Packing box grabbing device for robot finished boxes

Abstract

The utility model discloses a robot carton forming and packaging box grabbing device and relates to the field of carton packaging. The robot box forming and packaging box grabbing device comprises a box blank conveying mechanism used for storing and conveying box blanks, a paper box conveying mechanism used for conveying the opened box blanks, and a box pushing mechanism used for pushing the opened box blanks to the paper box conveying mechanism to be conveyed. The robot box opening mechanism is used for grabbing the box blanks conveyed by the box blank conveying mechanism, opening the box blanks and then transferring the box blanks to the box pushing mechanism for pushing; the feeding conveyor is used for conveying materials; the robot gripper mechanism is used for grabbing and moving the materials conveyed by the feeding conveyor into the carton blanks conveyed by the carton conveying mechanism; and the carton sealing mechanism is used for carrying out hot melt adhesive carton sealing on the carton blanks loaded with the materials and conveyed by the carton conveying mechanism. The robot box forming and packaging box grabbing device can greatly reduce operators and reduce the labor intensity, and has the advantages of being high in operation efficiency, good in safety and small in box sealing pollution.

Description

Technical Field

[0001] The present application relates to the field of carton packaging, and in particular to a robot carton grabbing and packaging device. Background Art

[0002] The market demand for packing of materials (such as bags, strips, boxes, etc.) has always been large. In the existing production process, the packing of these materials is mainly done by manually opening the carton blanks and then putting the materials into the cartons one by one, and then using transparent tape to wrap and seal the cartons. However, manual packing and sealing is labor-intensive, has poor stability and consistency, low work efficiency, and high operating costs, which cannot meet the existing packing needs. Utility Model Content

[0003] The purpose of the present application is to provide a robot box-grabbing and packing device, which can greatly reduce the number of operators and reduce labor intensity, and has the advantages of high operating efficiency, good safety and stability, and low box sealing pollution.

[0004] This application is implemented as follows:

[0005] The present application provides a robot box-grabbing and packing device, which comprises:

[0006] Box blank conveying mechanism, used for storing and conveying box blanks;

[0007] Carton conveying mechanism, used for conveying opened carton blanks;

[0008] The box pushing mechanism is used to push the opened box blank to the carton conveying mechanism for conveying;

[0009] The robot box opening mechanism is used to grab the box blanks conveyed by the box blank conveying mechanism, open them, and then pass them to the box pushing mechanism for pushing;

[0010] Feed conveyor, used to transport materials;

[0011] The robot gripper mechanism is used to grab and move the materials conveyed by the feed conveyor into the box blank conveyed by the carton conveying mechanism;

[0012] The carton sealing mechanism is used to perform hot melt adhesive sealing on the carton blanks filled with materials conveyed by the carton conveying mechanism.

[0013] In some optional embodiments, the box blank conveying mechanism includes a fixed frame, at least one box blank conveyor belt arranged on the fixed frame, and box pressing plates for pressing both sides of the middle part of the box blank are respectively provided on both sides of the fixed frame.

[0014] In some optional embodiments, the output end of the box blank conveyor is provided with a box blank forming blocking mechanism for blocking and positioning the box blanks conveyed by it, the box blank forming blocking mechanism includes two side baffles rotatably arranged on both sides of the fixed frame, side rotating cylinders respectively used to drive the two side baffles to rotate, an upper flip baffle rotatably arranged above the two side baffles, a top rotating cylinder used to drive the upper flip baffle to rotate, a top pressure plate arranged on the side of the upper flip baffle close to the box blank conveyor, and a box pressing cylinder used to drive the top pressure plate to rise and fall, the side baffles and the upper flip baffle respectively block or stop blocking the side and top of the box blank conveyed by the box blank conveyor when they rotate; the box pressing cylinder is used to drive the top pressure plate to descend to limit the position of another box blank behind the box blank when the side baffles rotate and stop blocking the box blank.

[0015] In some optional embodiments, the robot unpacking mechanism includes a robot hanger, a six-axis robot connected to the robot hanger, and an unpacking fixture connected to the six-axis robot. The unpacking fixture includes a rotating shaft seat assembly connected to the six-axis robot, a positive unpacking assembly, and a reverse unpacking assembly; the rotating shaft seat assembly includes a rotating shaft seat bracket, a first cylinder and a second cylinder arranged in reverse and connected in sequence, a forming rotating block hinged at one end of the rotating shaft seat bracket, and at least one fixed suction cup connected to the rotating shaft seat bracket. The forming rotating block is used to detachably connect the positive unpacking assembly and the reverse unpacking assembly. An unpacking assembly or a reverse unpacking assembly, a fixed suction cup is used to adsorb the box blank to the side of the rotating shaft seat bracket, the cylinder rod of the first cylinder is hinged to one end of the rotating shaft seat assembly, and the cylinder rod of the second cylinder is hinged to the forming rotary block; the first cylinder and the second cylinder are used to telescopically drive the forming rotary block to rotate, so that the positive unpacking assembly can rotate between opening the box blank perpendicular to the rotating shaft seat bracket and being colinear with the rotating shaft seat bracket, or the reverse unpacking assembly can rotate between adsorbing the back side of the box blank in contact with the side of the rotating shaft seat bracket, opening the box blank perpendicular to the rotating shaft seat bracket, and forming an obtuse angle with the rotating shaft seat bracket.

[0016] In some optional embodiments, the positive box opening component is an L-shaped positive box opening forming baffle having one end connected to the forming turn block; the reverse box opening component includes a side suction guide rail mounting frame connected to the forming turn block at one end, a linear guide rail and a spring guide shaft connected to the side suction guide rail mounting frame, a slider slidingly arranged on the linear guide rail, a box grab plate connected to the slider, and at least one reverse suction cup connected to the box grab plate, the spring guide shaft is parallel to the linear guide rail and slides through the box grab plate, a reset spring is sleeved on the spring guide shaft, and the reset spring is used to push the box grab plate moving along the spring guide shaft to reset; when the reverse box opening component is attached to the side of the rotating shaft seat bracket, the reverse suction cup adsorbs the reverse side of the box blank adsorbed by the fixed suction cup.

