Product box unpacking and stacking equipment

Abstract

The utility model relates to product box unpacking and stacking equipment which comprises a pushing device, a box stacking device and a box stacking device. The unboxing device comprises an unboxing mechanism, a supporting mechanism and a clamping mechanism, the clamping mechanism is arranged on the peripheral side of the supporting mechanism in a surrounding mode, the clamping mechanism can clamp or release the product box in the second direction perpendicular to the first direction, and the supporting mechanism can abut against or be separated from the bottom of the product box in the third direction perpendicular to the first direction and the second direction; the unboxing mechanism can cut adhesive tape of the product box, open box leaves of the product box and push the product box to be folded. And the lifting device is arranged in the third direction, and the output end of the lifting device is connected with the clamping mechanism so as to drive the clamping mechanism to drive the product box to move in the third direction. In this way, automatic unpacking and folding of the product box can be achieved, manual operation is not needed in the whole process, the labor intensity is reduced, cyclic utilization of the product box and the partition plates is achieved, and the turnover space is reduced.

Description

Technical Field

[0001] This application relates to the field of product box unpacking and recycling technology, and in particular to a product box unpacking and stacking device. Background Technology

[0002] Product boxes are used to hold and protect the products inside. For standard product boxes, after large-volume purchases, each box needs to be unsealed and the contents removed before the boxes need to be recycled.

[0003] Typically, unpacking product boxes is a manual process, involving manually opening each box one by one, then manually or with auxiliary equipment removing the contents, and finally manually or with auxiliary equipment folding and recycling the boxes. This is labor-intensive. Furthermore, product boxes require fixed plastic frames for handling, resulting in significant warehouse space usage and high turnover costs for empty boxes. Utility Model Content

[0004] Therefore, it is necessary to provide a product box unpacking and stacking device to address the problems of high labor intensity and large space occupation caused by the current manual operation of product box unpacking. This device can realize the automatic unpacking of product boxes, removal of partitions, and automatic folding of product boxes. The entire process does not require manual operation, reducing the labor intensity of operators and reducing the turnover space.

[0005] A product box unpacking and stacking device, comprising:

[0006] A pushing device, including a pushing mechanism, wherein the pushing mechanism pushes a product box along a first direction;

[0007] An unpacking device includes an unpacking mechanism, a support mechanism, and a clamping mechanism. The clamping mechanism is disposed around the periphery of the support mechanism and is capable of clamping or releasing the product box in a second direction perpendicular to the first direction. The support mechanism is capable of abutting or disengaging from the bottom of the product box in a third direction perpendicular to both the first and second directions. The unpacking mechanism is capable of cutting the tape on the product box, opening the box flaps, and folding the product box.

[0008] A lifting device is arranged along the third direction, and the output end of the lifting device is connected to the clamping mechanism to drive the clamping mechanism to move the product box along the third direction.

[0009] In an embodiment of the present application, the clamping mechanism comprises a clamping driving member, a clamping transmission member, a first clamping assembly and a second clamping assembly, the first clamping assembly and the second clamping assembly extend along the first direction and are arranged oppositely in the second direction, the output end of the clamping driving member is connected to the clamping transmission member, and the clamping transmission member is in transmission connection with the first clamping assembly and the second clamping assembly to drive the first clamping assembly and the second clamping assembly to move close to or away from each other.

[0010] In an embodiment of the present application, the clamping mechanism comprises at least one of the following features:

[0011] Firstly, the first clamping assembly comprises a first clamping arm and a plurality of first clamping suction members arranged on the first clamping arm for suction of one side of the product box;

[0012] Secondly, the second clamping assembly comprises a second clamping arm and a plurality of second clamping suction members arranged on the second clamping arm for suction of the other side of the product box;

[0013] Thirdly, the clamping mechanism further comprises a clamping mounting seat, and the clamping driving member and the clamping transmission member are movably arranged in the clamping mounting seat;

[0014] Fourthly, the clamping transmission member further comprises a driving gear, a first rack and a second rack, the driving gear is arranged at the output end of the clamping driving member, the first rack and the second rack are arranged oppositely on both sides of the driving gear and are in meshing connection with the driving gear, the first rack is connected to the first clamping assembly, and the second rack is connected to the second clamping assembly.

[0015] In an embodiment of the present application, the unpacking mechanism comprises a mechanical arm, a cutting member and a cutting driving member, the mechanical arm is located at the side of the clamping mechanism and can extend into or move out of the clamping mechanism, the cutting driving member is arranged at the end of the mechanical arm, and the cutting member is arranged at the output end of the cutting driving member for cutting of the adhesive tape of the product box.

[0016] In an embodiment of the present application, the unpacking mechanism further comprises a page turning suction member and a page turning driving member, the page turning driving member is arranged at the end of the mechanical arm, and the page turning suction member is arranged at the output end of the page turning driving member, the page turning suction member is used for suction of each box page of the product box to open each box page.

[0017] And / or, the unpacking mechanism further comprises a page turning hook plate arranged at the end of the mechanical arm, and the page turning hook plate is used for opening of each box page of the product box.

[0018] In an embodiment of the present application, the supporting mechanism comprises a supporting base, a supporting component and a supporting driving member, the supporting driving member and the supporting component are arranged on the supporting base, and an output end of the supporting driving member is connected with the supporting component to drive the supporting component to move along the third direction.

[0019] In an embodiment of the present application, the supporting mechanism further comprises a first supporting plate and a second supporting plate, a top of the supporting component has a supporting platform, the first supporting plate and the second supporting plate are arranged at two ends of the supporting platform along the first direction, and the first supporting plate and the second supporting plate can be unfolded or folded relative to the supporting component, and when the first supporting plate and the second supporting plate are unfolded, the first supporting plate, the second supporting plate and the supporting platform are coplanar.

[0020] And / or, the supporting mechanism further comprises a first sliding part and a second sliding part, the first sliding part extends along the second direction, and the second sliding part is arranged on the supporting component and can be slidably arranged on the first sliding part.

[0021] In an embodiment of the present application, the unpacking device further comprises a limiting member, the limiting member is arranged on the clamping mechanism and is arranged opposite to the pushing mechanism, and the limiting member is used for limiting the product box pushed by the pushing mechanism in the first direction.

[0022] And / or, the unpacking device further comprises a mounting rack, the supporting mechanism and the lifting device are arranged on the mounting rack, and the unpacking mechanism is located on a side of the mounting rack.

[0023] In an embodiment of the present application, the unpacking device further comprises a plurality of adsorption mechanisms, and the plurality of adsorption mechanisms are arranged on the clamping mechanism and surround a periphery of the product box.

[0024] The adsorption mechanism comprises an adsorption driving member, a swing arm and an adsorption component, the adsorption driving member is arranged on the clamping mechanism, the swing arm is swingably arranged on the clamping mechanism, two ends of the swing arm are respectively connected with the adsorption driving member and the adsorption component, and the adsorption component is used for adsorbing a box page of the product box.

[0025] And / or, the adsorption mechanism comprises a mounting arm and an adsorption component, the mounting arm is arranged on the clamping mechanism, and the adsorption component is arranged on the mounting arm and is used for adsorbing a box page of the product box.

[0026] In an embodiment of the present application, the lifting device comprises a lifting mechanism and a lifting guide mechanism, the lifting mechanism comprises a lifting driver and a lifting transmission, the lifting transmission is arranged at an output end of the lifting driver and is arranged along the third direction, and the lifting transmission is further connected to the clamping mechanism to drive the clamping mechanism to move along the third direction.

[0027] The lifting guide mechanism comprises a first sliding member and a second sliding member, the first sliding member extends along the third direction, and the second sliding member is arranged at the clamping mechanism and is slidably arranged at the first sliding member.

[0028] In an embodiment of the present application, the product box unpacking and stacking device further comprises a stacking device, the stacking device is arranged at the clamping mechanism, the unpacking device positions the box panels of the product box, and the unpacking mechanism is used to fold the product box.

[0029] In an embodiment of the present application, the stacking device further comprises a box panel pressing mechanism, the box panel pressing mechanism is arranged outside the clamping mechanism and is used to press the box panels of the product box when the box panels are opened, the box panel pressing mechanism comprises a box panel pressing driver, a box panel pressing support and a box panel pressing component, the box panel pressing support is arranged outside the clamping mechanism, the box panel pressing component and the box panel pressing driver are arranged at the box panel pressing support, and the box panel pressing driver drives the box panel pressing component to rotate relative to the box panel pressing support to press or release the product box.

[0030] In an embodiment of the present application, the stacking device further comprises a jacking mechanism, the jacking mechanism is arranged outside the clamping mechanism and is movable along the third direction, and the jacking mechanism is used to jack up the box panels of the product box to extend the box panels along the third direction, the jacking mechanism comprises a jacking driver, a jacking support and a jacking component, the jacking support is arranged outside the clamping mechanism, the jacking component is arranged at an output end of the jacking driver, and the jacking driver is arranged at the jacking support to drive the jacking component to move along the third direction.

[0031] In an embodiment of the present application, the stacking device further comprises a blocking mechanism, the blocking mechanism is rotatably arranged at the clamping mechanism, and the blocking mechanism is used to block at least one box panel of the product box along the first direction.

[0032] The blocking mechanism comprises a blocking arm and an elastic member, the blocking arm is rotatably arranged at the clamping mechanism, and the elastic member elastically connects the blocking arm and the clamping mechanism.

[0033] In an embodiment of the present application, the pushing mechanism comprises a pushing driving member and a carrying plate, the carrying plate is arranged at the output end of the pushing driving member and moves with the pushing driving member, and the carrying plate is used for placing the product box;

[0034] In addition, the pushing device further comprises a pushing frame and a pushing guide mechanism, the pushing driving member is arranged in the pushing frame, and the pushing guide mechanism comprises a first guide member and a second guide member, the first guide member is arranged in the pushing frame, and the second guide member is arranged in the carrying plate and is slidably arranged in the first guide member.

[0035] After the above technical scheme is adopted, the present application has at least the following technical effects:

[0036] The product box unpacking and stacking equipment provided by the present application comprises a pushing device, a clamping mechanism, a supporting mechanism, an unpacking mechanism, a lifting device and a collecting clamp. The pushing device pushes the product box into the clamping mechanism along a first direction. The clamping mechanism clamps the product box along a second direction. Then, the supporting mechanism ascends along a third direction to abut against the top of the product box. Subsequently, the unpacking mechanism cuts the adhesive tape at the top of the product box, and then opens each box page of the product box in sequence. Then, the unpacking mechanism cuts the adhesive tape at the bottom of the product box, and then opens each box page of the product box in sequence. After the box pages are opened, the supporting mechanism abuts against the partition plate of the product box, and the lifting device drives the clamping mechanism and the product box to descend as a whole. At this time, the partition plate is exposed from the top of the product box, and the collecting clamp removes the partition plate in the product box. Subsequently, the clamping mechanism releases one surface of the product box, and the unpacking mechanism pushes the product box to fold the product box.

[0037] The product box unpacking and stacking equipment pushes the product box into the unpacking device through the pushing device, clamps and fixes the product box through the clamping mechanism and the supporting mechanism, cuts the adhesive tape on the product box through the unpacking mechanism, and opens the box pages of the product box. The lifting device automatically ejects the partition plate in the product box, and then folds the product box. The product box unpacking and stacking equipment can automatically unpack the product box, remove the partition plate and fold the product box. The whole process does not need manual operation, thereby reducing the labor intensity of the operator. In addition, the whole unpacking and stacking process of the product box is carried out in the product box unpacking and stacking equipment, so that the product box can be arranged and the partition plate can be removed in a small space, the product box and the partition plate can be recycled, and the turnover space is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a perspective view of the product box unpacking and stacking equipment according to an embodiment of the present application.

[0039] Figure 2 FIG. 2 is a perspective view of the product box unpacking and stacking equipment according to an embodiment of the present application. Figure 1

[0040] ​Figure 3 for Figure 1 The image shows a 3D view of the product boxes processed by the product box unpacking and stacking equipment.

