Box cover picking and correcting device and box body assembling device

Abstract

The utility model relates to a box cover picking and correcting device and a box body assembling device.The box cover picking and correcting device comprises a vibration disc device, a picking device and a transfer placement device.The vibration disc device is provided with a containing disc used for containing a box cover and a vibration device used for driving the containing disc to vibrate, and the containing disc is installed on the vibration device; the picking device is provided with a suction cup device and a driving device, and the driving device drives the suction cup device to move in three directions perpendicular to one another and drives the suction cup device to rotate around the axis of the suction cup device; the transfer placing device is arranged on one side of the vibration disc device and provided with a box cover placing part, and the suction disc device moves above the containing disc and above the box cover placing part. The vibration disc device is adopted for adjusting the obverse and reverse directions of the box cover in the containing disc, the picking device sucks the box cover and moves in the three directions perpendicular to one another to rotate around the axis of the suction disc device, and the picking device is combined with the vibration disc device to achieve complete adjustment of the angle, direction and posture of the box cover.

Description

Technical Field

[0001] The present application relates to the technical field of box assembly, and in particular to a box cover picking and correcting device and a box assembly device. Background Art

[0002] Picking up, straightening, and assembling the box lid with the box body is a common process in automated production lines. Traditionally, the box body assembly process is manual, resulting in low efficiency, poor precision, and potential product damage. With the increasing demand for automated production, higher requirements are being placed on box body assembly, requiring greater efficiency, precision, and stability. Therefore, a mechanized structure is being adopted for box body assembly.

[0003] In the prior art, the assembly of the box cover and the box body is performed using a box body assembly device, which requires a complex mechanical structure and control system, such as a robotic arm in conjunction with a suction cup. Before the box cover and the box body are assembled, the box cover must be placed in a pre-set position in the correct posture to facilitate the box body assembly device to grasp the box cover.

[0004] Therefore, it is an urgent need for the current development of the industry to develop a high-efficiency, precise and stable box cover picking and correcting device to place the box body in the correct posture at the predetermined position. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of the present application is to provide a box cover picking and straightening device and a box body assembly device, which can straighten the box cover and place the box cover in a preset position.

[0006] The above-mentioned purpose of this application is achieved through the following technical solutions:

[0007] A box cover picking and correcting device comprises a vibration plate device, wherein the vibration plate device has a receiving plate for receiving the box covers and a vibration device for driving the receiving plate to vibrate, and the receiving plate is mounted on the vibration device.

[0008] The box cover picking and correcting device also includes a picking device, which has a suction cup device and a driving device. The driving device drives the suction cup device to move in three directions perpendicular to each other, and the driving device drives the suction cup device to rotate about its own axis.

[0009] The box cover picking and correcting device also includes a transfer placement device, which is arranged on one side of the vibration plate device. The transfer placement device has a box cover placement part, and the suction cup device moves above the holding plate and above the box cover placement part.

[0010] By adopting the above technical solution, the vibration plate device can effectively vibrate the randomly stacked box lids, adjust the front and back of the box lids in the receiving tray, and use the picking device to suck the box lids. The picking device can move in three directions perpendicular to each other and rotate along the axis of the suction cup device itself to adjust the direction and posture of the box lids, and finally place them on the box lid placement part of the transfer placement device to ensure that the box lids are in the correct position to facilitate subsequent assembly work and improve the stability of the production process.

[0011] The present application is further configured to include a visual recognition device, which is arranged above the suction cup device, and the visual recognition device is electrically connected to the picking device.

[0012] The present application is further configured such that the visual recognition device includes a camera device and a fixing device, the camera device is mounted on the fixing device, and the fixing device is arranged above the vibration disk device.

[0013] The present application is further configured such that the camera device includes a camera, a mounting plate and a lighting lamp, the lighting lamp is mounted on the mounting plate, a camera hole is provided on the mounting plate, the camera is arranged above the mounting plate, and the camera is facing the camera hole.

[0014] The present application is further configured such that there are multiple lighting lamps, and the camera is located in the middle of the multiple lighting lamps.

[0015] The present application is further configured such that the transfer placement device includes a limit plate and a return push rod, the limit plate has a box cover placement portion, the box cover placement portion has a limit edge that limits two adjacent sides of the box body, and the return push rod moves in two directions perpendicular to the two limit edges.

[0016] The present application is further configured such that the number of the box cover placement parts on the transfer placement device is multiple, and the multiple box cover placement parts are arranged side by side.

[0017] The present application is further configured to include an outer frame, wherein the vibration disk device, the picking device and the transfer placement device are all installed in the outer frame, and one end of the vibration disk device is connected to an input port, and the input port extends outside the outer frame.

[0018] The present application is further configured to include a control panel, which is installed outside the outer frame, and the control panel is electrically connected to the vibration disk device, the visual recognition device and the pickup device.

