Robot multi-box-type adjustment-free box opening device

Abstract

The utility model relates to the technical field of box opening devices, in particular to a robot multi-box-type adjustment-free box opening device which comprises a box opening gripper mechanism, a robot, a carton forming mechanism, a conveying belt and a paperboard stock bin. The box opening gripper mechanism is provided with a mounting flange plate, and a flange connecting seat is arranged on the mounting flange plate; the flange connecting seat is connected with a wrist of the robot; the box opening gripper mechanism further comprises a mounting plate, an in-place top plate, an air cylinder assembly, a bending assembly, a rotating assembly and a suction assembly. And the mounting flange plate, the mounting plate and the in-place top plate are arranged in sequence. According to the multi-box-type adjustment-free box opening device, box opening operation of all specified box types can be completed through one-time adjustment, manual adjustment is not needed again, time and labor are saved, and efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of box opening device technology, specifically a robot multi-box box opening device that does not require adjustment. Background Technology

[0002] Cardboard box packaging is an indispensable part of modern logistics, bearing the important responsibilities of containing, protecting, and aesthetically pleasing products. Currently, cardboard box operations are mostly carried out manually or by automatic opening devices to complete the integrated process of picking up the cardboard, forming, folding the lid, and sealing the bottom.

[0003] Existing automatic carton opening devices are mostly dedicated carton opening equipment. During use, due to their limited applicability to cartons, they require a significant amount of manual operation. Every time the carton size is changed, the automatic carton opening device needs to readjust the opening gripper mechanism. Skilled operators may take at least ten minutes, and some may even need half an hour, to adjust the opening gripper mechanism. This excessive time consumption is inconvenient for fast-paced automated production processes and fails to meet the current customer demand for universal and intelligent carton opening. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this utility model provides a robotic multi-box unloading device that eliminates the need for adjustment. Through the coordinated arrangement of a mounting plate, a positioning top plate, a cylinder assembly, a bending assembly, a rotating assembly, and a suction assembly, it enables the unloading of all specified box types with a single adjustment, eliminating the need for manual adjustment. This saves time and effort, is highly efficient, and makes unloading intelligent and universal.

[0005] To achieve the above objectives, this utility model provides a robotic multi-box box opening device without adjustment, including an opening gripper mechanism, a robot, a carton forming mechanism, a conveyor belt, and a cardboard hopper; the opening gripper mechanism is provided with a mounting flange plate, and a flange connection seat is provided on the mounting flange plate; the flange connection seat is connected to the robot's wrist;

[0006] Furthermore, the unpacking gripper mechanism also includes a mounting plate, a positioning top plate, a cylinder assembly, a bending assembly, a rotating assembly, and a suction assembly; the mounting flange plate, mounting plate, and positioning top plate are arranged sequentially; one end of the mounting plate is rotatably connected to a mounting side plate; one end of the positioning top plate is rotatably connected to a positioning top side plate, and the mounting side plate and the positioning top side plate are on the same side; a cylinder assembly is arranged above the mounting plate, and a bending assembly is rotatably connected to the head of the cylinder assembly; a rotating assembly is arranged below the notch at one end of the mounting plate, and a protrusion is provided on the mounting side plate near the notch, the protrusion and the notch can be spliced ​​to form a plane; a suction assembly is movably mounted on the end faces of the positioning top plate and the positioning top side plate.

[0007] This invention utilizes a coordinated setup of an installation plate, a top plate, a cylinder assembly, a bending assembly, a rotating assembly, and a suction assembly. When the robot wrist controls the opening gripper mechanism to pick up cardboard from the cardboard hopper, the cylinder assembly retracts. The bending assembly, under the rotation of the rotating assembly, drives the installation side plate and the top plate upwards. At this point, the installation plate, installation side plate, top plate, and top plate are all on the same horizontal line, with the top plate in its initial state. The suction assembly then picks up the cardboard. After the cardboard is picked up, the opening gripper mechanism straightens it into place. The cylinder assembly extends, and the bending assembly drives the installation side plate and the top plate downwards, changing the top plate from its initial state to a side-opening state. After the cardboard is straightened, it is sent to the carton forming mechanism for folding and sealing, and finally to the conveyor belt. This allows for the completion of opening operations for all specified carton types with a single adjustment, eliminating the need for manual adjustment and saving time and effort while maintaining high efficiency.

[0008] Furthermore, an extension plate is fixedly connected to the top side plate at the end furthest from the bending component; a connecting plate is provided between the top side plate and the extension plate. By providing the extension plate, the box-opening gripper mechanism can pick up large-format cardboard, realizing box-opening operations without adjustment for multiple box types.

[0009] Furthermore, the cylinder assembly includes a cylinder body and a piston rod; the end of the cylinder body is fixedly mounted on a cylinder mounting base; a retractable piston rod is provided on the cylinder body at the end away from the cylinder mounting base, and a Y-shaped connector is provided at the head of the piston rod; the Y-shaped connector is rotatably connected to the bending assembly. By providing a Y-shaped connector at the head of the piston rod, the piston rod retracts and extends, driving the bending assembly to move through the Y-shaped connector, thereby changing the initial state and the side-blowing state, realizing the cardboard suction and straightening operation.