[0041] Figure 4 for Figure 3 The diagram shown is a schematic of the product box after unpacking.

[0042] Figure 5 for Figure 4 The diagram shown is a schematic of the product box after it has been folded.

[0043] Figure 6 for Figure 1 The diagram shows a pusher device in the product box unpacking and stacking equipment.

[0044] Figure 7 for Figure 6 A magnified view of the pushing device at point A.

[0045] Figure 8 for Figure 1 The image shows a magnified view of the product box unpacking and stacking equipment at point B.

[0046] Figure 9 for Figure 1 The image shows a magnified view of the product box unpacking and stacking equipment at point C.

[0047] Figure 10 for Figure 1 The image shows a partial enlarged view of the product box unpacking and stacking equipment at point D.

[0048] Figure 11 for Figure 1 The image shows a partial enlarged view of the product box unpacking and stacking equipment at point E.

[0049] Figure 12 for Figure 2 The image shows a magnified view of the product box unpacking and stacking equipment at point F.

[0050] Figure 13 for Figure 2 The image shows a partial enlarged view of the product box unpacking and stacking equipment at point G.

[0051] Figure 14 for Figure 1 The image shows a magnified view of the product box unpacking and stacking equipment at point H.

[0052] Figure 15 for Figure 1 The diagram shows the product box unpacking and stacking equipment positioning the product boxes.

[0053] Figure 16 for Figure 15Illustration of the product case unstacking and stacking apparatus shown unstacking the top of the product case.

[0054] Figure 17 To Figure 16 Illustration of the product case unstacking and stacking apparatus shown unstacking the bottom of the product case.

[0055] Figure 18 To Figure 17 Illustration of the product case unstacking and stacking apparatus shown prior to folding the product case.

[0056] 10, product box unpacking and stacking equipment; 100, pushing device; 110, pushing mechanism; 111, pushing driving piece; 112, bearing plate; 1121, avoiding notch; 1122, blocking edge; 120, pushing rack; 130, pushing guide mechanism; 131, first guide piece; 132, second guide piece; 200, unpacking device; 210, unpacking mechanism; 211, mechanical arm; 212, cutting part; 213, cutting driving piece; 214, page turning suction accessory; 215, page turning driving piece; 216, page turning hook plate; 217, mounting base; 220, supporting mechanism; 221, supporting driving piece; 222, supporting part; 223, supporting base; 2231, second sliding part; 224, first sliding part; 225, driving part; 226, first supporting plate; 227, second supporting plate; 228, first driving piece; 229, second driving piece; 230, clamping mechanism; 231, clamping driving piece; 232, clamping transmission piece; 2321, driving gear; 2322, first rack; 2323, second rack; 233, first clamping assembly; 2331, first clamping arm; 2332, first clamping suction accessory; 2333, first clamping seat; 2334, first guide part; 2335, second guide part; 234, second clamping assembly; 2341, second clamping arm; 2342, second clamping suction accessory; 2343, second clamping seat; 235, clamping mounting seat; 240, limiting piece; 250, mounting rack; 260, suction mechanism; 261, suction driving piece; 262, suction part; 2621, first suction accessory; 2622, third suction accessory; 2623, fourth suction accessory; 2624, fifth suction accessory; 2625, sixth suction accessory; 2626, seventh suction accessory; 263, swing arm; 264, mounting branch; 300, lifting device; 310, lifting mechanism; 311, lifting driving piece; 312, lifting transmission piece; 3121, lifting gear; 3122, lifting rack; 320, lifting guide mechanism; 321, first sliding piece; 322, second sliding piece; 330, lifting support; 400, stacking device; 410, page pressing mechanism; 411, page pressing driving piece; 412, page pressing supporting piece; 413, page pressing part; 420, jacking mechanism; 421, jacking driving piece; 422, jacking supporting piece; 423, jacking part; 430, blocking mechanism; 431, blocking arm; 432, elastic piece; 440, blocking support; 50, product box. DETAILED DESCRIPTION

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] Understandably, the unpacking process of product boxes is usually done manually. Each box is individually unsealed, and the contents are removed manually or with the aid of equipment. The boxes are then folded and recycled manually or with the aid of equipment, resulting in high labor intensity. Furthermore, product boxes require fixed plastic frames for handling, which takes up significant warehouse space and incurs high turnover costs for empty boxes.

[0059] Therefore, such as Figure 1 and Figure 2 As shown, this application provides a product box unpacking and stacking device 10. Figure 1 This is a perspective view of a product box unpacking and stacking device 10 according to an embodiment of this application, taken from one angle. Figure 2 for Figure 1 The product box unpacking and stacking equipment 10 shown is a perspective view from another angle. This equipment 10 is used to unpack and fold product boxes 50. Here, product box 50 typically refers to a six-sided packaging box.

[0060] The product box unpacking and stacking equipment 10 can automatically unpack the product box 50, remove the partitions, and automatically fold the product box 50. The entire process requires no manual operation, reducing the labor intensity of operators. Moreover, the entire unpacking and stacking process of the product box 50 is carried out in the product box unpacking and stacking equipment 10, realizing the cyclical arrangement of the product box 50 and the removal of its partitions within a small space, achieving the recycling of the product box 50 and the partitions, and reducing the turnover space.

[0061] To better illustrate the structure of the product box unpacking and stacking equipment 10, the structure of the product box 50 will be briefly described first. For example... Figure 3 and Figure 4 As shown, Figure 3 for Figure 1 The diagram shows a perspective view of the product boxes 50 processed by the product box unpacking and stacking equipment 10. Figure 4 for Figure 3The product box 50 is a hexahedron structure, which has six surfaces, i.e. four side surfaces, a top surface and a bottom surface. The product box 50 is provided with a large flaps and small flaps on the top and bottom of the side surfaces respectively. The two small flaps are arranged oppositely, and the two large flaps are arranged oppositely. The large flaps and small flaps are folded and bonded by adhesive tape to form the top surface (top) and bottom surface (bottom) of the product box 50.

[0062] It is worth mentioning that the top and bottom of the product box 50 are in the direction shown by the arrows on the side surface of the product box 50, and the bottom of the arrow points to the bottom of the product box 50. When the product box 50 is closed, the two small flaps are folded first, and then the two large flaps are folded. The two large flaps cover the two small flaps, and the two large flaps are bonded and connected by adhesive tape. Figure 3

[0063] Generally, the product box 50 contains a partition and a product placed in the partition, which protects the product by the partition. It can be understood that the type of the partition is related to the product placed therein, and the type of the partition and the product is not limited. The structure of the partition in the product box 50 of the present embodiment is not described in detail, and the partition is not shown in the drawings. Moreover, the partition is taken out by a collection clamp such as a grabbing robot, which is not limited herein.

[0064] When the product box 50 is opened, the adhesive tape on the top of the product box 50 is cut, the two large flaps on the top of the product box 50 are opened first, and then the two small flaps on the top of the product box 50 are opened. Then, the adhesive tape on the bottom of the product box 50 is cut, the two large flaps on the bottom of the product box 50 are opened first, and then the two small flaps on the bottom of the product box 50 are opened. After the product box 50 is opened, the partition can be taken out by the collection clamp, and then the product box 50 is folded into a sheet, as shown in Figure 5 Figure 5 Figure 4 The product box 50 is a hexahedron structure, which has six surfaces, i.e. four side surfaces, a top surface and a bottom surface. The product box 50 is provided with a large flaps and small flaps on the top and bottom of the side surfaces respectively. The two small flaps are arranged oppositely, and the two large flaps are arranged oppositely. The large flaps and small flaps are folded and bonded by adhesive tape to form the top surface (top) and bottom surface (bottom) of the product box 50.

[0065] The specific structure of the product box opening and folding equipment 10 of an embodiment is described below.

[0066] Referring to Figures 1 to 5 ​​​In an embodiment, the product case unstacking and stacking device 10 comprises a pushing device 100, an unstacking device 200, and a lifting device 300. The pushing device 100 comprises a pushing mechanism 110, which pushes the product case 50 in a first direction. The unstacking device 200 comprises an unstacking mechanism 210, a supporting mechanism 220, and a clamping mechanism 230, which is arranged around the periphery of the supporting mechanism 220 and can clamp or release the product case 50 in a second direction perpendicular to the first direction, the supporting mechanism 220 can abut or disengage the bottom of the product case 50 in a third direction perpendicular to the first direction and the second direction, and the unstacking mechanism 210 can cut the tape of the product case 50, open the case pages of the product case 50, and push the product case 50 to fold. The lifting device 300 is arranged in the third direction, and the output end of the lifting device 300 is connected to the clamping mechanism 230 to drive the clamping mechanism 230 to move the product case 50 in the third direction.

[0067] The first direction, the second direction, and the third direction are as shown in Figure 1 The first direction is the front-rear direction of the product case unstacking and stacking device 10, the second direction is the left-right direction of the product case unstacking and stacking device 10, and the third direction is the up-down direction (height direction, vertical direction, top-bottom direction) of the product case unstacking and stacking device 10. The first direction, the second direction, and the third direction are perpendicular to each other. Each component in the product case unstacking and stacking device 10 is described based on the first direction, the second direction, and the third direction.

[0068] The pushing device 100 and the unstacking device 200 are arranged in the first direction, the pushing device 100 is located at the front side of the unstacking device 200, the pushing device 100 is used to push the product case 50, and the unstacking device 200 is used to realize the unstacking and stacking of the product case 50. The pushing device 100 can push the product case 50 in the first direction to push the product case 50 into the unstacking device 200. Generally, a destacking robot is located at the side of the pushing device 100, and the destacking robot transfers the product case 50 to the pushing device 100.

[0069] After the product case 50 is pushed into the unstacking device 200, the unstacking device 200 can clamp and fix the product case 50, and then the unstacking device 200 can unstack the product case 50 and open the case pages of the product case 50. The lifting device 300 can drive the product case 50 to descend, so that the partition in the product case 50 rises relative to the product case 50, so that the collection clamp can transfer the partition away. Then, the lifting device 300 resets the product case 50, and the unstacking device 200 can push the product case 50 to rotate around one side of the product case 50 to realize the folding of the product case 50.

[0070] Referring to Figures 1 to 5Specifically, the pushing device 100 comprises a pushing mechanism 110 capable of reciprocating along a first direction, the unpacking device 200 comprises an unpacking mechanism 210, a supporting mechanism 220 and a clamping mechanism 230, the clamping mechanism 230 is located behind the pushing mechanism 110 along the first direction, the supporting mechanism 220 is located inside the clamping mechanism 230 and below the clamping mechanism 230. The pushing mechanism 110 can push the product box 50 into the clamping mechanism 230, and then the pushing mechanism 110 is reset along the first direction to facilitate the next pushing of the product box 50.

[0071] The clamping mechanism 230 can move closer to or away from each other along a second direction to clamp or release the product box 50. After the product box 50 is pushed into the clamping mechanism 230, the clamping mechanism 230 moves closer to each other along the second direction, and the clamping mechanism 230 can contact the two side surfaces of the product box 50 in the second direction respectively, so that the clamping mechanism 230 can clamp the product box 50 to fix the product box 50. Moreover, when the product box 50 is folded, the clamping mechanism 230 can release one side surface of the product box 50 to facilitate the folding of the product box 50. When the product box 50 is folded, the clamping mechanism 230 can release the other side surface of the product box 50 to facilitate the special clamp to transfer the folded product box 50.

[0072] The supporting mechanism 220 is arranged along a third direction and is capable of reciprocating along the third direction. Before the product box 50 is pushed into the clamping mechanism 230, the supporting mechanism 220 descends along the third direction to avoid the product box 50, so as to facilitate the product box 50 to be pushed into the clamping mechanism 230 and avoid the interference between the product box 50 and the supporting mechanism 220. After the product box 50 is pushed into the clamping mechanism 230, the supporting mechanism 220 rises and abuts against the bottom of the product box 50. At this time, the positioning of the product box 50 can be realized through the cooperation of the clamping mechanism 230 and the supporting mechanism 220 to facilitate the unpacking of the product box 50 later.

