanism 7.

[0062] The above-mentioned implementation mode is applied to the implementation structure in which the box body fixing component 6 is a block 9 on the forming box blank clamping conveying belt 8 in the forming box blank conveying mechanism 7 in Example 1; the block 9 blocks the box body II 12 from being displaced along the conveying direction of the forming box blank conveying mechanism 7, and the conveying direction of the forming box blank conveying mechanism 7 is taken as the reference, such as Figure 7 As shown, when the box blank 2 is in the folded state and the box body II 12 is located at the front end of the box body I 11, the actuator 4 drives the movable suction cup group 5 to drive the box body I 11 to move forward in a curved trajectory. At this time, the stopper 9 is located at the front end of the box body II 12; after the box blank 2 is formed, the formed box blank clamping conveyor belt 8 of the formed box blank conveying mechanism 7 conveys the formed box blank 2 forward. Figure 8 As shown, when the box body Ⅱ12 of the box blank 2 is located at the rear end of the box body Ⅰ11 in the folded state, the actuator 4 drives the movable suction cup group 5 to drive the box body Ⅰ11 to move in a backward curved trajectory. At this time, the block 9 is located at the rear end of the box body Ⅱ12. After the box blank 2 is formed, the formed box blank clamping conveyor belt 8 of the formed box blank conveying mechanism 7 conveys the formed box blank 2 forward.

[0063] As an example of this embodiment, after the box blank 2 is formed, the formed box blank 2 can be clamped and conveyed by the formed box blank clamping conveyor belt 8 of the formed box blank conveying mechanism 7, or the formed box blank 2 can be pushed forward by the block 9 (this embodiment has a lower requirement for the spacing of the conveyor belts of the formed box blank 2). If the box blank 2 is in a folded state and the box body II 12 is located at the front end of the box body I 11, the rear block 9 is used to push the formed box blank 2 for conveyance.

[0064] Example 4

[0065] As a preferred embodiment of the present invention, this embodiment is based on the above embodiment 1, taking the box body fixing component 6 as an example of the implementation structure of the fixed suction cup group 10, and further supplements and explains the technical solution of the present invention in detail. Figure 7 and attached Figure 8 As shown, when the stacking direction of the box blanks 2 in the box blank storage warehouse 3 is consistent with the conveying direction of the formed box blank conveying mechanism 7, the actuator 4 drives the movable suction cup group 5 to move to the front end of the box blank storage warehouse 3, sucking the box blank 2 located at the front end of the box blank storage warehouse 3, specifically sucking the box body Ⅰ11 of the box blank 2; then the actuator 4 drives the movable suction cup to cause the box blank 2 to turn 90 degrees until the other side of the box body Ⅱ12 can be sucked by the fixed suction cup group 10. Other actions are similar to those shown in Example 2.

[0066] As an example of this embodiment, according to the folding state of the box blank 2, select the method as shown in the appendix of the specification. Figure 7 Before unpacking or as the instructions attached Figure 8 Rear staggered box shown.

[0067] Example 5

[0068] As another preferred embodiment of the present utility model, this embodiment is based on the above-mentioned embodiment 1, embodiment 2, embodiment 3 or embodiment 4, taking the implementation structure of the box body fixing component 6 as the fixed suction cup group 10 as an example, to further supplement and elaborate on the technical solution of the present utility model in detail.

[0069] As an implementation method of this embodiment, refer to the attached Figure 5 , Attachment Figure 6 , Attachment Figure 7 and attached Figure 8As shown, the curve trajectory is presented as the projection of the box body sucked by the movable suction cup group 5 on the horizontal plane gradually moves outward away from the projection of the box body sucked by the fixed suction cup group 10 on the horizontal plane; at the same time, the projection of the box body sucked by the movable suction cup group 5 in the vertical plane gradually overlaps with the projection of the box body sucked by the fixed suction cup group 10 in the vertical plane. For the planning of the curve trajectory, only the movement trajectory of the box body sucked by the movable suction cup group 5 needs to be considered. The box body sucked by the fixed suction cup group 10 remains motionless during the unpacking process. The movement distance of the box body sucked by the movable suction cup group 5 in two directions is used to fit the curve movement trajectory, which can adapt to box blanks 2 of different specifications and sizes. At the same time, or when the box blank 2 is bent and deformed, the deformed box body can be corrected through the curve trajectory to ensure the forming effect of the box blank 2 when it is opened and the forming success rate of the box blank 2.

[0070] As an example of the present embodiment, for a box blank 2 made of a harder material and without any box body deformation, the forming effect will be better and the planning of the curve trajectory will be more optimized, that is, without considering the case where the box body of the box blank 2 is deformed, the curve trajectory is a 1 / 4 arc trajectory with the length of the box body adjacent to the box body sucked by the fixed suction cup group 10 as the radius and the center of the connection between the box body sucked by the fixed suction cup group 10 and the adjacent box body as the center of the circle.