[0017] In some optional embodiments, the box pushing mechanism includes a box pushing main beam, a mobile suction cup for adsorbing a robot box opening mechanism to open the box blank, a pushing mechanism respectively connected to the box pushing main beam and the mobile suction cup, and a bottom small page folding mechanism and a side regularization mechanism connected to the box pushing main beam. The pushing mechanism is used to drive the mobile suction cup to move back and forth so that the mobile suction cup adsorbs the opened box blank and moves it to the carton conveying mechanism for conveyance. The bottom small page folding mechanism is used to push the small page at the bottom of the box blank to rotate upward to a horizontal arrangement after the mobile suction cup adsorbs the box blank; the side regularization mechanism is used to push the large page on the side of the top of the box blank after the mobile suction cup adsorbs the box blank so that the two large pages are arranged in parallel and enter the carton conveying mechanism.

[0018] In some optional embodiments, the carton conveying mechanism includes a box conveying mechanism for conveying opened box blanks, two guardrails arranged on both sides above the box conveying mechanism, a width adjustment mechanism for adjusting the width of the box conveying mechanism, a height adjustment mechanism for adjusting the height of the two guardrails, and a page supporting mechanism. A gap extending along the conveying direction of the box blank is provided at the bottom of the guardrail, and the page supporting mechanism is used to allow the two large pages of the box blank conveyed by the box conveying mechanism to enter the two gaps.

[0019] In some optional embodiments, the page-supporting mechanism includes two relatively arranged page-supporting connecting plates, two small-page-printing components rotatably connected to the two page-supporting connecting plates, small-page rotating mechanisms respectively used to drive the small-page-printing components to rotate, a small-page-folding component connected to the page-supporting connecting plates, two large-page-folding components respectively connected to the two page-supporting connecting plates, a small-page-pressing component rotatably connected to the page-supporting connecting plates, and a box-blocking mechanism; the two small-page-printing components are used to rotate and collide with the two small pages at the top of the box blank conveyed by the box-feeding mechanism, so that the two large pages at the top of the box blank are stretched open and enter the two gaps; the box-blocking mechanism is used to block or stop blocking the box blank conveyed by the box-feeding mechanism; the small-page-folding component is used to open a small page at the top of the box blank blocked by the box-blocking mechanism; the small-page-pressing component is used to rotate and open another small page at the top of the box blank blocked by the box-blocking mechanism; the two large-page-folding components are used to respectively telescopically push the box-blocking mechanism to block the two large pages at the bottom of the box blank so as to rotate towards each other and then enter the box-sealing mechanism.

[0020] In some optional embodiments, the robot gripper mechanism includes a robot mounting plate, a Delta robot connected to the robot mounting plate, and a suction cup gripper connected to the Delta robot.

[0021] In some optional embodiments, the box sealing mechanism includes a box sealing bracket, a mantis arm and a box pressing plate arranged at both ends of the box sealing bracket, an upper hot melt glue spray gun connected to the box sealing bracket, and a lower hot melt glue spray gun arranged below the upper hot melt glue spray gun. The box sealing bracket is connected to a rotating motor for driving the mantis arm to rotate around a horizontal axis and a lifting device for driving the box pressing plate to lift and lower. The upper hot melt glue spray gun and the lower hot melt glue spray gun are used to spray hot melt glue on the top and bottom surfaces of the box blank conveyed by the carton conveying mechanism. When the mantis arm rotates around the horizontal axis, it pushes the small leaf on the top of the box blank to rotate and close the box blank. When the box pressing plate descends, it squeezes the small leaf on the top of the box blank to flatten the hot melt glue to complete the box sealing.

[0022] The beneficial effects of the present application are as follows: the robot box-grabbing and packing device provided by the present application includes a box blank conveying mechanism for storing and conveying box blanks, a carton conveying mechanism for conveying opened box blanks, a box-pushing mechanism for pushing the opened box blanks to the carton conveying mechanism for conveying, a robot box-opening mechanism for grasping the box blanks conveyed by the box blank conveying mechanism and then passing them to the box-pushing mechanism for pushing, a feeding conveyor for conveying materials, a robot gripper mechanism for grasping and moving the materials conveyed by the feeding conveyor into the box blanks conveyed by the carton conveying mechanism, and a box-sealing mechanism for hot-melt-sealing the box blanks containing materials conveyed by the carton conveying mechanism. The robot box-grabbing and packing device provided by the present application can greatly reduce the number of operators and the labor intensity, and has the advantages of high operating efficiency, good safety, and low pollution from box sealing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic structural diagram of a first-view device for grabbing and packing boxes by a robot provided in an embodiment of the present application;

[0025] Figure 2 A schematic structural diagram of a second perspective of a robot box-grabbing and packing device provided in an embodiment of the present application;

[0026] Figure 3 A schematic structural diagram of a box blank conveying mechanism from a first perspective in a robot box grabbing and packing device provided in an embodiment of the present application;

[0027] Figure 4 A schematic structural diagram of a second perspective of a box blank conveying mechanism in a robot box grabbing and packaging device provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of the structure of a robot unpacking mechanism in a robot box-grabbing and packing device provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of the structure of the connection between the rotating shaft seat assembly and the front box opening assembly of the robot box opening mechanism in the robot box grabbing and packing device provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the structure of the connection between the rotating shaft seat assembly and the anti-box opening assembly of the robot box opening mechanism in the robot box grabbing and packing device provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of the structure of a box-pushing mechanism in a robot box-grabbing and packing device provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the structure of a carton conveying mechanism in a robot carton grabbing and packing device provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of the partial structure of a page-supporting mechanism in a robot box-grabbing and packing device provided in an embodiment of the present application;

[0034] Fig.11 A schematic diagram of the partial structure of a carton conveying mechanism in a robot carton grabbing and packing device provided in an embodiment of the present application;

[0035] Fig.12 A schematic diagram of the structure of a robot gripper mechanism in a robot box-packing device provided in an embodiment of the present application;

[0036] Fig.13 A schematic diagram of the structure of a box sealing mechanism in a robot box grabbing and packing device provided in an embodiment of the present application.