[0019] A box body assembly device includes the above-mentioned box cover picking and correcting device, and also includes a mounting part for grabbing the box cover and assembling it with the box body to form a box body, and a robotic arm driving the mounting part to move, the mounting part is connected to the robotic arm, and the path of the mounting part driven by the robotic arm passes above the box cover placement part.

[0020] In summary, the beneficial technical effects of this application are: BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the box cover picking and correcting device from the first perspective.

[0022] Figure 2 2. It is a top view schematic diagram of the box assembly device.

[0023] Figure 3 It is a schematic diagram of the box cover picking and correcting device from the second perspective.

[0024] Figure 4 It is an axial schematic diagram of the box assembly device.

[0025] Figure 5 This is a front view of the transfer placement device.

[0026] Figure 6 This is a schematic diagram of the back of the transfer placement device.

[0027] Figure 7 This is a schematic diagram of the front axle view of the transfer placement device.

[0028] Figure 8 This is a schematic diagram of the rear axial side of the transfer placement device.

[0029] Figure 9 It is a side view of the mounting portion.

[0030] Figure 10 This is an axonometric drawing of the installation part.

[0031] Figure 11 This is a schematic diagram of the robotic arm.

[0032] Explanation of the accompanying symbols: F1, first moving direction; F2, second moving direction; F3, third moving direction; F4, rotation direction; 1, vibrating plate device; 11, holding plate; 12, vibrating device; 2, picking device; 21, suction cup device; 22, driving device; 3, transfer placement device; 31, limiting plate; 311, box cover placement part; 3111, limiting edge; 3112, detection hole; 312, moving hole; 32, return push rod; 321, first push rod; 322, second push rod; a, main push rod; b, branch push rod; c, connecting end; d, interference part; e, limiting device; f, detection device; g, box cover; x, first direction; y, second direction ;4. Visual recognition device;41. Camera device;411. Camera;412. Mounting plate;4121. Camera hole;413. Lighting lamp;42. Fixing device;5. Outer frame;6. Input port;7. Control panel;8. Mounting part;81. Abutment part;811. First abutment surface;812. First end;813. Second end;814. Suction cup;815. Protrusion;816. Edge;82. Elastic part;821. Second abutment surface;822. Limiting structure;8221. Horizontal plate;8222. Vertical plate;823. Elastic member;824. Interference structure;9. Robotic arm;91. Line pipe bracket;92. Pressure component. DETAILED DESCRIPTION

[0033] The present application is further described in detail below with reference to the accompanying drawings.

[0034] like Figures 1 to 4 As shown, a box cover picking and straightening device includes a vibration plate device 1, which has a receiving plate 11 for receiving the box cover g and a vibration device 12 for driving the receiving plate 11 to vibrate. The receiving plate 11 is installed on the vibration device 12, and the receiving plate 11 receives the box cover g. The vibration device 12 drives the receiving plate 11 to vibrate and then adjusts the front and back of the box cover g in the receiving plate 11. Since the box cover g has a relatively regular shape with a distinct front and back, it is easier to be flipped over by vibration. The vibration plate device 1 makes the box cover g jump in the receiving plate 11 by vibration, and changes the direction of the box cover g by the tilt angle generated by the vibration.

[0035] In a preferred embodiment, the box cover picking and straightening device further includes a visual recognition device 4 , which is disposed above the vibration plate device 1 and can recognize the front and back of the box cover g in the receiving plate 11 .

[0036] Furthermore, the visual recognition device 4 and the vibration disk device 1 are connected by electrical signals. Based on the recognition of the front and back of the box cover g in the containing tray 11 by the visual recognition device 4, it is judged whether the vibration disk device 1 needs to vibrate, the frequency of vibration and the amplitude of vibration, and a signal is sent to execute the operation of the vibration disk device 1.

[0037] Furthermore, the visual recognition device 4 includes a camera device 41 and a fixing device 42. The camera device 41 is installed on the fixing device 42. The camera device 41 includes a camera 411, a mounting plate 412 and a lighting lamp 413. The lighting lamp 413 is installed on the mounting plate 412. A camera hole 4121 is opened on the mounting plate 412. The camera 411 is arranged above the mounting plate 412, and the camera 411 is opposite to the camera hole 4121; preferably, there are multiple lighting lamps 413, and the camera 411 is arranged in the middle of the multiple lighting lamps 413.

[0038] Vibrating device 12 flips the lid g within tray 11 and automatically adjusts it to face the designated side upward, eliminating the need for manual intervention. This improves the efficiency of picking up the lid g and reduces manual operation time and labor intensity. Visual recognition device 4 accurately identifies the front and back of the lid g and controls vibration device 12 based on the recognition result, ensuring that the picked-up lid g always faces the designated side upward. This effectively improves the accuracy of picking up the lid g and avoids incorrect pickup. The electrical signal connection between visual recognition device 4 and vibration device 12 enables automatic recognition and control, enhancing the device's intelligence and making it more convenient and efficient.