[0073] The unpacking mechanism 210 is located outside the clamping mechanism 230, the end of the unpacking mechanism 210 can extend into the clamping mechanism 230, the unpacking mechanism 210 can cut the adhesive tape on the top of the product box 50 and open the box pages on the top of the product box 50 in turn, and then the unpacking mechanism 210 cuts the adhesive tape on the bottom of the product box 50 and opens the box pages on the bottom of the product box 50 in turn. When the partition plate in the product box 50 is taken out, the unpacking mechanism 210 can also push the side surface of the product box 50 to make the product box 50 rotate around its vertical edge, so as to realize the folding of the product box 50.

[0074] The lifting device 300 is arranged outside the clamping mechanism 230, and the lifting mechanism 310 can be connected with the clamping mechanism 230. After the product box 50 is unpacked, since the support mechanism 220 supports the partition plate in the product box 50, the position is kept unchanged, the lifting device 300 can drive the clamping mechanism 230 to descend along the third direction, and the partition plate can be gradually exposed from the top of the product box 50. At this time, the partition plate can be transferred away by the collecting clamp.

[0075] When the product box unpacking and stacking equipment 10 works, the pushing mechanism 110 can push the product box 50 into the clamping mechanism 230 along the first direction, the clamping mechanism 230 can move towards each other along the second direction to clamp the opposite sides of the product box 50, so as to clamp and fix the product box 50, and then the support mechanism 220 can ascend along the first direction to the top of the product box 50. In this way, the product box 50 can be fixed in the spatial dimension. Subsequently, the unpacking mechanism 210 cuts the tape at the top of the product box 50, and sequentially opens the box pages at the top of the product box 50, and then the unpacking mechanism 210 cuts the tape at the bottom of the product box 50, and sequentially opens the box pages at the bottom of the product box 50. After the product box 50 is unpacked, the lifting device 300 drives the clamping mechanism 230 to descend relative to the support mechanism 220 along the third direction, so that the support mechanism 220 can push the partition plate out of the product box 50, and the partition plate can be transferred away by the collecting clamp. At this time, the inside of the product box 50 is empty (as shown in Figure 4 When the product box unpacking and stacking equipment 10 works, the pushing mechanism 110 can push the product box 50 into the clamping mechanism 230 along the first direction, the clamping mechanism 230 can move towards each other along the second direction to clamp the opposite sides of the product box 50, so as to clamp and fix the product box 50, and then the support mechanism 220 can ascend along the first direction to the top of the product box 50. In this way, the product box 50 can be fixed in the spatial dimension. Subsequently, the unpacking mechanism 210 cuts the tape at the top of the product box 50, and sequentially opens the box pages at the top of the product box 50, and then the unpacking mechanism 210 cuts the tape at the bottom of the product box 50, and sequentially opens the box pages at the bottom of the product box 50. After the product box 50 is unpacked, the lifting device 300 drives the clamping mechanism 230 to descend relative to the support mechanism 220 along the third direction, so that the support mechanism 220 can push the partition plate out of the product box 50, and the partition plate can be transferred away by the collecting clamp. At this time, the inside of the product box 50 is empty (as shown in Figure 5 When the product box unpacking and stacking equipment 10 works, the pushing mechanism 110 can push the product box 50 into the clamping mechanism 230 along the first direction, the clamping mechanism 230 can move towards each other along the second direction to clamp the opposite sides of the product box 50, so as to clamp and fix the product box 50, and then the support mechanism 220 can ascend along the first direction to the top of the product box 50. In this way, the product box 50 can be fixed in the spatial dimension. Subsequently, the unpacking mechanism 210 cuts the tape at the top of the product box 50, and sequentially opens the box pages at the top of the product box 50, and then the unpacking mechanism 210 cuts the tape at the bottom of the product box 50, and sequentially opens the box pages at the bottom of the product box 50. After the product box 50 is unpacked, the lifting device 300 drives the clamping mechanism 230 to descend relative to the support mechanism 220 along the third direction, so that the support mechanism 220 can push the partition plate out of the product box 50, and the partition plate can be transferred away by the collecting clamp. At this time, the inside of the product box 50 is empty (as shown in

[0076] The product box unpacking and stacking equipment 10 of the above embodiment can push the product box 50 into the unpacking device 200 by the pushing device 100, clamp and fix the product box 50 by the clamping mechanism 230 and the support mechanism 220, cut the tape on the product box 50 by the unpacking mechanism 210, open the box pages of the product box 50, automatically push out the partition plate in the product box 50 by the lifting device 300, and fold the product box 50. The product box unpacking and stacking equipment 10 can automatically unpack the product box 50, take out the partition plate, and automatically fold the product box 50. The whole process does not need manual operation, which reduces the labor intensity of the operator. Moreover, the whole unpacking and stacking process of the product box 50 is carried out in the product box unpacking and stacking equipment 10, which realizes the recycling and arrangement of the product box 50 and the taking out of the partition plate in a small space, realizes the recycling of the product box 50 and the partition plate, and reduces the turnover space.

[0077] Referring to Figure 1In an embodiment, the support mechanism 220 has a first position and a second position along the third direction, and the first position is higher than the second position, and the support mechanism 220 is capable of switching between the first position and the second position. When the support mechanism 220 is at the first position, the support mechanism 220 abuts against the bottom of the product box 50, and when the support mechanism 220 is at the second position, the support mechanism 220 is away from the bottom of the product box 50.

[0078] Further, before the product box 50 is pushed to the clamping mechanism 230, the support mechanism 220 is lowered from the first position to the second position along the third direction to avoid the product box 50; after the clamping mechanism 230 clamps the product box 50, the support mechanism 220 is raised from the second position to the first position along the third direction to abut against the bottom of the product box 50 to support the product box 50; when the product box 50 is folded, the support mechanism 220 is lowered from the first position to the second position along the third direction to be removed from the unpacked product box 50 to facilitate the folding of the product box 50.

[0079] Referring to Figure 1 In an embodiment, the support mechanism 220 further has a third position, a fourth position and a fifth position along the second direction, and the third position is between the fourth position and the fifth position, and the support mechanism 220 abuts against or is away from the bottom of the product box 50 at the third position, and the support mechanism 220 is capable of switching between the third position, the fourth position and the fifth position to facilitate the opening of the box flaps.

[0080] The fourth position is on the right side of the unpacking device 200, the fifth position is on the left side of the unpacking device 200, and the third position is between the fourth position and the fifth position, which is an intermediate position. During the process of clamping the product box 50 by the clamping mechanism 230, the support mechanism 220 is always at the third position and is adjusted based on the third position being between the first position and the second position. When the unpacking mechanism 210 cuts the tape at the bottom of the product box 50, the support mechanism 220 moves from the third position to the fourth position, the unpacking mechanism 210 cuts the tape at the bottom and flips open the large box flap on the left side of the bottom, and then the support mechanism 220 moves from the fourth position to the fifth position, and the unpacking mechanism 210 flips open the large box flap on the right side of the bottom. After the large box flaps on both sides are flipped open, the support mechanism 220 moves from the fifth position to the third position to support the partition plate, so that the unpacking mechanism 210 can feedback the small box flaps on the front and back sides of the bottom.

[0081] Referring to Figure 1 , Figure 2 and Figure 6 In an embodiment, the pushing device 100 further comprises a pushing frame 120, and the pushing mechanism 110 is arranged in the pushing frame 120 along the first direction. Figure 6 To Figure 1Fig. 2 shows a schematic view of the pushing device 100 in the product case unstacking and stacking device 10. The pushing device 100 is arranged on a reference surface, such as the ground or the like. The pushing frame 120 serves as a support, and can support the pushing mechanism 110 and keep the pushing mechanism 110 at a certain height from the reference surface. In this way, the product case 50 pushed by the pushing mechanism 110 can be above the supporting mechanism 220. Optionally, the pushing frame 120 is a frame structure or a support platform or the like.

[0082] Referring to Figure 1 and Figure 6 In an embodiment, the pushing mechanism 110 comprises a pushing drive 111 and a carrying plate 112. The carrying plate 112 is arranged at the output end of the pushing drive 111 and moves with the pushing drive 111. The carrying plate 112 is used to place the product case 50. The pushing drive 111 is the power source of the pushing mechanism 110. The pushing drive 111 is arranged on the pushing frame 120 and can output reciprocating motion in the first direction. The output end of the pushing drive 111 is connected to the carrying plate 112, and the product case 50 is carried by the carrying plate 112.

[0083] After the unstacking robot places the product case 50 on the carrying plate 112, the pushing drive 111 drives the carrying plate 112 to extend in the first direction, so as to push the product case 50 into the clamping mechanism 230. After the clamping mechanism 230 clamps the product case 50, the pushing drive 111 drives the carrying plate 112 to retract in the first direction, so as to return the carrying plate 112 to the initial position, so as to facilitate the unstacking robot to place the next product case 50 on the carrying plate 112. After the unstacking device 200 unstacks and folds the product case 50 in it, the pushing drive 111 drives the carrying plate 112 to push the next product case 50 into the unstacking device 200.

[0084] Optionally, the pushing drive 111 is a pneumatic cylinder. Of course, in other embodiments of the present application, the pushing drive 111 can also be a linear motor or other components capable of outputting linear motion. Referring to Figure 6 and Figure 7 Optionally, the side of the carrying plate 112 facing the unstacking device 200 has an avoiding gap 1121 for avoiding the supporting mechanism 220. Figure 7 For Figure 6A partial enlarged view of the pushing device 100 at A. The avoidance gap 1121 can accommodate the support mechanism 220 when pushing the product box 50, avoiding interference between the bearing plate 112 and the support mechanism 220. Optionally, the three side edges of the bearing plate 112 away from the unboxing device 200 have a baffle 1122 protruding from the surface of the bearing plate 112, which can stop the position of the product box 50 and prevent the product box 50 from escaping from the three side edges of the bearing plate 112.

[0085] Referring to Figure 1 , Figure 6 and Figure 7 , in an embodiment, the pushing device 100 further comprises a pushing guide mechanism 130, which is arranged between the pushing frame 120 and the bearing plate 112. The pushing guide mechanism 130 guides the movement of the bearing plate 112 in the third direction to ensure that the bearing plate 112 accurately pushes the product box 50 into the clamping mechanism 230, so that the clamping mechanism 230 and the support mechanism 220 can accurately fix the product box 50, facilitating the unboxing and stacking operation of the unboxing mechanism 210.

[0086] Referring to Figure 1 , Figure 6 and Figure 7 , in an embodiment, the pushing guide mechanism 130 comprises a first guide 131 and a second guide 132. The first guide 131 is arranged on the pushing frame 120, and the second guide 132 is arranged on the bearing plate 112 and is slidably arranged on the first guide 131. The first guide 131 extends in the first direction. When the pushing drive 111 drives the bearing plate 112 to move in the third direction, the bearing plate 112 can drive the second guide 132 to slide along the first guide 131, thereby guiding the movement of the bearing plate 112 and ensuring the accuracy of the movement trajectory of the bearing plate 112.

[0087] As shown in Figure 6 and Figure 7 , the first guide 131 is a guide slider, and the second guide 132 is a guide rail, which is slidably arranged on the guide slider. Of course, in other embodiments of the present application, the first guide 131 can be a guide rail, and the second guide 132 can be a guide slider, or the first guide 131 and the second guide 132 can be a guide rail and a guide slot, etc., which can realize sliding cooperation.