[0037] In the figure: 100, box blank conveying mechanism; 110, fixed frame; 120, box blank conveyor belt; 130, box pressing plate; 140, side baffle; 150, side rotating cylinder; 160, flip baffle; 170, top rotating cylinder; 180, top pressing plate; 190, box pressing cylinder; 200, carton conveying mechanism; 210, carton delivery mechanism; 211, page support connecting plate; 220, guardrail; 221, gap; 222, small page mounting component; 223, small page rotating mechanism; 224, small page folding component; 225, large page folding component; 226, small page pressing component; 22 7. Upper small page driving cylinder; 228. Box blocking mechanism; 230. Adjustment support frame; 231. Sprocket adjustment screw rod; 232. Sprocket; 233. Chain; 234. Width adjustment crank; 240. Moving bottom plate; 241. Lifting screw rod; 242. Driving rod; 243. Height adjustment crank; 244. Connecting rod; 245. Turbine worm mechanism; 246. Ruler; 300. Box pushing mechanism; 310. Box pushing main beam; 320. Moving suction cup; 330. Pushing mechanism; 340. Bottom small page folding mechanism; 341. Bottom small page push plate; 342. Bottom small page cylinder; 350 , side trimming mechanism; 351, side push plate; 352, side cylinder; 400, robot unpacking mechanism; 410, robot hanger; 420, six-axis robot; 430, unpacking fixture; 440, shaft seat assembly; 441, shaft seat bracket; 442, first cylinder; 443, second cylinder; 444, forming turn block; 445, fixed suction cup; 446, suction cup chassis; 447, movable suction cup; 448, fixed handle; 449, screw; 450, positive unpacking assembly; 451, positive unpacking forming baffle; 460, reverse unpacking assembly; 461, side suction guide installation Rack; 462, linear guide rail; 463, spring guide shaft; 464, slider; 465, carton gripper plate; 466, reverse suction cup; 467, return spring; 470, slide; 500, feeding conveyor; 600, robot gripper mechanism; 610, robot mounting plate; 620, Delta robot; 630, suction cup gripper; 700, carton sealing mechanism; 710, carton sealing bracket; 720, mantis arm; 730, carton pressing plate; 740, upper hot melt glue spray gun; 750, lower hot melt glue spray gun; 760, rotating motor; 770, lifting device; 800, carton rack. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0041] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0042] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0043] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The features and performance of the robot box-grabbing and packing device of the present application are further described in detail below in conjunction with the embodiments.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 and Fig.13 As shown, an embodiment of the present application provides a robot box-forming and packing device, which includes a box blank conveying mechanism 100 for storing and conveying box blanks, a carton conveying mechanism 200 for conveying opened box blanks, a box pushing mechanism 300 for pushing the opened box blanks to the carton conveying mechanism 200 for conveying, a robot box opening mechanism 400 for grabbing the box blanks conveyed by the box blank conveying mechanism 100 and opening them and transferring them to the box pushing mechanism 300 for pushing, a feeding conveyor 500 for conveying materials, a robot gripper mechanism 600 for grabbing and moving the materials conveyed by the feeding conveyor 500 into the box blanks conveyed by the carton conveying mechanism 200, a sealing mechanism 700 for hot-melt adhesive sealing of the box blanks containing materials conveyed by the carton conveying mechanism 200, and a box-forming frame 800.

[0047] The box blank conveying mechanism 100 includes a fixed frame 110 connected to the box forming frame 800, two box blank conveyor belts 120 arranged on the fixed frame 110, and box pressing plates 130 for pressing the tops of the two sides of the box blanks are respectively arranged on both sides of the fixed frame 110. The output end of the box blank conveyor belt 120 is provided with a box blank forming blocking mechanism for blocking and positioning the box blanks it conveys, and the box blank forming blocking mechanism includes two side baffles 140 rotatably arranged on both sides of the fixed frame 110, side rotating cylinders 150 respectively used to drive the two side baffles 140 to rotate, an upward baffle 160 rotatably arranged above the two side baffles 140, a top rotating cylinder 170 used to drive the upward baffle 160 to rotate, and a top rotating cylinder 170 arranged on the upward baffle 160. 0 The top pressing plate 180 near one side of the box blank conveyor belt 120 and the box pressing cylinder 190 for driving the top pressing plate 180 to rise and fall, the side baffles 140 and the upward baffle 160 respectively block or stop blocking the side and top of the box blank conveyed by the box blank conveyor belt 120 when rotating; when the two side baffles 140 rotate to open and stop blocking the box blank conveyor belt 120 from conveying the box blank, the box pressing cylinder 190 drives the top pressing plate 180 to press down against the box blank behind the first box blank conveyed by the box blank conveyor belt 120. In this embodiment, the box blank conveying mechanism 100 also includes a spacing adjustment mechanism for adjusting the spacing between the two box blank conveyor belts 120 and a lifting mechanism for driving the upward baffle 160 and the top rotating cylinder 170 to rise and fall.