[0071] As another implementation of this embodiment, during the movement of the box body sucked by the movable suction cup group 5, the box body sucked by the fixed suction cup group 10 remains stationary, and the box body sucked by the movable suction cup group 5 is always parallel to the box body sucked by the fixed suction cup group 10. Taking the box body I 11 and the box body II 12 as the long side box body as an example, L1 and L2 are the lengths of the box body III 13 and the box body IV 14, for the box blank 2 with higher processing accuracy, that is, the box blank 2 with equal lengths of L1 and L2, the box body I 11 and the box body II 12 can be kept in a parallel posture when opening the box.

[0072] Furthermore, during the unpacking process, the fixed suction cup group 10 is stationary, which simplifies the execution of the unpacking. If the fixed suction cup group 10 also moves, it will be difficult to coordinate the coordination of the two, and it will also increase the equipment cost of the implementation of the method of the utility model. The utility model adopts a set of actuators 4 to complete the actions of taking the box blank 2 and unpacking. It only needs to adjust the control program of the actuator 4, and there is no need for the coordination and regulation of the second set of actuators, and its control is simpler.

[0073] As an example, when considering the box blank 2 to be soft and collapsed, it can be determined whether to open and form in place according to the posture of the four-sided box body, such as the actuator 4 drives the movable suction cup group 5 to maintain a posture parallel to the fixed suction cup group 10 to move in a curved trajectory as a whole, until the box body adjacent to the box body sucked by the movable suction cup group 5 is perpendicular to the box body sucked by the fixed suction cup, and the box blank 2 is opened and formed. The box body I11 can be pulled outward so that the box body III13 and the box body IV14 are both perpendicular to the box body I11 and the box body II12, so as to avoid the box body III13 and the box body IV14 from softly collapsing and the poor forming effect.

[0074] As another implementation of this embodiment, in this embodiment, the curve trajectory is generated by fitting according to the size of the box blank 2.

[0075] Specifically, the displacement L1 of the box body sucked by the movable suction cup group 5 projected on the horizontal plane and the displacement L2 of the box body sucked by the movable suction cup group 5 projected on the vertical plane are determined according to the length of the box body adjacent to the box body sucked by the fixed suction cup, and the curve trajectory is obtained by fitting L1 and L2.

[0076] Taking box body Ⅰ11 and box body Ⅱ12 as the long side box bodies as an example, L1 and L2 are the lengths of box body III13 and box body IV14. For box blanks 2 with problems in processing accuracy, for example, when L1 and L2 are of different lengths, a rotatable degree of freedom is added to the movable suction cup group 5 on the actuator 4, which can be suitable for unpacking special-shaped box blanks 2 with unequal lengths of L1 and L2, or unpacking box blanks 2 with low accuracy, and the unpacking forming effect is good and the unpacking success rate is high.

[0077] The implementation method shown in this embodiment has better adaptability to the replacement of the specifications of the box blank 2, and can achieve one-click adjustment. Through the preset menu, one-click adaptation and unpacking of box blanks 2 of different specifications can be achieved.

[0078] Example 6

[0079] As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1, embodiment 2, embodiment 3, embodiment 4 or embodiment 5, and takes the case fixing component 6 as an example of the implementation structure of the fixed suction cup group 10, and further supplements and explains the technical solution of the present invention in detail. In this embodiment, the position of the case fixing component 6 is adjustable.

[0080] As an example of this embodiment, the box body fixing part can be arranged at the input end side of the forming box blank conveying mechanism 7, so that after the box blank 2 is opened, it can be directly conveyed out along the forming box blank conveying mechanism 7 and directly carry out subsequent operations. It is suitable for the working condition that there is an installation space for installing the box body fixing component 6 on the conveying path of the forming box blank 2.

[0081] As another example of this embodiment, when there is no installation space for installing the box body fixing assembly 6 on the molding box blank conveying mechanism 7, or when other operations need to be performed on the molded box blank 2, such as folding box leaves, etc.; the box body fixing assembly 6 can be set on the reverse extension line of the molding box blank conveying mechanism 7, so that after the box blank 2 is formed, it can be pushed into the molding box blank conveying mechanism 7 for forward transportation.

[0082] Example 7

[0083] As another preferred embodiment of the utility model, this embodiment is a further detailed supplement and elaboration of the technical solution of the utility model based on the above-mentioned embodiment 1, embodiment 2, embodiment 3, embodiment 4, embodiment 5, embodiment 6 or embodiment 7. As another example of this embodiment, the actuator 4 can be a serial manipulator, a two-axis parallel manipulator, a cross slide, an XY axis, etc., and all of them can implement the above-mentioned implementation mode.