[0088] Referring to Figure 1 , Figure 2 and Figure 8In an embodiment, the clamping mechanism 230 comprises a clamping drive 231, a clamping transmission 232, a first clamping assembly 233 and a second clamping assembly 234, the first clamping assembly 233 and the second clamping assembly 234 extend along a first direction and are oppositely arranged along a second direction, the output end of the clamping drive 231 is connected to the clamping transmission 232, and the clamping transmission 232 is in transmission connection with the first clamping assembly 233 and the second clamping assembly 234 to drive the first clamping assembly 233 and the second clamping assembly 234 to move towards or away from each other. Figure 8 For Figure 1 A partial enlarged view of the product box unpacking and stacking device 10 shown in the figure at B.

[0089] The clamping transmission 232 is oppositely arranged with the bearing plate 112 along the first direction, the first clamping assembly 233 and the second clamping assembly 234 both extend along the first direction, the first clamping assembly 233 and the second clamping assembly 234 are oppositely arranged along the second direction and are located on both sides of the clamping transmission 232, and the clamping transmission 232, the first clamping assembly 233 and the second clamping assembly 234 form a concave structure, which forms a conveying opening on one side, and the conveying opening corresponds to the bearing plate 112, and the bearing plate 112 conveys the product box 50 into the clamping mechanism 230 through the conveying opening.

[0090] The clamping drive 231 is the power source of the clamping mechanism 230. Optionally, the clamping drive 231 is a motor or the like. The clamping transmission 232 is arranged at the output end of the clamping drive 231. The clamping drive 231 can drive the clamping transmission 232 to move, and in turn the clamping transmission 232 can drive the first clamping assembly 233 and the second clamping assembly 234 to move at the same time, so that the first clamping assembly 233 and the second clamping assembly 234 can move towards or away from each other along the second direction to realize the opening and closing operation to clamp or release the product box 50.

[0091] When the product box 50 is pushed into the clamping mechanism 230, the clamping drive 231 drives the clamping transmission 232 to drive the first clamping assembly 233 and the second clamping assembly 234 to clamp and fix the product box 50. When the unpacking of the product box 50 is completed, the clamping drive 231 drives the clamping transmission 232 to drive the first clamping assembly 233 and the second clamping assembly 234 to move away from each other, and the first clamping assembly 233 is separated from one side surface of the product box 50, and when the folding of the product box 50 is completed, the second clamping assembly 234 is separated from the other surface of the product box 50.

[0092] Referring to Figure 1 and Figure 8In an embodiment, the clamping transmission member 232 further comprises a driving gear 2321, a first rack 2322 and a second rack 2323. The driving gear 2321 is arranged at the output end of the clamping driving member 231. The first rack 2322 and the second rack 2323 are arranged at the two sides of the driving gear 2321 respectively and are engaged with the driving gear 2321. The first rack 2322 is connected with the first clamping assembly 233, and the second rack 2323 is connected with the second clamping assembly 234.

[0093] The first rack 2322 and the second rack 2323 are arranged along the second direction. The first rack 2322 is arranged above the driving gear 2321, and the second rack 2323 is arranged below the driving gear 2321. The first rack 2322 is connected with the first clamping assembly 233 and is arranged vertically. The second rack 2323 is connected with the second clamping assembly 234 and is arranged vertically. When the driving gear 2321 rotates, the first rack 2322 and the second rack 2323 are driven to move along the second direction towards the opposite direction, so as to drive the first clamping assembly 233 and the second clamping assembly 234 to move towards each other or away from each other along the second direction.

[0094] Of course, in other embodiments of the present application, the clamping transmission member 232 can also be other structures capable of synchronously driving the first clamping assembly 233 and the second clamping assembly 234, such as a ball screw structure, etc. The screw shaft is arranged with two groups of threads facing opposite directions to output opposite linear movements, which will not be described herein again.

[0095] Referring to Figure 1 and Figure 8 In an embodiment, the clamping mechanism 230 further comprises a clamping mounting base 235. The clamping driving member 231 and the clamping transmission member 232 are movably arranged in the clamping mounting base 235. The clamping mounting base 235 is used to support the clamping driving member 231 and the clamping transmission member 232. The clamping mounting base 235 is arranged in the lifting device 300. When the lifting device 300 drives the clamping mounting base 235 to move along the third direction, the entire clamping mechanism 230 can be driven to move along the third direction. The clamping driving member 231 is arranged in the clamping mounting base 235, and the clamping transmission member 232 is movably arranged in the clamping mounting base 235. Optionally, the clamping mounting base 235 is arranged in a plate shape. Of course, in other embodiments of the present application, the clamping mounting base 235 can also be a frame structure or other structures capable of supporting.

[0096] Referring to Figure 1 and Figure 8In an embodiment, the first clamping assembly 233 comprises a first clamping arm 2331 and a plurality of first clamping suction members 2332 arranged on the first clamping arm 2331 for suctioning one side of the product box 50; and the second clamping assembly 234 comprises a second clamping arm 2341 and a plurality of second clamping suction members 2342 arranged on the second clamping arm 2341 for suctioning the other side of the product box 50.

[0097] The first clamping arm 2331 is connected with the first rack 2322, and the second clamping arm 2341 is connected with the second rack 2323. The first clamping arm 2331 and the second clamping arm 2341 extend in the first direction. When the product box 50 is pushed to the clamping mechanism 230, the clamping drive 231 drives the first rack 2322 and the second rack 2323 to drive the first clamping arm 2331 and the second clamping arm 2341 to approach each other, so that the first clamping arm 2331 and the second clamping arm 2341 clamp the product box 50. At this time, the first clamping arm 2331 contacts one side of the product box 50, and the second clamping arm 2341 contacts the other side of the product box 50, so as to clamp the product box 50.

[0098] The first clamping arm 2331 is connected with the first rack 2322, and the second clamping arm 2341 is connected with the second rack 2323. The first clamping arm 2331 and the second clamping arm 2341 extend in the first direction. When the product box 50 is pushed to the clamping mechanism 230, the clamping drive 231 drives the first rack 2322 and the second rack 2323 to drive the first clamping arm 2331 and the second clamping arm 2341 to approach each other, so that the first clamping arm 2331 and the second clamping arm 2341 clamp the product box 50. At this time, the first clamping arm 2331 contacts one side of the product box 50, and the second clamping arm 2341 contacts the other side of the product box 50, so as to clamp the product box 50.

[0099] When the product box 50 is unpacked, the first clamping suction member 2332 releases one side of the product box 50, and the clamping drive 231 drives the first rack 2322 and the second rack 2323 to drive the first clamping arm 2331 and the second clamping arm 2341 to move away from each other. At this time, the product box 50 can move with the second clamping suction member 2342 on the right side of the box, and then the unpacking mechanism 210 can extend into the clamping mechanism 230 and push the product box 50 to fold the product box 50. After the product box 50 is folded, the special clamp grasps the folded product box 50, and at the same time, the second clamping suction member 2342 releases the other side of the product box 50.

[0100] Optionally, the first clamping suction member 2332 and the second clamping suction member 2342 are vacuum suction cups. The first clamping suction member 2332 and the second clamping suction member 2342 are in control connection with the controller of the product case unstacking and stacking equipment 10, and the controller controls the first clamping suction member 2332 and the second clamping suction member 2342 to perform the suction or release action. Optionally, the vacuum suction cup is fixed to the first clamping arm 2331 and the second clamping arm 2341 through a support. Of course, in other embodiments of the present application, the first clamping suction member 2332 and the second clamping suction member 2342 can also be pneumatic suction members or electric suction members, etc., which will not be described here.

[0101] Referring to Figure 1 , Figure 8 and Figure 9 , in an embodiment, the first clamping assembly 233 further comprises a first clamping seat 2333, the first clamping seat 2333 is movably arranged in the clamping mounting seat 235, the first rack 2322 is arranged in the first clamping seat 2333, and the first clamping seat 2333 is fixedly connected with the first clamping arm 2331. The second clamping assembly 234 further comprises a second clamping seat 2343, the second clamping seat 2343 is movably arranged in the clamping mounting seat 235, the second rack 2323 is arranged in the second clamping seat 2343, and the second clamping seat 2343 is fixedly connected with the second clamping arm 2341. Figure 9 As shown in the partial enlarged view of the product case unstacking and stacking equipment 10 at C. Figure 1

[0102] The first clamping seat 2333 plays a role of an adapter support, the first rack 2322 and the first clamping arm 2331 are connected through the first clamping seat 2333, so that the first rack 2322 drives the first clamping arm 2331 to move. Similarly, the second clamping seat 2343 plays a role of an adapter support, the second rack 2323 and the second clamping arm 2341 are connected through the second clamping seat 2343, so that the second rack 2323 drives the second clamping arm 2341 to move. Optionally, the first clamping arm 2331 and the first clamping seat 2333 are fixedly connected through a threaded member, of course, the first clamping arm 2331 and the first clamping seat 2333 can also be connected through clamping or the like. The second clamping arm 2341 and the second clamping seat 2343 are fixedly connected through a threaded member, of course, the second clamping arm 2341 and the second clamping seat 2343 can also be connected through clamping.

[0103] Referring to Figure 8 and Figure 9 ​In an embodiment, the first clamping assembly 233 further comprises a first guide portion 2334 and a second guide portion 2335. The first guide portion 2334 is arranged on the clamping mounting seat 235 along the second direction, and the second guide portion 2335 is arranged on the first clamping seat 2333 and is slidably arranged on the first guide portion 2334. In this way, when the driving gear 2321 drives the first rack 2322 to drive the first clamping seat 2333 to move along the second direction, the first clamping seat 2333 can move along the first guide portion 2334 through the second guide portion 2335, so as to ensure that the first clamping seat 2333 can drive the first clamping arm 2331 to accurately move along the second direction.

[0104] Referring to Figure 8 and Figure 9 For example, the first guide portion 2334 is a guide sliding rail, and the second guide portion 2335 is a guide sliding block which is slidably arranged on the guide sliding rail. Of course, in other embodiments of the present application, the first guide portion 2334 can be a guide sliding block, and the second guide portion 2335 can be a guide sliding rail, or the first guide portion 2334 and the second guide portion 2335 can be a sliding rail and a sliding groove which can realize sliding cooperation. Of course, the second clamping assembly 234 also comprises a first guide portion 2334 and a second guide portion 2335, which will not be described here.

[0105] Referring to Figure 1 and Figure 8 In an embodiment, the unpacking device 200 further comprises a limiting piece 240 which is arranged on the clamping mechanism 230 and is arranged opposite to the pushing mechanism 110. The limiting piece 240 is used for limiting the product box 50 pushed by the pushing mechanism 110 in the first direction. The limiting piece 240 is arranged on the clamping mounting seat 235 and extends into the inside of the clamping mechanism 230. The position of the product box 50 in the clamping mechanism 230 is limited by the limiting piece 240, so as to ensure that the product box 50 is pushed to the position.

[0106] The product box 50 is pushed by the pushing mechanism 110 along the first direction to the clamping mechanism 230. When the product box 50 contacts the limiting piece 240, it indicates that the product box 50 is pushed to the position, and the pushing mechanism 110 stops pushing the product box 50. The clamping and fixing of the product box 50 are realized through the cooperation of the supporting mechanism 220 and the clamping mechanism 230, and the positioning of the product box 50 in three dimensions in space is completed. Alternatively, the limiting piece 240 is a limiting baffle which is arranged on the clamping mounting seat 235. Of course, in other embodiments of the present application, the limiting piece 240 can also be a limiting support, a limiting rod, etc.

[0107] Referring to Figure 1 and Figure 10In an embodiment, the unboxing mechanism 210 comprises a mechanical arm 211, a cutting component 212 and a cutting driver 213. The mechanical arm 211 is located at the side of the clamping mechanism 230 and can extend into or move out of the clamping mechanism 230. The cutting driver 213 is arranged at the end of the mechanical arm 211. The cutting component 212 is arranged at the output end of the cutting driver 213 and is used to cut the adhesive tape of the product box 50. Figure 10 For Figure 1 The partial enlarged view of the product box unboxing and stacking device 10 at D is shown.