[0048] The robot unpacking mechanism 400 includes a robot hanger 410 connected to a box forming frame 800, a six-axis robot 420 connected to the robot hanger 410, and an unpacking fixture 430 connected to the six-axis robot 420. The unpacking fixture 430 includes a rotating shaft seat assembly 440 connected to the six-axis robot 420, a positive unpacking assembly 450, and a reverse unpacking assembly 460; the rotating shaft seat assembly 440 includes a rotating shaft seat bracket 441, a first cylinder 442 and a second cylinder 443 arranged in reverse and connected in sequence, a forming rotating block 444 hinged to one end of the rotating shaft seat bracket 441, and two fixed suction cups 445 connected to the rotating shaft seat bracket 441, the forming rotating block 444 is used to detachably connect the positive unpacking assembly 450 or the reverse unpacking assembly 460, and the fixed suction cup 445 is used to adsorb the box blank on the rotating shaft seat bracket. On the side of the frame 441, the cylinder rod of the first cylinder 442 is hinged to one end of the shaft seat assembly 440, and the cylinder rod of the second cylinder 443 is hinged to the forming turn block 444; the first cylinder 442 and the second cylinder 443 are used to telescopically drive the forming turn block 444 to rotate, so that the positive opening box assembly 450 can rotate between opening the box blank perpendicular to the shaft seat bracket 441 and being colinear with the shaft seat bracket 441, or the reverse opening box assembly 460 can rotate between adsorbing the reverse side of the box blank by adhering to the side of the shaft seat bracket 441, opening the box blank perpendicular to the shaft seat bracket 441, and forming an angle of 135 degrees with the shaft seat bracket 441. The top and bottom of the pivot seat bracket 441 are respectively connected to a movable adjustable suction cup mechanism, which includes a suction cup base 446 that can move along the length direction of the pivot seat bracket 441, a movable suction cup 447 connected to the suction cup base 446, and a fixed handle 448, the fixed handle 448 is connected to a screw 449, and the top and bottom surfaces of the pivot seat bracket 441 are respectively provided with a slide groove 470 extending along the length direction thereof, the slide groove 470 corresponds one-to-one to the movable adjustable suction cup mechanism, and the screw 449 can rotatably pass through the corresponding suction cup base 446 through a thread and then extend into the corresponding slide groove 470.

[0049] The positive box opening component is an L-shaped positive box opening forming baffle 451, one end of which is used to be connected to the forming rotating block 444 by bolts; the reverse box opening component 460 includes a side suction guide rail mounting frame 461, one end of which is used to be connected to the forming rotating block 444 by bolts, a linear guide rail 462 and a spring guide shaft 463 connected to the side suction guide rail mounting frame 461, a slider 464 slidably arranged on the linear guide rail 462, a box grab plate 465 connected to the slider 464 and two reverse suction cups 466 connected to the box grab plate 465, the spring guide shaft 463 is parallel to the linear guide rail 462 and slides through the box grab plate 465, and a reset spring 467 is sleeved on the spring guide shaft 463, and the reset spring 467 is used to push the box grab plate 465 moving along the spring guide shaft 463 to reset; when the reverse box opening component 460 is in contact with the side of the rotating shaft seat bracket 441, the reverse suction cup 466 adsorbs the reverse side of the box blank adsorbed by the fixed suction cup 445.

[0050] The box pushing mechanism 300 includes a pushing mechanism 330 connected to the box forming frame 800, a box pushing main beam 310 connected to one side of the pushing mechanism 330, four mobile suction cups 320 arranged on the top of the box pushing main beam 310, and a bottom small leaf folding mechanism 340 and a side trimming mechanism 350 connected to the box pushing main beam 310; the pushing mechanism 330 is used to drive the box pushing main beam 310 to drive the mobile suction cup 320 to move so that the box blank adsorbed by the mobile suction cup 320 is moved to the carton conveying mechanism 200 for conveying, and the bottom small leaf folding mechanism 340 includes a bottom small leaf pushing plate 341 and a bottom small leaf pushing plate for driving the bottom small leaf pushing plate 341 is a bottom small page cylinder 342 that rotates along a vertical plane. When the bottom small page cylinder 342 drives the bottom small page push plate 341 to rotate along the vertical plane, it pushes the movable suction cup 320 to absorb the small pages at the bottom of the box blank and rotate upward to maintain a horizontal arrangement; the side regularization mechanism 350 includes a side push plate 351 and a side cylinder 352 for driving the side push plate 351 to rotate along a horizontal plane; the side cylinder 352 is used to drive the side push plate 351 to rotate along a horizontal plane to push the movable suction cup 320 to absorb the large pages on the side of the top of the box blank, so that the two large pages at the top of the box blank are arranged in parallel and enter the carton conveying mechanism 200.

[0051] The carton conveying mechanism 200 includes two box conveying mechanisms 210 for conveying opened box blanks, two guardrails 220 respectively arranged on both sides above the two box conveying mechanisms 210, a width adjustment mechanism for adjusting the distance between the two box conveying mechanisms 210, a height adjustment mechanism for adjusting the height of the two box conveying mechanisms 210, and a page support mechanism. The bottom of the guardrail 220 is provided with a gap 221 extending along the box blank conveying direction, and the page support mechanism is used to allow the two large pages of the box blank conveyed by the box conveying mechanism 210 to enter the two gaps 221; each box conveying mechanism 210 The invention comprises a belt conveyor connected to a box forming frame 800, wherein the width adjustment component comprises an adjustment support frame 230 respectively connected to two box feeding mechanisms 210, two sprocket adjustment screw rods 231, two sprocket wheels 232 respectively connected to the two sprocket adjustment screw rods 231, a chain 233 sleeved on the two sprocket wheels 232, and a width adjustment crank 234 connected to one sprocket adjustment screw rod 231, wherein the two ends of the two sprocket adjustment screw rods 231 are respectively connected to one end of the two adjustment support frames 230 by threads, and the sprocket adjustment screw rods 231 are respectively connected to one end of the two adjustment support frames 230 by threads. The threads at both ends of the sprocket wheel 231 are in opposite directions. When the sprocket wheel adjusting screw rod 231 rotates, it drives the two adjusting support frames 230 to move toward or away from each other. The height adjustment mechanism includes a movable bottom plate 240 respectively connected to the two adjusting support frames 230, four vertically arranged lifting screw rods 241, a driving rod 242, a height adjustment crank 243 connected to the driving rod 242, and two transmission devices. The bottoms of every two lifting screw rods 241 are respectively penetrated by threads and connected to a movable bottom plate 240. Every two lifting screw rods 241 are connected to a movable bottom plate 240. The top of 41 is respectively connected to the two ends of a guardrail 220, and the transmission device is used to synchronously drive the two lifting screws 241 to rotate and lift in the same direction when the driving rod 242 rotates. Each transmission device includes a connecting rod 244, and each connecting rod 244 is connected to the two lifting screws 241 through two worm gear mechanisms 245. The two ends of the driving rod 242 are respectively connected to the two connecting rods 244 through a pair of mutually meshing bevel gears; the box forming frame 800 is connected to a scale 246 for detecting the lifting height of the lifting screw 241.