[0039] The box cover picking and correcting device also includes a picking device 2, which has a suction cup device 21 and a driving device 22. The suction cup device 21 can absorb the box cover g, and the driving device 22 drives the suction cup device 21 to move in three directions perpendicular to each other, such as Figure 1 In the first moving direction F1, the second moving direction F2 and the third moving direction F3, the driving device 22 drives the suction cup device 21 to rotate about the axis of the suction cup device 21 itself, as shown in FIG. Figure 1 In the rotation direction F4, the picking device 2 combined with the vibration plate device 1 realizes a relatively complete adjustment of the angle, direction and posture of the box cover g.

[0040] The driving device 22 only needs to be able to realize movement along the first moving direction F1, the second moving direction F2 and the third moving direction F3 and rotation along the rotation direction F4. Preferably, the movement along the first moving direction F1, the second moving direction F2 and the third moving direction F3 can be completed by driving a linear motor, and the rotation along the rotation direction F4 can also be completed by a rotary motor.

[0041] The three-directional movement and rotation functions of the picking device 2, combined with the vibration disk device 1 to flip the box lid g, can achieve the adjustment of the complete angle, direction and posture of the box lid g in space, ensuring that the picked box lid g is always in the best condition to meet the needs of subsequent processes. The picking device 2 can accurately locate and grasp the box lid g, avoiding errors and inefficiencies in the manual picking process, and improving the picking efficiency and accuracy. The collaborative work of the picking device 2 and the vibration disk device 1 integrates the flipping, picking and moving of the box lid g into one process, simplifies the operating process, reduces manual operation links, and improves overall efficiency. The addition of the picking device 2 further improves the degree of automation of the device, reduces dependence on manual operation, and lays the foundation for realizing a fully automated box lid g picking and processing process.

[0042] Furthermore, the visual recognition device 4 is arranged above the suction cup device 21, and the visual recognition device 4 is electrically connected to the picking device 2, which can identify the picking status and improve the picking reliability. The visual recognition device 4 can monitor in real time whether the suction cup device 21 successfully absorbs the box cover g, and promptly feedback to the picking device 2 when the absorption fails, so as to avoid erroneous operation and improve the picking reliability; the visual recognition device 4 can identify whether the box cover g is firmly adsorbed on the suction cup device 21. If it is found that the box cover g is loose or about to fall off, an alarm or instruction can be issued in time to prevent the box cover g from falling, thereby ensuring production safety; the electrical connection between the visual recognition device 4 and the picking device 2 realizes the intelligent control of the picking process, automatically identifies the absorption status and takes corresponding actions according to the recognition results, thereby improving the intelligence of the device and reducing dependence on manual intervention; the real-time information obtained by the visual recognition device 4 can be used to optimize the picking strategy. For example, after the absorption fails, the position or suction force of the suction cup device 21 is automatically adjusted to improve the picking efficiency and success rate.

[0043] In addition, in addition to identifying the picking state, the visual recognition device 4 can also make corresponding judgments and processes according to the specific state of the box cover g, such as whether the box cover g is damaged or stained.

[0044] The box cover picking and correcting device also includes a transfer placement device 3, which is arranged on one side of the vibration plate device 1. The transfer placement device 3 has a box cover placement portion 311, and the suction cup device 21 moves above the receiving plate and above the box cover placement portion 311.

[0045] like Figures 5 to 8 As shown, the specific structure of the transfer placement device 3 is shown. Figure 5 It is the front of the lid return device. Figure 6The cam 32 is a top support member 314, which is located on the left side of the cam 324, and the bottom side of the cam 325 is provided with a plurality of cam 326, which are connected to the cam 324 by a plurality of cam 328. The cam 326 has a plurality of bottom support members 314, 314, and the bottom side of the cam 325 is provided with a plurality of cam 326 ...6

[0046] Preferably, the two directions in which the reset push rod 32 moves are Figure 5 and Figure 6 The first direction x and the second direction y are shown by the arrows.

[0047] The correcting push rod 32 automatically pushes the lid g to the stop edge 3111, eliminating the need for manual adjustment of the lid g's position. The entire correcting process is simple and efficient, and the stop edge 3111 precisely defines the position of the lid g, ensuring that the lid g does not shift during correction. The push rods in both directions work together to securely fix the lid g to the stop edge 3111, ensuring accurate correction.

[0048] Furthermore, the number of the box cover placement parts 311 on the limiting plate 31 is multiple, such as Figure 5 As shown in FIG, three, multiple lid placement parts 311 are arranged side by side. This improves subsequent operation efficiency. Multiple placement parts can simultaneously place multiple lids g, and the return push rod 32 simultaneously performs the return operation, which greatly improves the return speed, improves production efficiency, and shortens the production cycle.