[0108] The mechanical arm 211 is located at the outside of the first clamping assembly 233. The end of the mechanical arm 211 is installed with the cutting driver 213 and the cutting component 212. When the pushing mechanism 110 pushes the product box 50, the mechanical arm 211 is located at the outside of the clamping mechanism 230, and the mechanical arm 211 will not block the product box 50. After the clamping mechanism 230 clamps the product box 50, the end of the mechanical arm 211 moves to the top of the product box 50 and aligns the cutting component 212 with the adhesive tape at the top of the product box 50. The mechanical arm 211 drives the cutting component 212 to move along the extension direction of the adhesive tape. At the same time, the cutting driver 213 drives the cutting component 212 to perform a cutting action, so that the cutting component 212 cuts the adhesive tape. Subsequently, the mechanical arm 211 moves to the bottom of the product box 50, and the adhesive tape at the bottom of the product box 50 is cut in the same way.

[0109] When cutting the adhesive tape at the top of the product box 50, the mechanical arm 211 drives the cutting component 212 to move in the second direction to cut the adhesive tape at the front side of the product box 50, then drives the cutting component 212 to move in the first direction to cut the adhesive tape at the top of the product box 50, and finally drives the cutting component 212 to move in the second direction to cut the adhesive tape at the rear side of the product box 50. That is, the cutting component 212 usually needs to cut three times at the top to complete the cutting of the adhesive tape at the top of the product box 50.

[0110] Referring to Figure 1 and Figure 10 Optionally, the cutting component 212 is a cutting knife with a pressure roller, which presses the box page of the product box 50 to facilitate the cutting of the cutting knife. Optionally, the cutting driver 213 is a gas cylinder, which provides the cutting force of the cutting component 212. Optionally, the cutting driver 213 is a gas cylinder with adjustable pressure, which can set the pressure of the cutting component 212, so that the cutting component 212 can adapt to the product box 50 with uneven height. Optionally, the unboxing mechanism 210 further comprises a mounting base 217, which is located at the outside of the first clamping assembly 233, and the mechanical arm 211 is arranged on the mounting base 217.

[0111] Referring to Figure 1 and Figure 10In an embodiment, the unboxing mechanism 210 further comprises a page turning suction accessory 214 and a page turning driving member 215. The page turning driving member 215 is arranged at the end of the mechanical arm 211, and the page turning suction accessory 214 is arranged at the output end of the page turning driving member 215. The page turning suction accessory 214 is used to respectively suck each box page of the product box 50 to open each box page. The page turning driving member 215 is arranged at the end of the mechanical arm 211 and located at the side of the cutting driving member 213. The page turning suction accessory 214 is arranged at the output end of the page turning driving member 215. The page turning driving member 215 can drive the page turning suction accessory 214 to suck or release the box page.

[0112] When the mechanical arm 211 drives the cutting member 212 to cut the tape on the top of the product box 50, the page turning driving member 215 can drive the page turning suction accessory 214 to sequentially suck each box page on the top of the product box 50 to make the box page turn and open. When the mechanical arm 211 drives the cutting member 212 to cut the tape on the bottom of the product box 50, the page turning driving member 215 can drive the page turning suction accessory 214 to sequentially suck each box page on the bottom of the product box 50 to make the box page turn and open.

[0113] Generally, two large box pages are located outside two small box pages. After the tape cutting is completed, the page turning driving member 215 first drives the page turning suction accessory 214 to sequentially suck the two large box pages. After the two large box pages are turned and opened, the page turning driving member 215 drives the page turning suction accessory 214 to sequentially suck the two small box pages, so that the two large box pages and the two small box pages are turned and opened. Alternatively, the page turning driving member 215 is an adjustable air cylinder, and the page turning suction accessory 214 is a suction disc. The suction force of the page turning suction accessory 214 is adjusted by the page turning driving member 215, so that the page turning suction accessory 214 can accurately suck the box page.

[0114] Referring to Figure 1 and Figure 10 In an embodiment, the unboxing mechanism 210 further comprises a page turning hook plate 216. The page turning hook plate 216 is arranged at the end of the mechanical arm 211 and is used to open each box page of the product box 50. The page turning hook plate 216 is arranged at the end of the mechanical arm 211 and located at the side of the cutting driving member 213. The page turning hook plate 216 extends out of the mechanical arm 211. After the cutting member 212 cuts the tape, the page turning hook plate 216 can extend into the gap of the box page to make the box page turn and open by the box page hook plate.

[0115] In this embodiment, the page turning suction accessory 214 and the page turning hook plate 216 are used to realize the turning and opening of the box page. The page turning suction accessory 214 is arranged at the page turning hook plate 216. If there is no gap between the box pages, the box page hook plate cannot extend into the box page. At this time, the box page is first turned and opened by a certain angle by the box page suction accessory, and then the page turning hook plate 216 extends into the gap of the box page, so as to facilitate the turning and opening of the box page.

[0116] The present application can realize the sequential turning opening of each box page through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216, and the box page turning opening process is convenient and fast. Of course, in other embodiments of the present application, the page turning suction accessory 214 or the page turning hook plate 216 can be used alone to realize the turning opening of the box page, which will not be described here.

[0117] Referring to Figure 1 and Figure 2 In an embodiment, the box unpacking device 200 further comprises a mounting rack 250, the supporting mechanism 220 and the lifting device 300 are arranged on the mounting rack 250, and the box unpacking mechanism 210 is located on the side of the mounting rack 250. The mounting rack 250 plays a supporting role, the supporting mechanism 220 is arranged on the mounting rack 250, and the clamping mechanism 230 is arranged on the mounting rack 250 through the lifting device 300. The height of the mounting rack 250 is substantially the same as that of the pushing rack 120, so as to push the product box 50 at the same height, avoiding the interference of the product box 50 during the pushing process due to the height difference.

[0118] Referring to Figure 1 , Figure 2 and Figure 11 In an embodiment, the supporting mechanism 220 comprises a supporting base 223, a supporting component 222 and a supporting driving member 221, the supporting driving member 221 and the supporting component 222 are arranged on the supporting base 223, and the output end of the supporting driving member 221 is connected with the supporting component 222, so as to drive the supporting component 222 to move along the third direction. Figure 11 As shown in Figure 1 the partial enlarged view of the product box unpacking and stacking equipment 10 at E.

[0119] The supporting base 223 is arranged on the mounting rack 250, the supporting driving member 221 is arranged on the supporting base 223 along the third direction, and the supporting component 222 is arranged on the output end of the supporting driving member 221. The supporting component 222 is a component for supporting the bottom of the product box 50. The supporting driving member 221 can output the lifting movement along the third direction, thereby driving the supporting component 222 to move along the third direction relative to the supporting base 223.

[0120] Before the pushing mechanism 110 pushes the product box 50, the supporting driving member 221 drives the supporting component 222 to descend from the first position to the second position along the third direction. After the pushing mechanism 110 pushes the product box 50 to the clamping mechanism 230, the clamping mechanism 230 drives the first clamping assembly 233 and the second clamping assembly 234 to clamp the product box 50. At the same time, the supporting driving member 221 drives the supporting component 222 to ascend from the second position to the first position along the third direction, so as to abut against the bottom of the product box 50. Optionally, the supporting driving member 221 is a lifting cylinder.

[0121] Referring to Figure 1 ,Figure 2 and Figure 11 In an embodiment, the supporting mechanism 220 further comprises a first sliding part 224 and a second sliding part 2231. The first sliding part 224 extends along the second direction, and the second sliding part 2231 is located on the supporting part 222 and is slidably arranged on the first sliding part 224. It can be understood that after the supporting mechanism 220 is supported on the bottom of the product box 50, the supporting mechanism 220 will be blocked between the two large box pages on the bottom, affecting the cutting of the adhesive tape and the turning of the large box pages.

[0122] To this end, the supporting mechanism 220 further comprises a first sliding part 224 and a second sliding part 2231. The first sliding part 224 is arranged on the mounting rack 250 along the second direction, and the second sliding part 2231 is located on the bottom of the supporting base 223. The supporting base 223 moves along the first sliding part 224 through the second sliding part 2231, so that the supporting mechanism 220 can be switched between the third position, the fourth position and the fifth position. Alternatively, the supporting mechanism 220 further comprises a driving part 225. The driving part 225 is arranged on the mounting rack 250 and connected with the mounting rack 250. The driving part 225 can drive the supporting base 223 to slide along the first sliding part 224 through the second sliding part 2231. Alternatively, the driving part 225 is a pneumatic cylinder.

[0123] When cutting the adhesive tape on the bottom of the product box 50, the driving part 225 drives the supporting base 223 to move along the first sliding part 224 from the third position to the fourth position to the right, so that the top of the supporting part 222 can be in contact with the large box page on the right side of the bottom of the product box 50 to avoid the adhesive tape on the bottom of the product box 50 and the large box page on the left side. At this time, the unpacking mechanism 210 cuts the adhesive tape on the bottom of the product box 50 through the cutting part 212, and then turns open the large box page on the left side through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216.

[0124] Subsequently, the driving part 225 drives the supporting base 223 to move along the first sliding part 224 from the fourth position to the fifth position to the left, so that the top of the supporting part 222 can be in contact with the partition in the product box 50 to avoid the large box page on the right side of the bottom of the product box 50. At this time, the unpacking mechanism 210 turns open the large box page on the right side through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216. After the large box page is opened, the driving part 225 drives the supporting base 223 to move along the first sliding part 224 from the fifth position to the third position to the right. At this time, the supporting part 222 is supported on the middle region of the partition to ensure the stability of the support on the partition.

[0125] Referring to Figure 11For example, the first sliding part 224 is a guide sliding rail, and the second sliding part 2231 is a guide sliding block which is slidably arranged on the guide sliding rail. Of course, in other embodiments of the present application, the first sliding part 224 can be a guide sliding block, and the second sliding part 2231 can be a guide sliding rail, or the first sliding part 224 and the second sliding part 2231 can be a sliding rail and a sliding groove which can realize sliding cooperation. Of course, the second clamping assembly 234 also includes the first sliding part 224 and the second sliding part 2231, which will not be described here.

[0126] Referring to Figure 1 、 Figure 2 and Figure 11 In an embodiment, the support mechanism 220 further includes a first support plate 226 and a second support plate 227. The top of the support component 222 has a support platform, and the first support plate 226 and the second support plate 227 are arranged at both ends of the support platform along the first direction. The first support plate 226 and the second support plate 227 can be unfolded or folded relative to the support component 222. When the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226, the second support plate 227 and the support platform are coplanar.

[0127] The top of the support component 222 is a support platform which can be in contact with the bottom of the product box 50 to ensure the stability of the support. It can be understood that when the product box 50 is not unpacked or not completely unpacked, the product box 50 can be reliably fixed by the clamping of the clamping mechanism 230 and the support of the support component 222. When the product box 50 is unpacked, the product box 50 is clamped by the clamping mechanism 230, and the support component 222 only supports the partition plate in the product box 50. At this time, the partition plate may not be stably supported.

[0128] In order to further improve the stability of the support mechanism 220 supporting the partition plate and avoid the shaking of the partition plate, the first support plate 226 and the second support plate 227 are rotatably arranged on the front side and the rear side of the support platform. The first support plate 226 and the second support plate 227 can be unfolded or folded relative to the support platform. When the first support plate 226 and the second support plate 227 are folded, the support mechanism 220 only supports the bottom of the partition plate through the support platform. After the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226 and the second support plate 227 are extension plates of the support platform, which can increase the contact area between the support mechanism 220 and the bottom of the partition plate and improve the reliability of the support.

[0129] After the unpacking mechanism 210 flips open the large box flap at the bottom of the product box 50, the support base 223 returns to the third position to support the partition in the product box 50. Then, the unpacking mechanism 210 flips open the small box flap on the front side through the cooperation of the flip-page suction member 214 and the flip-page hook plate 216, and the first support plate 226 unfolds to support the partition. Then, the unpacking mechanism 210 flips open the small box flap on the rear side through the cooperation of the flip-page suction member 214 and the flip-page hook plate 216, and the second support plate 227 unfolds to support the partition.