[0052] The leaf-supporting mechanism includes two leaf-supporting connecting plates 211 respectively connected to two guardrails 220, two small leaf-printing components 222 respectively rotatably connected to the two leaf-supporting connecting plates 211, small leaf rotating mechanisms 223 respectively used to drive the small leaf-printing components 222 to rotate, a small leaf-folding component 224 connected to the leaf-supporting connecting plate 211, a small leaf-pressing component 226 and an upper small leaf driving cylinder 227 for driving the small leaf-pressing component 226 to rotate along a vertical plane, two large leaf-folding components 225 and a box-blocking mechanism 228 respectively connected to the two leaf-supporting connecting plates 211, the small leaf-printing component 222 is located at the front end of the leaf-supporting connecting plate 211, the small leaf-folding component 224 and the small leaf-pressing component 226 are located in the middle of the leaf-supporting connecting plate 211, and the large leaf-folding component 225 is located at the rear end of the supporting leaf connecting plate 211, and the box blank passes through the front end, middle and rear end of the supporting leaf connecting plate 211 in sequence; the two small leaf-pressing components 222 are used to rotate and hit the two small leaves on the top of the box blank conveyed by the box conveying mechanism, so that the two large leaves on the top of the box blank are stretched and enter the two gaps 221; the small leaf-folding component 224 is used to press and open a small leaf on the top of the box blank blocked by the box blocking mechanism 228, and the small leaf-up driving cylinder 227 is used to drive the small leaf-pressing component 226 to rotate along the vertical plane to open another small leaf on the top of the box blank blocked by the box blocking mechanism 228; the two large leaf-folding components 225 are used to respectively extend and push the two large leaves on the top of the box blank blocked by the box blocking mechanism 228 to rotate in a direction close to each other to form an angle and then enter the box sealing mechanism 700 for sealing operation. In this embodiment, the box blocking mechanism 228 includes a movable box blocking plate and a box blocking cylinder that drives the box blocking plate to move, and the box blocking cylinder drives the box blocking plate to extend or retract to block or stop the box blank conveyed by the carton conveying mechanism 200. In this embodiment, the large-page folding component 225 and the small-page rotating mechanism 223 are cylinders.

[0053] In this embodiment, the feed conveyor 500 is a mesh chain conveyor; the robot gripper mechanism 600 includes a robot mounting plate 610 connected to the box forming frame 800, a Delta robot 620 connected to the robot mounting plate 610, and a suction cup gripper 630 connected to the Delta robot 620.

[0054] The box sealing mechanism 700 includes a box sealing bracket 710 connected to the box forming frame 800, a mantis arm 720 and a box pressing plate 730 arranged at both ends of the box sealing bracket 710, an upper hot melt glue spray gun 740 connected to the box sealing bracket 710, and a lower hot melt glue spray gun 750 arranged below the upper hot melt glue spray gun 740. The box sealing bracket 710 is connected to a rotating motor 760 for driving the mantis arm 720 to rotate around a horizontal axis and a lifting device 770 for driving the box pressing plate 730 to rise and fall. The upper hot melt glue spray gun 740 and the lower hot melt glue spray gun 750 are used to spray hot melt glue on the top and bottom surfaces of the box blank conveyed by the carton conveying mechanism 200. When the mantis arm 720 rotates around the horizontal axis, it pushes the small leaf on the top of the box blank to rotate and close the box blank. When the box pressing plate 730 descends, it squeezes the small leaf on the top of the box blank to flatten the hot melt glue to complete the box sealing.

[0055] The working principle of the robot box grabbing and packaging device provided in the embodiment of the present application is that the operator stacks the box blanks on the top of the two box blank conveyor belts 120 of the box blank conveying mechanism 100 for storage, and starts the two box blank conveyor belts 120 to drive the box blanks to move. At this time, the box pressing cylinder 190 drives the top pressing plate 180 to rise and stop to limit the position of the box blanks until each box blank moves to be blocked by the box blank forming blocking mechanism, so that the two side baffles 140 and the upward baffle 160 respectively block the two sides and the top of the box blank, and then control the side rotating cylinder 150 and the top rotating cylinder 170 to drive the two side baffles 140 and the upward baffle 160 to respectively ... The plate 140 and the upward baffle 160 stop rotating to block the two sides and the top of the box blank, and at the same time control the box pressing cylinder 190 to drive the top pressing plate 180 to press down to limit the box blank conveyor belt 120 to drive the other box blanks behind the first box blank. The six-axis robot 420 of the robot unpacking mechanism 400 is controlled to drive the connected unpacking clamp 430 to move, so that the unpacking clamp 430 grabs the first box blank conveyed by the box blank conveying mechanism 100 and opens it. Then the six-axis robot 420 of the robot unpacking mechanism 400 is controlled to drive the connected unpacking clamp 430 to transfer the opened box blank to the box pushing mechanism 300 for pushing.