[0049] like Figure 7 and Figure 8 As shown, the return push rod 32 includes a first push rod 321 and a second push rod 322. The first push rod 321 and the second push rod 322 each include a main push rod a and a plurality of branch push rods b connected to the main push rod a. The number of branch push rods b of the first push rod 321 and the number of branch push rods b of the second push rod 322 are the same as the number of the box cover placement portion 311. The branch push rods b of each first push rod 321 and the branch push rods b of each second push rod 322 extend into a box cover placement portion 311 and move respectively toward the direction of the two limiting edges 3111 perpendicular to the box cover placement portion 311.

[0050] Multiple branch push rods b act separately on each lid g within the lid placement section 311, allowing multiple lids g to be aligned simultaneously. This significantly improves alignment efficiency, shortens the entire packaging process, and enhances production efficiency. The branch push rods b act directly on the lids g, ensuring that each lid g is precisely pushed toward the stop edge 3111. Simultaneously, the branch push rods b all move toward the stop edge 3111, ensuring that the lids g are aligned accurately.

[0051] Furthermore, the main push rod a is provided with a plurality of connection ends c, and each branch push rod b is connected to one connection end c, and the branch push rods b are perpendicular to the main push rod a.

[0052] The multiple connection ends c effectively reduce the force concentration on the main push rod a, improving its structural stability. At the same time, the branch push rods b, which are perpendicular to the main push rod a, are connected to the main push rod a via bolts, allowing the branch push rods b to better withstand the lateral force from the box cover g, preventing push rod deformation or breakage and improving equipment reliability.

[0053] See Figure 5 and Figure 7 As shown, the branch push rod b of the first push rod 321 is also connected to a resistance part d pointing to a limiting edge 3111, and the resistance part d is perpendicular to the branch push rod b. The resistance part d directly contacts the box cover g to push the box cover g. The size of the resistance part d is smaller than the branch push rod b, which reduces the contact area with the box cover g, and can concentrate the thrust on a smaller area, thereby improving the thrust concentration and making the thrust act more effectively on the box cover g. The higher the thrust concentration, the higher the correction accuracy. Improving the thrust concentration can make the box cover g be pushed toward the limiting edge 3111 more accurately.

[0054] In addition, the resistance part d is further arranged toward the limiting edge 3111, which enhances the correction efficiency. The resistance part d is toward the limiting edge 3111, and can more directly transmit the thrust to the box cover g, making it easier to be pushed toward the limiting edge 3111, which can improve the efficiency of the push rod, shorten the correction time, and improve production efficiency.

[0055] Furthermore, the first push rod 321 is installed on the side of the limiting plate 31 with the limiting edge 3111, and the main push rod a of the second push rod 322 is installed on the other side of the limiting plate 31. A plurality of movable holes 312 are provided on the limiting plate 31. The branch push rod b of the second push rod 322 passes through the movable hole 312 and protrudes from the side of the limiting plate 31 with the limiting edge 3111. The branch push rod b of the second push rod 322 passes through the movable hole 312 and moves in the movable hole 312. The part of the branch push rod b of the second push rod 322 protruding from the limiting plate 31 pushes the box cover g.

[0056] Installing the first push rod 321 and the second push rod 322 on both sides of the limit plate 31 respectively can effectively utilize the space of the limit plate 31, avoid interference between the push rods, and improve the efficiency of the push rods. In addition, the branch push rod b of the second push rod 322 passes through the movable hole 312 and protrudes from one side of the limit plate 31, and can contact the box cover g more directly, thereby improving the thrust transmission efficiency and shortening the return time.

[0057] If this two-sided structure is not adopted and they are not to interfere with each other, many bent rod-shaped structures need to be set up. Therefore, adopting this two-sided structure can simplify the structure of the push rod, reduce the number of parts of the push rod, reduce the complexity of the equipment, facilitate manufacturing and maintenance, and install the push rod on both sides of the limit plate 31, which can effectively save space in the equipment and improve the compactness of the equipment.

[0058] With this arrangement, the first push rod 321 and the second push rod 322 do not interfere with each other and can be pushed forward synchronously, which can effectively improve the efficiency of the push rods, shorten the working time of the push rods, and improve production efficiency.

[0059] Preferably, the branch push rod b of the first push rod 321 and the branch push rod b of the second push rod 322 are arranged at intervals, which also avoids mutual interference between the first push rod 321 and the second push rod 322 and improves the efficiency of the push rods.

[0060] Furthermore, at least one limiting device e is respectively provided on the moving paths of the first push rod 321 and the second push rod 322 , and each of the first push rod 321 and the second push rod 322 is provided with a contact portion for abutting against the limiting device e.

[0061] In a preferred embodiment, the limiting device e is a sensor, and after the contact part contacts the limiting device e, it transmits a signal to stop the advancement of the corresponding first push rod 321 or the second push rod 322; preferably, the first push rod 321 or the second push rod 322 is advanced and moved by hydraulics, pneumatics or linear motors, and the limiting device e and the corresponding first push rod 321 or the second push rod 322 are connected by electrical signals.