[0130] Meanwhile, after the first support plate 226 and the second support plate 227 are unfolded, the first support plate 226 and the second support plate 227 can also limit the large box page and the small box page, preventing the large box page and the small box page from springing back to the folded state under the action of inertial force, so that the large box page and the small box page at the bottom of the product box 50 remain in the flipped open state, which facilitates the folding of the product box 50 in the later stage.

[0131] See Figure 11 In one embodiment, the support mechanism 220 further includes a first driving member 228 and a second driving member 229. The first driving member 228 connects the support base 223 and the first support plate 226, and the second driving member 229 connects the support base 223 and the second support plate 227. The first driving member 228 drives the first support plate 226 to unfold or fold, and the second driving member 229 drives the second support plate 227 to unfold or fold. Optionally, the first driving member 228 and the second driving member 229 are cylinders.

[0132] See Figure 1 , Figure 2 , Figure 12 and Figure 13 In one embodiment, the unpacking device 200 further includes a plurality of adsorption mechanisms 260, which are disposed on the clamping mechanism 230 and surround the periphery of the product box 50. Figure 12 for Figure 2 The image shows a partial enlarged view of the product box unpacking and stacking equipment 10 at point F. Figure 13 for Figure 2 The enlarged view of the product box unpacking and stacking equipment 10 at point G is shown.

[0133] Some adsorption mechanisms 260 are arranged around the periphery of the product box 50 at the top, and some adsorption mechanisms 260 are arranged around the periphery of the product box 50 at the bottom. When the unpacking mechanism 210 flips and opens the box using the flipping adsorption member 214 and the flipping hook plate 216, the flipping adsorption member 214 and the flipping hook plate 216 can push the box to the corresponding adsorption mechanism 260. The adsorption mechanism 260 can adsorb the box to limit the position of the box and prevent the box from springing back to a folded state under the action of inertial force, which facilitates the removal of the partition and the folding of the product box 50 later.

[0134] Optionally, four suction mechanisms 260 are arranged on the periphery of the top of the product box 50, and the four suction mechanisms 260 correspond to the front, rear, left and right sides of the top of the product box 50 respectively, and each of the suction mechanisms 260 suctions a box page of the top of the product box 50. Four suction mechanisms 260 are arranged on the periphery of the bottom of the product box 50, and the four suction mechanisms 260 correspond to the front, rear, left and right sides of the bottom of the product box 50 respectively, and each of the suction mechanisms 260 suctions a box page of the bottom of the product box 50. Of course, each of the box pages can also be suctioned by at least two suction mechanisms 260.

[0135] Optionally, three suction mechanisms 260 can also be arranged on the bottom of the product box 50, and the three suction mechanisms 260 correspond to the rear side, left side and right side of the product box 50 respectively, and suction the large box page on the left and right sides and the small box page on the rear side of the bottom of the product box 50 respectively, and the small box page on the front side of the product box 50 can be suctioned and fixed by the page suctioning accessory 214 of the unpacking mechanism 210. Optionally, two suction mechanisms 260 can also be arranged on the bottom of the product box 50, and the two suction mechanisms 260 correspond to the left and right sides of the product box 50 respectively, and suction the large box page on the bottom of the product box 50 respectively, and the small box page on the bottom of the product box 50 can be prevented from rebounding by the stop of the first support plate 226 and the second support plate 227.

[0136] Referring to Figure 1 , Figure 2 and Figure 12 , in the first embodiment of the present application, the suction mechanism 260 comprises a suction driving member 261, a swing arm 263 and a suction component 262, the suction driving member 261 is arranged on the clamping mechanism 230, the swing arm 263 is swingably arranged on the clamping mechanism 230, the two ends of the swing arm 263 are connected with the suction driving member 261 and the suction component 262 respectively, and the suction component 262 is used for suctioning a box page of the product box 50. In the embodiment, the suction component 262 is movably arranged.

[0137] When the product box 50 is not unpacked, the suction mechanism 260 is located outside the clamping mechanism 230, so as to avoid interference between the suction mechanism 260 and the product box 50. After the unpacking mechanism 210 flips and opens the box page, the suction mechanism 260 moves into the clamping mechanism 230 to suction and fix the box page.

[0138] The swing arm 263 is rotatably installed on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235, so as to suction and fix the box page at the corresponding position. When the unpacking mechanism 210 flips and opens the box page by the page suctioning accessory 214 and the page hook plate 216, the suction driving member 261 drives the swing arm 263 to move relative to the clamping mechanism 230, so that the swing arm 263 drives the suction component 262 to rotate, the suction component 262 moves into the clamping mechanism 230, and then suctions and fixes the box page.

[0139] Optionally, the suction driving member 261 is a cylinder. Optionally, the swing arm 263 is in the form of a lever and is arranged in a bent manner, and the bent part of the swing arm 263 is rotatably arranged on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235. In this way, when the suction driving member 261 drives the swing arm 263 to rotate, the swing arm 263 can send the suction member 262 into the clamping mechanism 230.

[0140] Referring to Figure 1 , Figure 2 , Figure 9 and Figure 11 , in the second embodiment of the present application, the suction mechanism 260 comprises a mounting arm 264 and a suction member 262, the mounting arm 264 is arranged on the clamping mechanism 230, and the suction member 262 is arranged on the mounting arm 264 and used to suck the box panel of the product box 50. In this embodiment, the suction member 262 is fixedly arranged to suck the fixed box panel at a fixed position.

[0141] The mounting arm 264 is arranged on the first clamping arm 2331, the second clamping arm 2341 or the clamping mounting seat 235. The mounting arm 264 can support the mounting of the suction member 262, so that the suction member 262 can be arranged corresponding to the box panel, thereby the suction member 262 can accurately suck the box panel. It should be noted that the structural form of the mounting arm 264 is not limited in principle, and the mounting arm 264 can be in the form of a rod and can be vertical, and can have at least one bent arrangement, as long as the suction member 262 can be arranged at a specified position; of course, the mounting arm 264 can also be in the form of a bracket.

[0142] The suction mechanisms 260 of the above two embodiments can be used in combination, that is, the suction member 262 moving through the swing arm 263 can be combined with the suction member 262 fixed by the mounting arm 264 to achieve the suction and fixation of the box panel at different positions, which can simplify the complexity of the structure and reduce the cost. Of course, each box panel can also be suctioned and fixed by only the suction member 262 moving through the swing arm 263, or by only the suction member 262 fixed by the mounting arm 264.

[0143] In the present application, four suction members 262 fixed by the mounting arm 264 are arranged on the top of the product box 50, and three suction members 262 swinging through the swing arm 263 are arranged on the bottom of the product box 50. Of course, in other embodiments of the present application, other numbers or positions of suction members 262 can also be arranged, which are not limited herein. Optionally, the suction member 262 is a vacuum chuck. Referring to Figure 1 and Figure 2, in order to describe the unpacking process of the product box 50, only the suction members 262 are described here, which include a first suction member 2621, a second suction member (not shown), a third suction member 2622, a fourth suction member 2623, a fifth suction member 2624, a sixth suction member 2625, and a seventh suction member 2626.

[0144] The first suction member 2621, the second suction member, the third suction member 2622, and the fourth suction member 2623 are located around the top of the product box 50, and the first suction member 2621 is located on the right side, the second suction member is located on the left side, the third suction member 2622 is located on the front side, and the fourth suction member 2623 is located on the back side. After the cutting member 212 cuts the tape on the top of the product box 50, the large box page and the small box page on the top of the product box 50 are opened in turn by the cooperation of the page turning suction member 214 and the page turning baffle, and the large box page on the right side is fixed by the first suction member 2621, the large box page on the left side is fixed by the second suction member, the small box page on the front side is fixed by the third suction member 2622, and the small box page on the back side is fixed by the fourth suction member 2623.

[0145] The fifth suction member 2624, the sixth suction member 2625, and the seventh suction member 2626 are arranged on the side of the bottom of the product box 50, and the fifth suction member 2624 is located on the right side, the sixth suction member 2625 is located on the left side, and the seventh suction member 2626 is located on the back side. After the cutting member 212 cuts the tape on the bottom of the product box 50, the large box page and the small box page on the bottom of the product box 50 are opened in turn by the cooperation of the page turning suction member 214 and the page turning hook baffle 216, the large box page on the right side is fixed by the fifth suction member 2624, the large box page on the left side is fixed by the sixth suction member 2625, the small box page on the back side is fixed by the seventh suction member 2626, and the small box page on the front side is fixed by the page turning suction member 214.

[0146] Referring to Figure 1 , Figure 2 and Figure 14 , in an embodiment, the lifting device 300 includes a lifting mechanism 310 and a lifting guide mechanism 320, the lifting mechanism 310 includes a lifting drive member 311 and a lifting transmission member 312, the lifting transmission member 312 is arranged on the output end of the lifting drive member 311 and is arranged in the third direction, and the lifting transmission member 312 is also connected to the clamping mechanism 230 to drive the clamping mechanism 230 to move in the third direction. Figure 14 As shown in Figure 2 , the product box unpacking and stacking device 10 is a partial enlarged view at H.

[0147] The lifting mechanism 310 is arranged on the mounting rack 250, and an output end of the lifting mechanism 310 is connected with the clamping mounting seat 235 of the clamping mechanism 230. The lifting mechanism 310 can output a lifting motion to drive the clamping mounting seat 235 to lift along the third direction. After the product box 50 is unpacked, the lifting mechanism 310 drives the clamping mounting seat 235 to descend along the third direction. The clamping mounting seat 235 can drive the first clamping arm 2331, the second clamping arm 2341 and the product box 50 in the first clamping arm 2331 and the second clamping arm 2341 to descend along the third direction, so that the partition plate in the product box 50 is pushed out of the product box 50 by the supporting mechanism 220. After the partition plate is transferred away by the collecting clamp, the lifting mechanism 310 drives the clamping mounting seat 235 to ascend along the third direction, so that the first clamping arm 2331 and the second clamping arm 2341 drive the product box 50 to ascend.

[0148] The lifting driving member 311 is a power source of the lifting mechanism 310, and the lifting transmission member 312 is used to realize the output of the motion of the lifting driving member 311. The lifting transmission member 312 is arranged along the vertical direction and is in transmission connection between the lifting driving member 311 and the clamping mounting seat 235. The lifting driving member 311 drives the lifting transmission member 312 to drive the clamping seat to lift along the third direction. Optionally, the lifting driving member 311 is a lifting motor.

[0149] Optionally, the lifting transmission member 312 comprises a lifting gear 3121 and a lifting rack 3122. The lifting gear 3121 is arranged on an output end of the lifting driving member 311. The lifting rack 3122 is arranged on the mounting rack 250 along the third direction. The lifting gear 3121 is in meshing connection with the lifting rack 3122. The lifting driving member 311 is arranged on the clamping mounting seat 235. After the lifting driving member 311 outputs a driving force, the lifting gear 3121 can move along the lifting rack 3122 by a reaction force due to the fact that the lifting rack 3122 is fixedly arranged. Thus, the lifting gear 3121 drives the lifting driving member 311 and the clamping mechanism 230 to move along the third direction.

[0150] Of course, in other embodiments of the present application, the lifting transmission member 312 can also be a ball screw structure or a belt transmission structure, etc. The lifting driving member 311 is arranged on the mounting rack 250, and an output end of the lifting transmission member 312 is connected with the clamping mechanism 230. Details are not described herein.

[0151] Referring to Figure 1 , Figure 2 and Figure 13 In an embodiment, the lifting device 300 further comprises a lifting support 330. The lifting support 330 is arranged on the mounting rack 250 and supports the lifting mechanism 310 along the third direction. Figure 1 , Figure 2 and Figure 13In one embodiment, the guide mechanism 320 is disposed on the lifting support 330 and the clamping mounting base 235. The guide mechanism 320 can guide the movement of the clamping mounting base 235 in a third direction to ensure the accuracy of the lifting movement of the clamping mechanism 230 in the third direction.