[0056] Specifically, when the unpacking fixture 430 is used to grab the box blank conveyed by the box blank conveying mechanism 100 and open it, the forming rotating block 444 of the rotating shaft seat assembly 440 is connected to one end of the positive unpacking forming baffle 451 of the positive unpacking assembly 450 by bolts, and the connected rotating shaft seat assembly 440 and the positive unpacking assembly 450 are driven by the six-axis robot 420 to move above the box blank to be opened, and the two fixed suction cups 445 and the movable suction cup 447 connected to the rotating shaft seat assembly 440 are arranged downward, at this time, the cylinder rod of the first cylinder 442 extends out and controls the cylinder rod of the second cylinder 443 to retract, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected positive unpacking forming baffle 451 to rotate to the same line as the rotating shaft seat bracket 441, that is, to the waiting position, and then the six-axis robot 420 drives the connected rotating shaft seat assembly 440 and the positive unpacking assembly 450 to descend, so that the rotating shaft seat assembly The two fixed suction cups 445 and the two movable suction cups 447 connected to 440 adsorb the short side of the box blank below, and then the six-axis robot 420 is controlled to rise to drive the rotating shaft seat assembly 440 and the positive opening assembly 450 to rise to drive the box blank adsorbed by the two fixed suction cups 445 and the two movable suction cups 447 to rise. At this time, the cylinder rod of the first cylinder 442 is controlled to extend and the cylinder rod of the second cylinder 443 is controlled to extend, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected positive opening forming baffle 451 to rotate to a position perpendicular to the rotating shaft seat bracket 441, that is, the opening position, so that the positive opening forming baffle 451 is used to rotate and push the long side of the box blank to move perpendicular to the short side of the box blank to open the box blank, and then the six-axis robot 420 can be controlled to drive the connected rotating shaft seat assembly 440 and the positive opening assembly 450 to move to the box pushing mechanism 300 to put down the opened box blank for pushing.

[0057] like Fig.10 , Fig.11 and Fig.12As shown, when the reverse opening operation is required, the forming rotating block 444 of the rotating shaft seat assembly 440 is connected to one end of the side suction guide rail mounting frame 461 of the reverse opening box assembly 460 by bolts, and then the connected rotating shaft seat assembly 440 and the reverse opening box assembly 460 are driven by the six-axis robot 420 to move above the box blank to be opened, and the two fixed suction cups 445 and the movable suction cup 447 connected to the rotating shaft seat assembly 440 are arranged downward, at this time, the cylinder rod of the first cylinder 442 is retracted and controls the cylinder rod of the second cylinder 443 to be retracted, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected side suction guide rail mounting frame 461 to rotate to an angle of 135 degrees with the rotating shaft seat bracket 441, that is, the waiting position, and then the six-axis robot 420 drives the rotating shaft seat assembly 440 and the reverse opening box assembly 460 to move to the top of the box blank to be opened, and the two fixed suction cups 445 and the movable suction cup 447 connected to the rotating shaft seat assembly 440 are arranged downward, and then the cylinder rod of the first cylinder 442 is retracted and controls the cylinder rod of the second cylinder 443 to be retracted, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected side suction guide rail mounting frame 461 to rotate to an angle of 135 degrees with the rotating shaft seat bracket 441, that is, the waiting position, and then the six The six-axis robot 420 drives the connected rotating shaft seat assembly 440 and the reverse box opening assembly 460 to descend, so that the two fixed suction cups 445 and the two movable suction cups 447 connected to the rotating shaft seat assembly 440 adsorb the long side of the front side of the box blank below, and then controls the six-axis robot 420 to rise and drive the rotating shaft seat assembly 440 and the reverse box opening assembly 460 to rise and drive the box blank adsorbed by the two fixed suction cups 445 and the two movable suction cups 447 to rise, at this time, the cylinder rod of the first cylinder 442 is controlled to extend and the cylinder rod of the second cylinder 443 is controlled to extend, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected side suction guide rail mounting frame 461 to rotate to fit the rotating shaft seat bracket 441, that is, the adsorption position, at this time, the side suction guide rail mounting frame 4 The two reverse suction cups 466 on the box gripper plate 465 connected to the side suction guide rail mounting frame 461 squeeze and absorb the short side edge of the reverse side of the box blank respectively, then control the cylinder rod of the first cylinder 442 to extend and control the cylinder rod of the second cylinder 443 to contract, so that the cylinder rod of the second cylinder 443 pushes the forming rotating block 444 to drive the connected side suction guide rail mounting frame 461 to rotate to a position perpendicular to the rotating shaft seat bracket 441, that is, a box opening position. When the side suction guide rail mounting frame 461 rotates, the two reverse suction cups 466 on the box gripper plate 465 connected to the side suction guide rail mounting frame 461 drive the short side edge of the reverse side of the box blank to rotate to a position perpendicular to the long side edge of the box blank to open the box blank. When the side suction guide rail mounting frame 461 rotates, the short side edge of the box blank drives the two reverse suction cups 466 , the box grab plate 465 and the slider 464 connected to it move along the linear guide rail 462, so that the box grab plate 465 connected to the slider 464 moves along the spring guide shaft 463 to squeeze the reset spring 467, and then the six-axis robot 420 can be controlled to drive the connected rotating shaft seat assembly 440 and the positive box opening assembly 450 to move to the box pushing mechanism 300 to put down the opened box blank for pushing. When the opened box blank is put down, the reverse suction cup 466 stops adsorbing the box blank, and the reset spring 467 pushes the box grab plate 465 to move in the opposite direction along the spring guide shaft 463 and reset, driving the slider 464 to move and reset along the linear guide rail 462, so that the reverse suction cup 466 connected to the box grab plate 465 moves and resets to facilitate the next box blank opening operation.