[0062] Furthermore, the two limiting edges 3111 in a box cover placement portion 311 are connected to each other, and a detection hole 3112 is provided on the limiting plate 31. The detection hole 3112 extends from the intersection of the inner sides of the two limiting edges 3111 along the inner edges 816 of the two limiting edges 3111. The limiting plate 31 is provided with a detection device f facing the detection hole 3112 on the side opposite to the limiting edge 3111. In other words, the detection hole 3112 is provided on the box cover placement portion 311 and extends to the inner edge 816 of the limiting edge 3111 and the intersection of the inner sides of the two limiting edges 3111.

[0063] The detection hole 3112 is set at the intersection of the inner sides of the two limiting edges 3111, which can more accurately detect whether the box cover g is completely placed in the preset position, avoiding misjudgment caused by incomplete placement of the box cover g, which leads to failure to grasp, and improves the correction accuracy. The detection device f is facing the detection hole 3112 and can directly detect whether the box cover g exists, avoiding interference from light or other factors, and improving the accuracy of detection.

[0064] It is worth noting that the detection device f detects whether the box cover g is in place, and any device capable of detecting the box cover g can be selected, such as a conventional laser detection device f.

[0065] Furthermore, the two limiting edges 3111 are perpendicular to each other, the main push rod a of the first push rod 321 and the main push rod a of the second push rod 322 are parallel to each other, the main push rod a of the first push rod 321 moves along its length direction, that is, moves along the first direction x, and the main push rod a of the second push rod 322 moves along its width direction, that is, moves along the second direction y.

[0066] The two limiting edges 3111 are perpendicular to each other and adapt to the rectangular box cover g. The main push rod a of the first push rod 321 and the main push rod a of the second push rod 322 are parallel to each other and are respectively arranged on the front and back of the limiting plate 31, saving space, having a compact structure, not taking up too much space, requiring no additional space, and having a simpler structure. This design structure can be used as a modular component and can be easily integrated into other automated equipment to realize the positioning and movement of box covers g of different specifications.

[0067] The box cover picking and correcting device also includes an outer frame 5, and the vibration plate device 1, the picking device 2 and the transfer placement device 3 are all installed in the outer frame 5. One end of the vibration plate device 1 is connected to an input port 6, and the input port 6 extends to the outside of the outer frame 5.

[0068] The outer frame 5 provides stable support for the vibration disk device 1, the picking device 2 and the transfer placement device 3, preventing the device from shaking or shifting during operation, improving the overall stability and safety, and reducing the risk of accidents. Integrating all devices into the outer frame 5 simplifies the structure of the device, facilitates installation and disassembly, reduces production costs, and facilitates maintenance and repair. The structural design of the outer frame 5 can be adjusted according to actual needs, optimizes the spatial layout of the device, achieves a compact structure, and reduces the footprint. The outer frame 5 can protect the internal parts of the device, prevent pollution from the external environment, improve the sealing and dustproof properties of the device, and extend the service life of the device. The input port 6 of the vibration disk device 1 extends to the outside of the outer frame 5 to facilitate the input of the box cover g.

[0069] The box cover picking and correcting device further includes a control panel 7 , which is mounted outside the outer frame 5 . The control panel 7 is electrically connected to the vibration plate device 1 , the visual recognition device 4 and the picking device 2 .

[0070] The control panel 7 is installed outside the outer frame 5, which is convenient for the operator to operate and control. There is no need to enter the outer frame 5 to operate, which improves the convenience and safety of operation. The control panel 7 can be moved and adjusted according to actual needs, which is convenient for the operator to operate in different positions and improves the flexibility of operation. The vibration plate device 1, the visual recognition device 4 and the picking device 2 can be centrally controlled by the control panel 7 to achieve unified control of the entire box cover picking and correcting device, simplifying the operation process and improving the operation efficiency. The control panel 7 can be set with safety protection functions, such as an emergency stop button, to prevent accidental operation and improve operational safety. The control panel 7 can display the operating status of the device, which is convenient for the operator to perform fault diagnosis and maintenance, and improves the maintenance efficiency of the device.

[0071] Preferably, the control panel 7 can be connected to other equipment, such as a PLC control system, to achieve coordinated control with other production links, thereby improving the degree of production automation.

[0072] like Figure 2 and Figure 4 As shown, a box body assembly device includes the above-mentioned box cover picking and correcting device, and the box body assembly device also includes a mounting portion 8 for grabbing the box cover g and assembling it with the box body to form a box body, and a robotic arm 9 for driving the mounting portion 8 to move. The mounting portion 8 is connected to the robotic arm 9, and the path for the robotic arm 9 to drive the mounting portion 8 to move passes above the box cover placement portion 311.