[0152] See Figure 1 , Figure 2 and Figure 13 In one embodiment, the lifting guide mechanism 320 includes a first sliding member 321 and a second sliding member 322. The first sliding member 321 extends along a third direction, and the second sliding member 322 is located in the clamping mechanism 230 and is slidably disposed on the first sliding member 321. The second sliding member 322 is disposed on the clamping mounting base 235. When the lifting mechanism 310 drives the clamping mounting base 235 to move up and down along a third direction, the clamping mounting base 235 moves along a third direction via the second sliding member 322 to ensure the accuracy of the movement of the clamping mounting base 235 along the third direction.

[0153] See Figure 13 For example, the first sliding member 321 is a guide rail, and the second sliding member 322 is a guide slider, which is slidably disposed on the guide rail. Of course, in other embodiments of this application, the first sliding member 321 may be a guide slider, the second sliding member 322 a guide rail, or the first sliding member 321 and the second sliding member 322 may be a rail and a groove, or other structures capable of sliding engagement. Naturally, the second clamping assembly 234 also includes the first sliding member 321 and the second sliding member 322, which will not be described further here.

[0154] See Figure 1 , Figure 2 and Figure 14 In one embodiment, the product box unpacking and stacking equipment 10 further includes a stacking device 400, which is disposed on the clamping mechanism 230. The unpacking device 200 positions the box pages of the product box 50 and cooperates with the unpacking mechanism 210 to fold the product box 50. Figure 14 for Figure 2 The diagram shows a partial enlarged view of the product box unpacking and stacking device 10 at point H. The stacking device 400 is mounted on the mounting frame 250 and located outside the second clamping assembly 234. After the partition in the product box 50 is removed, the unpacking device 200 can stop and limit the top flap of the product box 50 to prevent it from springing back, thus facilitating the subsequent folding operation of the product box 50.

[0155] When the product box 50 is folded, the support driving member 221 drives the support to descend from the first position to the second position, then the first clamping assembly 233 releases one side of the product box 50, the clamping driving member 231 drives the first clamping assembly 233 and the second clamping assembly 234 to move away from each other, at this time, the product box 50 moves with the second clamping assembly 234. Then, the unboxing device 200 stops each part on the top of the product box 50, and the unboxing mechanism 210 pushes the product box 50 to fold the product box 50.

[0156] Referring to Figure 1 , Figure 2 and Figure 14 , in an embodiment, the stacking device 400 further comprises a page pressing mechanism 410, which is arranged outside the clamping mechanism 230 and used to press the box pages of the product box 50 when the box pages are opened. The page pressing mechanism 410 is used to press the top box pages of the product box 50 to limit the rebound of the top box pages of the product box 50. After the second clamping assembly 234 drives the product box 50 to move to the right, the page pressing mechanism 410 rotates and is pressed on the top of the product box 50 (as shown in Figure 18 ), to prevent the rebound of the box pages.

[0157] Referring to Figure 1 , Figure 2 and Figure 14 , in an embodiment, the page pressing mechanism 410 comprises a page pressing driving member 411, a page pressing support 412 and a page pressing part 413. The page pressing support 412 is arranged outside the clamping mechanism 230, and the page pressing part 413 and the page pressing driving member 411 are arranged on the page pressing support 412. The page pressing driving member 411 drives the page pressing part 413 to rotate relative to the page pressing support 412, so that the page pressing part 413 presses or releases the product box 50.

[0158] The page pressing support 412 is arranged on the mounting frame 250 and extends along a third direction. The page pressing support 412 is located outside the second clamping assembly 234. The page pressing part 413 is rotatably arranged on the top of the page pressing support 412. The page pressing driving member 411 is arranged on the page pressing support 412, and the page pressing driving member 411 is connected with the page pressing part 413. The page pressing driving member 411 can drive the page pressing part 413 to rotate around the page pressing support 412, so that the page pressing part 413 presses on the top of the product box 50.

[0159] Optionally, the page pressing driving member 411 is a motor or a cylinder. Optionally, the page pressing support 412 is a support column. Optionally, the page pressing part 413 is a page pressing grid plate, so that the page pressing part 413 can have enough area to cover each box page on the top of the product box 50 to press the box pages. Of course, in other embodiments of the present application, the page pressing part 413 can also be in the form of a plate or a frame structure, etc.

[0160] Referring to Figure 1 , Figure 2 and Figure 14 , in an embodiment, the stacking device 400 further comprises a jacking mechanism 420 arranged outside the clamping mechanism 230 and movable along the third direction, the jacking mechanism 420 being configured to jack up the flaps of the product case 50 to extend the flaps along the third direction. The jacking mechanism 420 is arranged outside the second clamping assembly 234 to jack up the flaps to enable the flaps to stand up.

[0161] It can be understood that after the product case 50 is folded, the flaps are kept in a horizontal state due to the action of the pressing mechanism 410, and the jacking mechanism 420 can jack up the flaps on the side of the product case 50 close to the jacking mechanism 420, and the flaps on the remaining side are jacked up by the unpacking mechanism 210 to form the product case 50 in the state shown in FIG. 8 after folding, facilitating the storage of the product case 50 after folding. Figure 5

[0162] Referring to Figure 1 , Figure 2 and Figure 14 , in an embodiment, the jacking mechanism 420 comprises a jacking drive 421, a jacking support 422 arranged outside the clamping mechanism 230, and a jacking component 423 arranged at the output end of the jacking drive 421, the jacking drive 421 being arranged at the jacking support 422 to drive the jacking component 423 to move along the third direction.

[0163] The jacking support 422 is arranged at the mounting frame 250 and located at the side of the second clamping assembly 234, and the jacking drive 421 can drive the jacking component 423 to move along the third direction. After the product case 50 is folded, the pressing mechanism 410 is rotated to disengage from the top of the product case 50, and then the jacking drive 421 can drive the jacking component 423 to move upward along the third direction relative to the jacking support 422, and the jacking component 423 can abut against the flaps on the right side and the front side of the top of the product case 50 to enable the flaps to stand up, and the flaps on the left side and the rear side of the top of the product case 50 are enabled to stand up by the unpacking mechanism 210.

[0164] Optionally, the jacking drive 421 is a pneumatic cylinder. Optionally, the jacking component 423 comprises a jacking plate and a plurality of jacking rods arranged at the jacking plate, the jacking rods being arranged at the jacking plate along the second direction and protruding from the jacking plate towards the product case 50. In this way, the jacking plate and the jacking rods can increase the contact area with the flaps to facilitate the standing up of the flaps.

[0165] Referring to Figure 1 and Figure 14 ​In an embodiment, the unpacking device 200 further comprises a blocking mechanism 430 rotatably arranged on the clamping mechanism 230, and the blocking mechanism 430 is used to block at least one side of the product box 50 in the first direction. The blocking mechanism 430 extends in the second direction and is rotatably arranged on the second clamping assembly 234. The blocking mechanism 430 can block the side of the product box 50 to avoid the side from sagging. When the front side or the back side of the product box 50 is opened, the side can be placed on the blocking mechanism 430, and the blocking mechanism 430 limits the displacement of the side to avoid the side from sagging, thereby avoiding affecting the folding of the product box 50.

[0166] Optionally, the number of the blocking mechanism 430 is two, and the two blocking mechanisms 430 are arranged on the clamping mechanism 230 in the first direction. The blocking mechanism 430 on the front side is used to block the side of the product box 50 on the top front side, and the blocking mechanism 430 on the back side is used to block the side of the product box 50 on the top back side. It is worth noting that the structure and principle of the two blocking mechanisms 430 are substantially the same, and will not be described here.

[0167] Referring to Figure 1 and Figure 14 In an embodiment, the stacking device 400 further comprises a blocking bracket 440 arranged on the second clamping arm 2341, the first suction member 2621 is arranged on the blocking bracket 440, and the blocking mechanism 430 is arranged on the blocking bracket 440. The blocking bracket 440 can make the first suction member 2621 and the blocking mechanism 430 at a certain height, so as to facilitate the first suction member 2621 to suck the side of the product box 50 on the top right side, and facilitate the blocking mechanism 430 to block the side of the product box 50.

[0168] Referring to Figure 1 and Figure 14 In an embodiment, the blocking mechanism 430 comprises a blocking arm 431 rotatably arranged on the clamping mechanism 230 and an elastic member 432 elastically connecting the blocking arm 431 and the clamping mechanism 230. The blocking arm 431 is the main component for blocking the side. When the side is opened, the side can be placed on the blocking arm 431. When the product box 50 is folded, the unpacking mechanism 210 pushes the product box 50 to overcome the elastic force of the elastic member 432 to push the blocking arm 431 to rotate relative to the first clamping arm 2331, so as to facilitate the folding of the product box 50. When the product box 50 is moved away, the elastic member 432 can also reset the product box 50. Optionally, the elastic member 432 is a torsional spring or the like.

[0169] Referring to Figure 1When the product box unpacking and stacking device 10 of this application is working, the depalletizing robot places the product box 50 onto the support plate 112 of the pushing mechanism 110. In the initial state, the support mechanism 220 of the unpacking device 200 is in the second position (low position), and the first clamping component 233 and the second clamping component 234 of the clamping mechanism 230 are far apart from each other and are in an open state. The unpacking mechanism 210 and the stacking device 400 are both in a non-working state, waiting for the product box 50 to be pushed into the clamping mechanism 230. Then, the pushing drive 111 drives the support plate 112 to extend along the first direction to push the product box 50 into the clamping mechanism 230.

[0170] When the product box 50 abuts against the limiting member 240 in the clamping mechanism 230, it indicates that the product box 50 has been pushed into position. At this time, the pushing drive member 111 stops pushing. Meanwhile, the support drive member 221 drives the support member 222 to rise from the second position to the first position (high position) along a third direction, lifting the product box 50. Simultaneously, the clamping drive member 231 drives the first clamping arm 2331 and the second clamping arm 2341 to move closer together via the clamping transmission member 232 to clamp the product box 50, completing the relevant positioning. The first clamping suction members 2332 on the first clamping arm 2331 and the second clamping suction members 2342 on the second clamping arm 2341 simultaneously suction the opposite sides of the product box 50, ensuring that the product box 50 does not shift during operation. Thus, the product box 50 completes its positioning in three spatial dimensions. Figure 15 As shown, Figure 15 for Figure 1 The diagram shows the product box 50 positioned by the product box unpacking and stacking equipment 10.

[0171] After the product box 50 is positioned, the robotic arm 211 in the unpacking mechanism 210 drives the cutting component 212, the flipping suction component 214, and the flipping hook plate 216 to cut the top tape and flip open the top box. During cutting, the cutting component 212 uses a cutting blade with a pressure roller to cut the top tape to avoid the box from springing up after the bottom tape is cut, causing a collision. The cutting drive component 213 adjusts the downward pressure of the cutting component 212 to accommodate the unevenness of the product box 50. After cutting, the unpacking mechanism 210, through the cooperation of the flipping suction component 214 and the flipping hook plate 216, sequentially flips open the large and small box pages at the top of the product box 50. The first suction component 2621 adsorbs the large box page on the right, the second suction component adsorbs and fixes the large box page on the left, the third suction component 2622 adsorbs the small box page on the front, and the fourth suction component 2623 adsorbs the small box page on the rear to prevent the box from rebounding and closing in subsequent operations. Figure 16 As shown, Figure 16 for Figure 15 The diagram shows the unpacking and folding equipment for product box 50, illustrating the unpacking process at the top of product box 50.

[0172] After the top of the product box 50 is unpacked, the bottom of the product box 50 is unpacked, and the mechanical arm 211 of the unpacking mechanism 210 drives the cutting component 212, the page turning suction accessory 214, and the page turning hook plate 216 to complete the cutting of the top tape and the turning and opening of the top box page. The driving component 225 drives the supporting base 223 to move along the first sliding part 224 from the third position to the fourth position on the right side, the cutting component 212 cuts the bottom tape with the cutting knife with a pressure roller, and then turns and opens the left large box page through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216, and is fixed by the sixth suction accessory 2625. Subsequently, the driving component 225 drives the supporting base 223 to move along the first sliding part 224 from the fourth position to the fifth position on the left side, and the page turning suction accessory 214 turns and opens the right large box page through the cooperation of the page turning hook plate 216, and is fixed by the fifth suction accessory 2624.