[0084] The installation position of the actuator 4 is not limited in this application. It can be installed in the space between the box blank storage warehouse 3 and the formed box blank conveying mechanism 7. If a two-axis parallel manipulator or a series manipulator is used, its layout can be the same as the existing CN212686057U layout structure. It can also be suspended above the space between the box blank storage warehouse 3 and the formed box blank conveying mechanism 7. Adaptability can be adjusted according to actual working conditions.

[0085] As an example of this embodiment, refer to the attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 and attached Figure 4 As shown, the vertical carton opening machine includes a frame 1, a box blank storage warehouse 3 and a formed box blank conveying mechanism 7 arranged on the frame 1, an actuator 4 is arranged on the opposite side of the box blank storage warehouse 3 and is located on one side of the input end of the formed box blank conveying mechanism 7, and a box body fixing component 6 is located on the other side of the formed box blank conveying mechanism 7, and the box body fixing component 6 is arranged opposite to the movable suction cup group 5 assembled on the actuator 4.

[0086] While the inventive concept has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made thereto without departing from the spirit and scope of the invention as defined in the claims.

Claims

1. A vertical box opening machine, comprising a box blank storage warehouse (3), an actuator (4) and a movable suction cup group (5) mounted on the actuator (4) for sucking a box body I (11) on one side of a box blank (2), characterized in that: The box body fixing assembly (6) is also included. The actuator (4) drives the movable suction cup group (5) to move to the box blank storage warehouse (3). After the movable suction cup group (5) sucks the box body I (11) on one side of the box blank (2) in the box blank storage warehouse (3), the actuator (4) drives the movable suction cup group (5) to move the sucked box blank (2) to the box body fixing assembly (6). The actuator (4) drives the movable suction cup group (5) and the box body I (11) sucked by the movable suction cup group (5) to move in a curved track. , the box blank (2) is opened and formed; the box body fixing component (6) is configured to limit the displacement of the box body II (12) on the other side of the box blank (2) sucked by the movable suction cup group (5) when the actuator (4) drives the movable suction cup group (5) and the box body I (11) sucked by the movable suction cup group (5) to move in a curved trajectory; the box body II (12) on the other side refers to the box body II (12) located on the opposite side of the box body I (11) sucked by the movable suction cup group (5) when the box blank (2) is in the formed state.

2. A vertical box opener as claimed in claim 1, characterized in that: The curve trajectory is shown as follows: the projection of the box body I (11) sucked by the movable suction cup group (5) on the horizontal plane gradually moves outward away from the projection of the box body II (12) fixed by the box body fixing component (6) on the horizontal plane; at the same time, the projection of the box body I (11) sucked by the movable suction cup group (5) in the vertical plane gradually overlaps with the projection of the box body II (12) fixed by the box body fixing component (6) in the vertical plane.

3. A vertical box opener as claimed in claim 2, characterized in that: The curved trajectory is a 1 / 4 arc trajectory with the length of the box body III (13) or box body IV (14) adjacent to the box body II (12) fixed by the box body fixing component (6) as a radius and the center of the connection between the box body II (12) fixed by the box body fixing component (6) and the adjacent box body III (13) or box body IV (14) as a circle center.

4. A vertical box opener according to claim 1, characterized in that: It also comprises a forming box blank conveying mechanism (7), wherein the box body fixing assembly (6) is arranged on one side of the input end of the forming box blank conveying mechanism (7).

5. A vertical box opener according to any one of claims 1 to 4, characterized in that: The box body fixing component (6) is a fixing suction cup group (10).

6. A vertical box opener as claimed in claim 4, characterized in that: The box body fixing component (6) is a stopper (9) on a forming box blank clamping conveying belt (8) in a forming box blank conveying mechanism (7); the stopper (9) blocks the box body II (12) from being displaced along the conveying direction of the forming box blank conveying mechanism (7).

7. A vertical box opener according to any one of claims 1 to 4, characterized in that: The actuator (4) is a serial manipulator or a two-axis parallel manipulator.

8. A vertical box opener according to any one of claims 1 to 4, characterized in that: When the cross-section of the box blank (2) after forming is a rectangle, the box body I (11) and the box body II (12) are the long side box bodies of the box blank (2).

9. A vertical box opener according to any one of claims 1 to 4, characterized in that: The stacking direction of the box blanks (2) in the box blank storage warehouse (3) is perpendicular to the conveying direction of the formed box blank conveying mechanism (7).

10. A vertical box opener according to any one of claims 1 to 4, characterized in that: The stacking direction of the box blanks (2) in the box blank storage warehouse (3) is consistent with the conveying direction of the formed box blank conveying mechanism (7).

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