[0073] like Figures 9 to 11 As shown, the specific structure of the mounting portion 8 and the robotic arm 9 is shown. The mounting portion 8 is used to mount the box cover g on the box body. The mounting portion 8 includes an abutting portion 81 for pressing the box cover g and the box body and an elastic portion 82 provided on one side of the abutting portion 81. The abutting portion 81 has a first abutting surface 811 facing the box cover g, and the elastic portion 82 has a second abutting surface 821. The second abutting surface 821 can elastically move relative to the first abutting surface 811. Specifically, an elastic member 823 is provided in the elastic portion 82. When the elastic member 823 is in a normal state, the elastic portion 82 protrudes from the abutting portion 81. Figure 9 As shown, the second abutting surface 821 is arranged below the first abutting surface 811, forming a height difference, thereby forming a step structure shaped like a step; when the abutting portion 81 is subjected to force, the elastic member 823 will be compressed, and the distance between the second abutting surface 821 and the first abutting surface 811 will be reduced, and even the second abutting surface 821 and the first abutting surface 811 will be flush or above the first abutting surface 811.

[0074] The second abutting surface 821 being able to elastically move relative to the first abutting surface 811 specifically means that the second abutting surface 821 changes from being located below the first abutting surface 811 to being close to, flush with, or located above the first abutting surface 811 .

[0075] The direction in which the second abutting surface 821 can elastically move relative to the first abutting surface 811 is the direction in which the box cover g is mounted on the box body. Figure 9 The up and down directions in .

[0076] The elastic portion 82 can elastically deform according to the size difference between the lid g and the box body, making the assembly process smoother and avoiding the assembly problems caused by improper force control in traditional mechanical compression methods. The stepped structure can accurately guide the lid g into the box body, improving the accuracy and reliability of assembly.

[0077] The elastic portion 82 provides cushioning and support, effectively preventing deformation or damage to the lid g and the box body, ensuring assembly accuracy. It also reduces assembly force and protects the box body. The elastic portion 82 absorbs some of the assembly force, reducing the impact on the lid g and the box body, effectively protecting the box body and preventing damage to the box body due to excessive compression.

[0078] When the abutting portion 81 is stressed, the elastic member 823 is compressed and the second abutting surface 821 gradually moves upward until the installation is completed. At this time, the abutting portion 81 presses the box cover g and the box body tightly together to complete the assembly.

[0079] The assembly process is as follows: use the abutment portion 81 to grab the box cover g so that the box cover g contacts the first abutment surface 811; place the box body on the box cover g so that the box body contacts the second abutment surface 821; apply pressure to move the abutment portion 81 downward, compress the elastic member 823, and gradually move the second abutment surface 821 upward until the assembly is completed.

[0080] The elastic member 823 may be made of a spring, rubber, silicone, etc., and a suitable material may be selected according to actual needs.

[0081] It is worth noting that during the installation process, since the elastic portion 82 is arranged on one side of the abutting portion 81, the forces on both sides of the first abutting surface 811 are inevitably uneven, and then the side of the box cover g on the first abutting surface 811 away from the elastic portion 82 will first be in contact with the box body, and in the process of the second abutting surface 821 gradually moving upward, the other side of the box cover g will be matched with the box body, so that the two sides of the box cover g can be tightened in sequence.

[0082] A accommodating space is provided in the box body, which extends to the upper end surface of the box body to form an installation opening, and the box cover g is installed in the installation opening. In a preferred embodiment, the installation opening is at a certain distance from one side of the box body, that is, there is still a circle of outer edge on the upper end surface of the box body around the installation opening, and the first abutting surface 811 abuts against the box cover g, and the step structure clamps one end of the box cover g, and the second abutting surface 821 abuts against the upper end surface of the box body. Specifically, the second abutting surface 821 abuts against the outer edge. When the abutting portion 81 is subjected to force, the elastic member 823 is compressed, and the second abutting surface 821 gradually moves upward until the installation is completed. At this time, the first abutting surface 811 and the second abutting surface 821 are both above the box cover g.

[0083] In another preferred embodiment, the elastic portion 82 is provided on one side of the box body. During the installation process, the box body is placed on the bottom plate, and the elastic portion 82 also abuts against the bottom plate. When the abutting portion 81 is subjected to force, the elastic member 823 is compressed, and the second abutting surface 821 gradually moves upward until the installation is completed. At this time, the first abutting surface 811 is above the box cover g, and the second abutting surface 821 is both below the box cover g, and the step structure clamps the box body.