[0173] After the two large box pages on the bottom are opened, the driving component 225 drives the supporting base 223 to move along the first sliding part 224 from the fifth position on the left side to the third position in the middle, at which time the supporting component 222 supports the partition plate through the supporting platform. Then, the unpacking mechanism 210 opens the rear small box page through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216, and the seventh suction accessory 2626 suctions and fixes the rear small box page, and then the second driving part 229 drives the second supporting plate 227 to expand to support the bottom of the partition plate. Then, the unpacking mechanism 210 opens the front small box page through the cooperation of the page turning suction accessory 214 and the page turning hook plate 216, and suctions and fixes the front small box page through the page turning suction accessory 214, and then the first driving part 228 drives the first supporting plate 226 to expand to support the partition plate. In this way, the unpacking of the product box 50 is completed. As shown in Figure 17 Figure 17 As shown in Figure 16 The product box unpacking and stacking device 10 is shown in the schematic view of the unpacking of the bottom of the product box 50.

[0174] Since the product box 50 has been unpacked, the first clamping assembly 233 and the second clamping assembly 234 suction and fix the product box 50, and the partition plate in the product box 50 is supported by the supporting mechanism 220. The partition plate and the product box 50 are independent components, and their relative movement does not interfere. Subsequently, the lifting driving part 311 drives the clamping mechanism 230 to descend as a whole along the third direction, and the clamping mechanism 230 can drive the product box 50 to descend relative to the partition plate therein, so that the partition plate is jacked out of the product box 50 by the jacking mechanism 420, and is taken out by the collecting clamp.

[0175] ​After the partition is removed, the product box 50 can be folded. The lifting mechanism 310 drives the product box 50 to rise along the third direction to reset, and the supporting mechanism 220 moves along the third direction from the first position to the second position. At the same time, the clamping driving part 231 drives the first clamping assembly 233 and the second clamping assembly 234 to move away from each other and releases the first clamping suction part 2332 from one side of the product box 50, so that the product box 50 can move to the right side along with the second clamping assembly 234. At the same time, the page pressing driving part 411 drives the page pressing part 413 to rotate, so that the page pressing part 413 presses the top of the product box 50, and the blocking arm 431 of the blocking mechanism 430 limits each box page on the top of the product box 50, avoiding the box page from bouncing up or folding down. As shown in Figure 18 Figure 18 As shown in the product box unpacking and folding device 10 shown in the figure. Figure 17

[0176] Subsequently, the unpacking mechanism 210 pushes the product box 50 to fold and sequentially stands up the box page on the left side of the top of the product box 50, the box page on the right side of the top of the product box 50 is stood up by the jacking mechanism 420, and the box page at the bottom of the product box 50 can automatically sag under the action of gravity. At this point, the folding of the product box 50 is completed, and the folded product box 50 is shown in Figure 5

[0177] The product box unpacking and folding device 10 of the present application can realize the automatic unpacking of the product box 50, the removal of the partition, and the folding of the product box 50. The fixing of the product box 50 is realized by the clamping mechanism 230 cooperating with the supporting mechanism 220, the cutting of the adhesive tape and the opening of each box page are realized by the unpacking mechanism 210, the fixing of each box page is realized by the suction part 262 of the suction mechanism 260, the automatic unpacking of the product box 50 is realized, the automatic ejection of the partition is realized by the cooperation of the lifting device 300, the clamping mechanism 230 and the supporting mechanism 220, the partition is transferred by the collecting clamp, and the automatic folding of the product box 50 is realized by cooperating with the folding device 400. The whole process does not need manual operation, which reduces the labor intensity of the operator. Moreover, the unpacking and folding of the product box 50 and the removal of the partition are all carried out in the unpacking device 200, which greatly reduces the occupied space and the unpacking cost, and also realizes the recycling of the paper box.

[0178] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0179] ​​​The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A product case unstacking and stacking apparatus characterized by comprising: The application relates to a box unloading device, comprising: a pushing device, comprising a pushing mechanism, which pushes a product box in a first direction; a box unloading device, comprising a box unloading mechanism, a supporting mechanism and a clamping mechanism, the clamping mechanism is arranged on the periphery of the supporting mechanism, the clamping mechanism can clamp or release the product box in a second direction perpendicular to the first direction, the supporting mechanism can abut or separate from the bottom of the product box in a third direction perpendicular to the first direction and the second direction, the box unloading mechanism can cut the adhesive tape of the product box, open the box pages of the product box and push the product box to fold; and a lifting device arranged in the third direction, the output end of the lifting device is connected with the clamping mechanism to drive the clamping mechanism to move the product box in the third direction.

2. The product case de-palletizing and stacking apparatus of claim 1, wherein, The clamping mechanism comprises a clamping driving element, a clamping transmission element, a first clamping assembly and a second clamping assembly, the first clamping assembly and the second clamping assembly extend in the first direction and are oppositely arranged in the second direction, the output end of the clamping driving element is connected with the clamping transmission element, and the clamping transmission element is transmissionally connected with the first clamping assembly and the second clamping assembly to drive the first clamping assembly and the second clamping assembly to move close to or away from each other.

3. The product case de-palletizing and stacking apparatus of claim 2, wherein, The clamping mechanism comprises at least one of the following features: the first clamping assembly comprises a first clamping arm and a plurality of first clamping suction elements arranged on the first clamping arm to adsorb one side of the product box; the second clamping assembly comprises a second clamping arm and a plurality of second clamping suction elements arranged on the second clamping arm to adsorb the other side of the product box; the clamping mechanism further comprises a clamping mounting base, and the clamping driving element and the clamping transmission element are movably arranged in the clamping mounting base.

4. The product case de-palletizing and stacking apparatus of claim 1, wherein, The box unloading mechanism comprises a mechanical arm, a cutting element and a cutting driving element, the mechanical arm is arranged on the side of the clamping mechanism and can extend into or out of the clamping mechanism, the cutting driving element is arranged at the end of the mechanical arm, and the cutting element is arranged at the output end of the cutting driving element to cut the adhesive tape of the product box.

5. The product case de-palletizing and stacking apparatus of claim 4, wherein, The box unloading mechanism further comprises a page turning suction element and a page turning driving element, the page turning driving element is arranged at the end of the mechanical arm, the page turning suction element is arranged at the output end of the page turning driving element, and the page turning suction element is used for adsorbing each box page of the product box to open each box page; and / or, the box unloading mechanism further comprises a page turning hook plate arranged at the end of the mechanical arm, and the page turning hook plate is used for opening each box page of the product box.

6. The product case de-palletizing and stacking apparatus of claim 1, wherein, The supporting mechanism comprises a supporting base, a supporting element and a supporting driving element, the supporting driving element and the supporting element are arranged in the supporting base, and the output end of the supporting driving element is connected with the supporting element to drive the supporting element to move in the third direction.

7. The product case de-palletizing and stacking apparatus of claim 6, wherein, The support mechanism further comprises a first support plate and a second support plate, the top of the support component has a support platform, the first support plate and the second support plate are arranged at both ends of the support platform along the first direction, and the first support plate and the second support plate can be unfolded or folded relative to the support component, when the first support plate and the second support plate are unfolded, the first support plate, the second support plate and the support platform are coplanar; And / or, the support mechanism further comprises a first sliding part and a second sliding part, the first sliding part extends along the second direction, and the second sliding part is located on the support component and can be slidably arranged on the first sliding part.

8. The product case de-palletizing and stacking apparatus of claim 1, wherein, The unpacking device further comprises a limiting piece, the limiting piece is arranged on the clamping mechanism and is arranged opposite to the pushing mechanism, and the limiting piece is used for limiting the product box pushed by the pushing mechanism in the first direction; And / or, the unpacking device further comprises a mounting rack, the support mechanism and the lifting device are arranged on the mounting rack, and the unpacking mechanism is located on the side of the mounting rack.

9. The product case de-palletizing and stacking apparatus according to any one of claims 1 to 8, characterized in that, The unpacking device further comprises a plurality of adsorption mechanisms, and the plurality of adsorption mechanisms are arranged on the clamping mechanism and surround the periphery of the product box; The adsorption mechanism comprises an adsorption driving piece, a swing arm and an adsorption component, the adsorption driving piece is arranged on the clamping mechanism, the swing arm is swingably arranged on the clamping mechanism, the two ends of the swing arm are respectively connected with the adsorption driving piece and the adsorption component, and the adsorption component is used for adsorbing the box page of the product box. And / or, the adsorption mechanism comprises a mounting arm and an adsorption component, the mounting arm is arranged on the clamping mechanism, and the adsorption component is arranged on the mounting arm and used for adsorbing the box page of the product box.

10. The product case de-palletizing and stacking apparatus according to any one of claims 1 to 7, characterized by, The lifting device comprises a lifting mechanism and a lifting guide mechanism, the lifting mechanism comprises a lifting driving piece and a lifting transmission piece, the lifting transmission piece is arranged on the output end of the lifting driving piece and is arranged along the third direction, and the lifting transmission piece is further connected with the clamping mechanism to drive the clamping mechanism to move along the third direction; The lifting guide mechanism comprises a first sliding piece and a second sliding piece, the first sliding piece extends along the third direction, and the second sliding piece is located on the clamping mechanism and can be slidably arranged on the first sliding piece.

11. The product case de-palletizing and stacking apparatus according to any one of claims 1 to 7, characterized in that, The product box unpacking and stacking device further comprises a stacking device, the stacking device is arranged on the clamping mechanism, the unpacking device positions the box page of the product box, and cooperates with the unpacking mechanism to fold the product box.

12. The product case de-palletizing and stacking apparatus of claim 11, wherein, The stacking device further comprises a page pressing mechanism, the page pressing mechanism is arranged on the outside of the clamping mechanism and is used for pressing the box page of the product box when the box page is opened; The page pressing mechanism comprises a page pressing driving piece, a page pressing support piece and a page pressing component, the page pressing support piece is arranged on the outside of the clamping mechanism, the page pressing component and the page pressing driving piece are arranged on the page pressing support piece, and the page pressing driving piece drives the page pressing component to rotate relative to the page pressing support piece, so that the page pressing component presses or separates from the product box.

13. The product case de-palletizing and stacking apparatus of claim 11, wherein, The stacking device further comprises a jacking mechanism arranged outside the clamping mechanism and movable along the third direction, and the jacking mechanism is used for jacking the box of the product box to extend the box along the third direction. The jacking mechanism comprises a jacking driving member, a jacking support member and a jacking component, the jacking support member is arranged outside the clamping mechanism, the jacking component is arranged at the output end of the jacking driving member, and the jacking driving member is arranged at the jacking support member to drive the jacking component to move along the third direction.

14. The product case de-palletizing and stacking apparatus of claim 11, wherein, The stacking device further comprises a blocking mechanism rotatably arranged at the clamping mechanism, and the blocking mechanism is used for blocking at least one box of the product box along the first direction. The blocking mechanism comprises a blocking arm rotatably arranged at the clamping mechanism and an elastic member elastically connecting the blocking arm and the clamping mechanism.

15. The product case de-palletizing and stacking apparatus of any one of claims 1 to 7, wherein, The pushing mechanism comprises a pushing driving member and a bearing plate, the bearing plate is arranged at the output end of the pushing driving member and moves with the pushing driving member, and the bearing plate is used for placing the product box. And / or, the pushing device further comprises a pushing rack and a pushing guide mechanism, the pushing driving member is arranged at the pushing rack, the pushing guide mechanism comprises a first guide member arranged at the pushing rack and a second guide member arranged at the bearing plate and slidably arranged at the first guide member.

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