[0058] After the six-axis robot 420 of the robot unpacking mechanism 400 drives the connected unpacking fixture 430 to transfer the opened box blank to the box pushing mechanism 300, the pushing mechanism of the box pushing mechanism 300 drives the mobile suction cup 320 to open the box blank. After the mobile suction cup 320 absorbs the box blank, the bottom small page cylinder 342 drives the bottom small page push plate 341 to rotate along the vertical plane to push the mobile suction cup 320 to absorb the small page at the bottom of the box blank and rotate upward to maintain a horizontal arrangement. At the same time, the side cylinder 352 is used to drive the side push plate 351 to rotate along the horizontal plane to push the mobile suction cup 320 to absorb the top of the box blank. The two large pages on the sides of the box blank are arranged in parallel, and then enter the two box feeding mechanisms 210 of the carton conveying mechanism 200 for transportation, so that the small page rotating mechanism 223 drives the small page component 222 to rotate and hit the two small pages of the box blank conveyed by the box feeding mechanism, so that the two large pages of the box blank are stretched open and enter the gap 221 set at the bottom of the two guardrails 220. The two box feeding mechanisms 210 convey the opened box blank along the guardrails 220 to the material placement point, and the box blocking cylinder drives the box blocking plate to extend to block the box blank, and at the same time, the small page component 224 is folded up to press the top of the opened box blank. The side small page, the upper small page driving cylinder 227 drives the upper small page pressing component 226 to rotate along the vertical plane to open another small page on the top of the box blank. At this time, the Delta robot 620 of the robot gripper mechanism 600 drives the connected suction cup gripper 630 to grab the material transported by the feed conveyor 500 and put it into the box blank. The blocking cylinder drives the box blocking plate to retract and stop blocking the box blank. When the box blank continues to be transported forward, the two folding large page components 225 extend out to push the two large pages at the bottom of the box blank to rotate at an angle towards each other, and continue to transport the box blank to move to the upper hot melt after passing through the sealing mechanism 700. At the glue spray gun 740 and the lower hot melt glue spray gun 750, the upper hot melt glue spray gun 740 and the lower hot melt glue spray gun 750 spray hot melt glue on the top and bottom surfaces of the box blank respectively, and then the rotating motor 760 drives the mantis arm 720 to rotate around the horizontal axis to push the small page on the top of the box blank to rotate and close the box blank, and then the two box feeding mechanisms 210 continue to transport the box blank to move under the box pressing plate 730, and the lifting device 770 is controlled to drive the box pressing plate 730 to descend and squeeze the small page on the top of the box blank to flatten the hot melt glue to complete the box sealing, and the two box feeding mechanisms 210 can be used to move the sealed box to the next process.

[0059] Among them, the two sides of the fixed frame 110 are respectively provided with a box pressing plate 130 for pressing the top of the two sides of the box blank, and the box pressing plate 130 can be used to press and limit the top of the two sides of the box blank to ensure stable transportation; by using two rotatable side baffles 140 and the upward baffle 160 to block and stop the transported box blank from three directions of the two sides and the top, while taking the box, the top pressing plate 180 presses down to prevent other box blanks behind the first box blank from falling forward, which can make the process of taking the box blank more stable and greatly reduce the probability of the box blank falling. The positive opening assembly 450 and the reverse opening assembly 460 that are detachably connected and matched with the rotating shaft seat assembly 440 connected to the six-axis robot 420 can facilitate the operator to replace the positive opening assembly 450 and the reverse opening assembly 460 when necessary to selectively take the box blank forward or reversely and then open it, which is suitable for opening a variety of carton box blanks of different specifications.

[0060] By setting a width adjustment mechanism and a height adjustment mechanism, the distance between the left and right box delivery mechanisms 210 and the height of the two guardrails 220 can be adjusted to adapt to the conveying operation of box blanks with different widths and heights. When adjusting the distance between the two box delivery mechanisms 210, the operator only needs to rotate the width adjustment crank 234 to drive the sprocket adjustment screw rod 231 to rotate, and drive the other movable sprocket adjustment screw rod 231 to rotate through the sprocket 232 and the chain 233 set on the sprocket adjustment screw rod 231. When the two movable sprocket adjustment screw rods 231 rotate, the two box delivery mechanisms 210 are driven to move towards or away from each other through the threads, thereby adjusting the distance between the two box delivery mechanisms 210 spacing; when adjusting the height of the two guardrails 220, the operator only needs to rotate the height adjustment crank handle 243 to drive the driving rod 242 to rotate. When the driving rod 242 rotates, the bevel gears on the two connecting rods 244 are driven to rotate through the bevel gear sleeved thereon, so that the two connecting rods 244 rotate and drive the four lifting screws 241 to rise and fall through the turbine worm mechanism 245 respectively, and then the two guardrails 220 are driven to rise and fall through the four lifting screws 241; the box frame 800 is connected to a ruler 246 for detecting the lifting height of the lifting screw 241, which can facilitate the operator to detect the lifting height of the lifting screw 241 through the ruler 246.

[0061] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

Claims

1. A robot box grabbing and packing device, characterized in that: It includes: Box blank conveying mechanism, used for storing and conveying box blanks; Carton conveying mechanism, used for conveying opened carton blanks; A box pushing mechanism, used for pushing the opened box blank to the carton conveying mechanism for conveying; A robot box opening mechanism is used to grab the box blank conveyed by the box blank conveying mechanism, open it, and then pass it to the box pushing mechanism for pushing; Feed conveyor, used to transport materials; A robot gripper mechanism, used for grabbing and moving the material conveyed by the feed conveyor into the carton blank conveyed by the carton conveying mechanism; The carton sealing mechanism is used to perform hot melt adhesive sealing on the carton blanks filled with materials conveyed by the carton conveying mechanism.

2. The robot box-grabbing and packing device according to claim 1 is characterized in that: The box blank conveying mechanism comprises a fixed frame and at least one box blank conveyor belt arranged on the fixed frame. Box pressing plates for pressing the two sides of the middle part of the box blank are respectively arranged on both sides of the fixed frame.

3. The robot box-grabbing and packing device according to claim 2 is characterized in that: The output end of the box blank conveyor is provided with a box blank forming blocking mechanism for blocking and positioning the box blanks conveyed by the box blank conveyor. The box blank forming blocking mechanism includes two side baffles rotatably arranged on both sides of the fixed frame, side rotating cylinders respectively used to drive the two side baffles to rotate, an upper baffle rotatably arranged above the two side baffles, a top rotating cylinder used to drive the upper baffle to rotate, a top pressure plate arranged on the side of the upper baffle close to the box blank conveyor, and a box pressing cylinder used to drive the top pressure plate to rise and fall. When the side baffles and the upper baffles rotate, they respectively block or stop blocking the side and top of the box blank conveyed by the box blank conveyor; the box pressing cylinder is used to drive the top pressure plate to descend to define another box blank position behind the box blank when the side baffles rotate and stop blocking the box blank.