[0084] Furthermore, the elastic portion 82 includes a limiting structure 822, an elastic member 823, and a resisting structure 824. The elastic member 823 is elastically deformable. The limiting structure 822 and the resisting structure 824 are respectively connected to the two sides of the elastic member 823. The limiting structure 822 and the abutting portion 81 are relatively fixed in position, and the second abutting surface 821 is provided on the abutting structure. The limiting structure 822 includes a mutually perpendicular horizontal plate 8221 and a vertical plate 8222. The horizontal plate 8221 and the vertical plate 8222 are connected. One end of the elastic member 823 is connected to the horizontal plate 8221, and the other end of the elastic member 823 abuts the resisting structure 824. The vertical plate 8222 is provided on the side of the elastic member 823 opposite to the abutting portion 81.

[0085] The presence of limiting structure 822 limits the deformation range of elastic member 823, ensuring that elastic member 823 does not deform excessively during assembly, thereby ensuring assembly accuracy. The combined structure of horizontal plate 8221 and vertical plate 8222 allows elastic member 823 to remain stable while deforming, preventing distortion of elastic member 823 and further improving assembly accuracy. Vertical plate 8222 is located on the side of elastic member 823 opposite to abutment portion 81, effectively preventing elastic member 823 from falling off during deformation and enhancing the safety of the device.

[0086] It is worth noting that the resistance structure 824 is block-shaped, and the block-shaped resistance structure 824 has a larger contact area, can transmit force and pressure more evenly, and effectively prevent the elastic part 823 from local deformation or slipping during the force process, thereby improving assembly accuracy.

[0087] The block-shaped interference structure 824 has a stronger load-bearing capacity and can withstand greater assembly forces, making the assembly process more stable and reliable. Since the block-shaped interference structure 824 has a larger contact area, it can reduce stress concentration. The block-shaped structure can more effectively disperse stress, reduce stress concentration, and improve structural strength and lifespan. Furthermore, the block-shaped interference structure 824 is easy to process, making the manufacturing process simpler and reducing costs.

[0088] Furthermore, the abutting portion 81 includes a first end portion 812 and a second end portion 813, the first end portion 812 and the second end portion 813 are connected, the second end portion 813 is bent toward the horizontal plate 8221, and the first abutting surface 811 is arranged on the first end portion 812; a hole is opened on the second end portion 813, the abutting structure 824 passes through the hole, and the elastic member 823 is arranged between the second end portion 813 and the horizontal plate 8221.

[0089] In a preferred embodiment, the hole extends to one side of the second end portion 813 , the vertical plate 8222 abuts against the second end portion 813 , the second end portion 813 and the vertical plate 8222 together form a telescopic channel, and the abutting structure 824 moves along the telescopic channel.

[0090] The abutting portion 81 forms a telescopic channel through the second end portion 813 and the vertical plate 8222, which stably supports the abutting structure 824, prevents the abutting structure 824 from loosening or falling off during the force-bearing process, and enhances the stability of the device.

[0091] The structural design of the telescopic channel effectively prevents the interference structure 824 from accidentally falling off during the assembly process, thereby improving the safety of the device.

[0092] Furthermore, the second end portion 813 is disposed between the first end portion 812 and the vertical plate 8222 . The first end portion 812 , the second end portion 813 and the vertical plate 8222 together form a groove, and the interference structure 824 is disposed in the groove.

[0093] The groove structure forms a closed support space for the interference structure 824, preventing the interference structure 824 from deflecting or falling off during the force application process, thereby improving the stability and reliability of the interference structure 824. The addition of the vertical plate 8222 provides additional support for the groove, further improving the stability of the interference structure 824.

[0094] The groove structure can accurately position the interference structure 824, ensuring its relative position with the box body components and improving assembly accuracy. The interference structure 824 moves within the groove, avoiding interference with other components and reducing errors during the assembly process.

[0095] The groove structure can guide the installation of the interference structure 824, simplifying the assembly operation and reducing the assembly difficulty. The installation position of the interference structure 824 is fixed in the groove, and no additional positioning is required, thereby improving assembly efficiency.

[0096] The groove structure can absorb external impact force, protect the resistance structure 824 from the direct impact of the impact force, and enhance the impact resistance of the device. The groove structure tightly connects the first end 812, the second end 813 and the vertical plate 8222 together to form an integral structure, thereby enhancing the overall structural strength of the device.

[0097] Preferably, a plurality of suction cups 814 are provided on the first abutting surface 811 , and the suction cups 814 abut against the box cover g, so that the suction cups 814 can suck the box cover g.

[0098] Furthermore, a protrusion 815 is provided on the abutting portion 81, and the protrusion 815 protrudes from the first abutting surface 811. During the pressing process, the protrusion 815 first contacts the box cover g or the box body, and the protrusion 815 supports one end of the box cover g. Unlike a plane that can only exert downward pressure, the protrusion 815 will generate a component force along the inclined installation direction during the inclined downward pressing process, effectively concentrating the clamping force on the other end of the box cover g, thereby achieving tight compression of the box cover g.