4. The robot box-grabbing and packing device according to claim 1 is characterized in that: The robot unpacking mechanism comprises a robot hanger, a six-axis robot connected to the robot hanger, and an unpacking fixture connected to the six-axis robot, the unpacking fixture comprises a rotating shaft seat assembly, a positive unpacking assembly, and a reverse unpacking assembly for connecting to the six-axis robot; the rotating shaft seat assembly comprises a rotating shaft seat bracket, a first cylinder and a second cylinder arranged in reverse and connected in sequence, a forming rotating block hinged at one end of the rotating shaft seat bracket, and at least one fixed suction cup connected to the rotating shaft seat bracket, the forming rotating block is used to detachably connect the positive unpacking assembly or the reverse unpacking assembly, the The fixed suction cup is used to adsorb the box blank to the side of the rotating shaft seat bracket, the cylinder rod of the first cylinder is hinged to one end of the rotating shaft seat assembly, and the cylinder rod of the second cylinder is hinged to the forming rotary block; the first cylinder and the second cylinder are used to telescopically drive the forming rotary block to rotate, so that the positive box opening assembly can rotate between opening the box blank perpendicular to the rotating shaft seat bracket and being colinear with the rotating shaft seat bracket, or the reverse box opening assembly can rotate between adsorbing the reverse side of the box blank in contact with the side of the rotating shaft seat bracket, opening the box blank perpendicular to the rotating shaft seat bracket, and forming an obtuse angle with the rotating shaft seat bracket.

5. The robot box grabbing and packing device according to claim 4 is characterized in that: The positive box opening component is an L-shaped positive box opening forming baffle with one end connected to the forming transfer block; the reverse box opening component includes a side suction guide rail mounting frame connected to the forming transfer block at one end, a linear guide rail and a spring guide shaft connected to the side suction guide rail mounting frame, a slider slidingly arranged on the linear guide rail, a box forming grip plate connected to the slider and at least one reverse suction cup connected to the box forming grip plate, the spring guide shaft is parallel to the linear guide rail and slides through the box forming grip plate, a reset spring is sleeved on the spring guide shaft, and the reset spring is used to push the box forming grip plate moving along the spring guide shaft to reset; when the reverse box opening component is in contact with the side of the rotating shaft seat bracket, the reverse suction cup adsorbs the reverse side of the box blank adsorbed by the fixed suction cup.

6. The robot box-grabbing and packing device according to claim 4 is characterized in that: The box pushing mechanism includes a box pushing main beam, a mobile suction cup used to adsorb the robot box opening mechanism to open the box blank, a pushing mechanism respectively connected to the box pushing main beam and the mobile suction cup, and a bottom small page folding mechanism and a side regularization mechanism connected to the box pushing main beam. The pushing mechanism is used to drive the mobile suction cup to move back and forth so that the box blank adsorbed and opened by the mobile suction cup is moved to the carton conveying mechanism for conveyance. The bottom small page folding mechanism is used to push the small page at the bottom of the box blank to rotate upward to a horizontal arrangement after the mobile suction cup adsorbs the box blank; the side regularization mechanism is used to push the large page on the side of the top of the box blank after the mobile suction cup adsorbs the box blank so that the two large pages are arranged in parallel and enter the carton conveying mechanism.

7. The robot box-grabbing and packing device according to claim 1 is characterized in that: The carton conveying mechanism includes a box feeding mechanism for conveying opened box blanks, two guardrails arranged on both sides above the box feeding mechanism, a width adjustment mechanism for adjusting the width of the box feeding mechanism, a height adjustment mechanism for adjusting the height of the two guardrails and a page supporting mechanism. A gap extending along the box blank conveying direction is provided at the bottom of the guardrail, and the page supporting mechanism is used to allow the two large pages of the box blank conveyed by the box feeding mechanism to enter the two gaps.

8. The robot box-grabbing and packing device according to claim 7 is characterized in that: The page support mechanism includes two relatively arranged page support connecting plates, two small page printing components rotatably connected to the two page support connecting plates, small page rotating mechanisms respectively used to drive the small page printing components to rotate, a small page folding component connected to the page support connecting plates, two large page folding components respectively connected to the two page support connecting plates, a small page pressing component rotatably connected to the page support connecting plates and a box blocking mechanism; the two small page printing components are used to rotate and hit the two small pages at the top of the box blank conveyed by the box feeding mechanism, so that the two large pages at the top of the box blank are stretched open and enter the two gaps; the box blocking mechanism is used to block or stop blocking the box blank conveyed by the box feeding mechanism; the small page folding component is used to open a small page at the top of the box blank blocked by the box blocking mechanism; the small page pressing component is used to rotate and open another small page at the top of the box blank blocked by the box blocking mechanism; the two large page folding components are used to respectively telescopically push the two large pages at the bottom of the box blank blocked by the box blocking mechanism to rotate in a direction close to each other and then enter the box sealing mechanism.

9. The robot box-grabbing and packing device according to claim 1, characterized in that: The robot gripper mechanism includes a robot mounting plate, a Delta robot connected to the robot mounting plate, and a suction cup gripper connected to the Delta robot.

10. The robot box-grabbing and packing device according to claim 8, characterized in that: The box sealing mechanism includes a box sealing bracket, mantis arms and a box pressing plate arranged at both ends of the box sealing bracket, an upper hot melt glue spray gun connected to the box sealing bracket, and a lower hot melt glue spray gun arranged below the upper hot melt glue spray gun. The box sealing bracket is connected with a rotating motor for driving the mantis arms to rotate around a horizontal axis and a lifting device for driving the box pressing plate to lift and lower. The upper hot melt glue spray gun and the lower hot melt glue spray gun are used to spray hot melt glue on the top and bottom surfaces of the box blank conveyed by the carton conveying mechanism. When the mantis arms rotate around the horizontal axis, they push the small leaves on the top of the box blank to rotate and close the box blank. When the box pressing plate descends, it squeezes the small leaves on the top of the box blank to flatten the hot melt glue to complete the box sealing.

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