[0099] Furthermore, the protrusion 815 cooperates with the depression or side on the box cover g. Specifically, the protrusion 815 is provided on the side of the first abutting surface 811 close to the elastic portion 82. A depression is provided on the box cover g, and the protrusion 815 cooperates with the depression; the protrusion 815 and the first abutting surface 811 form a step to clamp one side of the box cover g, thereby achieving a more stable cooperation between the protrusion 815 and the box cover g. The cooperation between the protrusion 815 and the depression or side can achieve a greater clamping force with a smaller force, thereby improving the clamping efficiency.

[0100] like Figure 11 As shown, further, the abutting portion 81 and the elastic portion 82 are both mounted on the robot arm 9, see Figure 10 The abutting portion 81 has an edge 816 for achieving connection with the robotic arm 9.

[0101] Furthermore, the robotic arm 9 is provided with a line pipe bracket 91 and a pressure component 92. The line pipe bracket 91 is provided on one side of the pressure component 92 to facilitate pipeline arrangement. The robotic arm 9 realizes the movement of the box cover g and the assembly of the box cover g to the box body to form a box body; and the pressure component 92 is used to provide downward pressure on the abutment part 81 and the elastic part 82.

[0102] Preferably, the pressure component 92 can be any one of a hydraulic cylinder, an air cylinder, a motor-driven linear actuator, a screw-driven linear actuator or a servo motor-driven linear actuator.

[0103] Preferably, the robotic arm 9 can be a six-axis robotic arm body in a six-axis robotic arm disclosed in Chinese utility model patent publication number CN218947711U.

[0104] The embodiments of this specific implementation method are all preferred embodiments of the present utility model, and are not intended to limit the scope of protection of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the scope of protection of the present utility model.

Claims

1. A box cover picking and correcting device, characterized in that: include, A vibration plate device (1), comprising a receiving plate (11) for receiving a box cover (g) and a vibration device (12) for driving the receiving plate (11) to vibrate, wherein the receiving plate (11) is mounted on the vibration device (12); A pickup device (2), the pickup device (2) comprising a suction cup device (21) and a driving device (22), the driving device (22) driving the suction cup device (21) to move in three directions perpendicular to each other, and the driving device (22) driving the suction cup device (21) to rotate about its own axis; A transfer placement device (3) is provided on one side of the vibrating plate device (1), the transfer placement device (3) has a box cover placement portion (311), and the suction cup device (21) moves above the holding plate and above the box cover placement portion (311).

2. The box cover picking and correcting device according to claim 1, characterized in that: It also includes a visual recognition device (4), which is arranged above the suction cup device (21), and the visual recognition device (4) is electrically connected to the picking device (2).

3. The box cover picking and correcting device according to claim 2, characterized in that: The visual recognition device (4) comprises a camera device (41) and a fixing device (42), wherein the camera device (41) is mounted on the fixing device (42), and the fixing device (42) is arranged above the vibration plate device (1).

4. The box cover picking and correcting device according to claim 3, characterized in that: The camera device (41) comprises a camera (411), a mounting plate (412) and an illuminating lamp (413); the illuminating lamp (413) is mounted on the mounting plate (412); a camera hole (4121) is provided on the mounting plate (412); the camera (411) is arranged above the mounting plate (412); and the camera (411) faces the camera hole (4121).

5. The box cover picking and correcting device according to claim 4, characterized in that: There are multiple lighting lamps (413), and the camera (411) is located in the middle of the multiple lighting lamps (413).

6. The box cover picking and correcting device according to claim 1, characterized in that: The transfer placement device (3) comprises a limiting plate (31) and a return push rod (32), wherein the limiting plate (31) has a box cover placement portion (311), and the box cover placement portion (311) has limiting edges (3111) that limit two adjacent edges of the box body, and the return push rod (32) moves in two directions perpendicular to the two limiting edges (3111).

7. The box cover picking and correcting device according to claim 6, characterized in that: There are multiple box cover placement parts (311) on the transfer placement device (3), and the multiple box cover placement parts (311) are arranged side by side.

8. The box cover picking and correcting device according to claim 2, characterized in that: It also includes an outer frame (5), wherein the vibration disk device (1), the picking device (2) and the transfer placement device (3) are all installed in the outer frame (5), and one end of the vibration disk device (1) is connected to an input port (6), and the input port (6) extends to the outside of the outer frame (5).

9. The box cover picking and correcting device according to claim 8, characterized in that: It also includes a control panel (7), which is installed outside the outer frame (5), and is electrically connected to the vibration disk device (1), the visual recognition device (4) and the pickup device (2).

10. A box assembly device, comprising the box cover picking and correcting device according to any one of claims 1 to 9, characterized in that: The invention also includes a mounting portion (8) for grabbing the box cover (g) and assembling it with the box body to form a box body, and a mechanical arm (9) for driving the mounting portion (8) to move. The mounting portion (8) is connected to the mechanical arm (9), and the path of the mounting portion (8) driven by the mechanical arm (9) to move passes above the box cover placement portion (311).

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