[0010] Furthermore, the bending assembly includes a bending plate, a fixing plate, and a connecting pin; one end of the bending plate is embedded in the Y-shaped connector; a through hole is provided at the end of the bending plate, and the connecting pin passes through the Y-shaped connector and the through hole; the bending plate at the end away from the Y-shaped connector is fixed to the mounting side plate by the fixing plate. Through the bending assembly, the cylinder assembly can drive the mounting side plate and the top side plate to move up and down along the bending plate, realizing the suction and alignment of the cardboard.

[0011] Further, the rotating assembly includes a rotating shaft, shaft retaining rings, and locking plates; the rotating shaft is rotatably mounted on the bottom of the mounting plate; several shaft retaining rings are sleeved on the rotating shaft; several locking plates pass through the shaft retaining rings; the end faces of the locking plates located at both ends of the rotating shaft are fixed to the bottom of the mounting plate, and the end face of the locking plate located in the middle of the rotating shaft is fixed to the bottom of the mounting side plate; a first limiting block is also provided at the bottom of the mounting plate; a second limiting block is provided at the end face of the top plate. When the piston rod retracts, the rotating shaft rotates counterclockwise, causing the bending assembly to move upward. The mounting side plate and the top plate rotate upward under the action of the bending assembly. When the mounting side plate abuts against the first limiting block, the rotating shaft stops rotating, and the mounting side plate and the top plate are in their initial state. When the piston rod extends, the rotating shaft rotates clockwise, causing the bending assembly to move downward. During the downward rotation, the mounting side plate abuts against the second limiting block, the rotating shaft stops rotating, and the mounting side plate and the top plate change from their initial state to a side-opening state.

[0012] Furthermore, the suction assembly is equipped with a vacuum suction cup; the bottom surface of the vacuum suction cup is provided with a suction surface; the vacuum suction cup includes a first suction cup, a second suction cup, and a third suction cup; a set of first suction cups passes through the end face of the top plate, and a set of third suction cups also passes through the end face of the top plate away from the side plate; a set of second suction cups passes through the end face of the side plate. When the vacuum suction cup picks up the cardboard, the cardboard is tightly attached to the end faces of the top plate and the side plate. The vacuum suction cup uses negative pressure to pick up the cardboard, and the suction surface is flush with the end faces of the top plate and the side plate to ensure good airtightness, allowing the cardboard to be smoothly picked up by the vacuum suction cup. When picking up small-sized cardboard, the first and second suction cups work together; when picking up large-sized cardboard, the first, second, and third suction cups work together.

[0013] Furthermore, one set of the first suction cups has four or more; one set of the second suction cups has four or more; and one set of the third suction cups has two or more. By setting multiple suction cups, the cardboard can be picked up from all directions, ensuring that the cardboard is picked up and aligned smoothly.

[0014] Furthermore, the suction assembly is also equipped with a vacuum generator, which is located at the bottom of the mounting flange plate. The vacuum generator includes a second vacuum generator, a first vacuum generator, and a third vacuum generator arranged sequentially. The first vacuum generator controls the first suction cup, the second vacuum generator controls the second suction cup, and the third vacuum generator controls the third suction cup. The first, second, and third vacuum generators independently control the first, second, and third suction cups, respectively. When suctioning small-sized cardboard, only the first and second vacuum generators need to be turned on; when suctioning large-sized cardboard, all three vacuum generators are turned on, enabling adjustment-free opening of multiple types of boxes and improving production efficiency.

[0015] Furthermore, the carton forming mechanism includes a compaction zone and a sealing zone; the compaction zone is provided with a curved chute, and push plates are arranged opposite each other on both sides of the curved chute; a dual-axis cylinder is provided at the bottom of each of the two push plates. The robot delivers the neatly positioned cardboard to the compaction zone through the carton opening gripper mechanism. The carton forming mechanism, through the curved chute and in coordination with the robot's movements, compacts the front and rear folding panels of the carton inward. Then, the robot pushes the carton onto the push plates, and the dual-axis cylinders extend and retract to bring the left and right folding panels together inward to form a complete bottom of the carton. The robot continues to push the carton forward to the sealing zone to complete the sealing operation.

[0016] Furthermore, the cardboard hopper includes a fixed frame with a slide rail; a crossbar is positioned above the front of the slide rail, and a positioning block is fitted onto the crossbar; a tapered pull block is bolted to the outside of the positioning block; and a gravity pressure plate is fixedly connected to the rear of the slide rail. The slide rail can be used to stack cardboard, the positioning block can position the cardboard folding board within the slide rail, the tapered pull block facilitates the opening gripper mechanism to quickly pick up and separate the cardboard, and the gravity pressure plate uses its weight to press against the rear of the stacked cardboard. After the robot completes one opening operation, the cardboard moves forward along the slide rail, maintaining a supply.

[0017] Furthermore, the cardboard hopper is equipped with a large hopper and a small hopper. The cardboard hopper can be customized according to the actual cardboard specifications, with the large hopper and small hopper respectively used for stacking large-specification cardboard and small-specification cardboard. The box-opening device can be equipped with multiple cardboard hoppers. After the initial debugging, the box-opening gripper mechanism requires no further debugging. The box-opening operation is simple and efficient. When changing cardboard specifications, only the corresponding cardboard hopper needs to be replaced.

[0018] Furthermore, a solenoid valve is installed on the top of the mounting flange plate. The solenoid valve controls the on / off state and flow direction of the airflow inside the cylinder assembly through electromagnetic induction, thereby controlling the extension and retraction of the piston rod.

[0019] Furthermore, the mounting flange plate and the mounting plate are fixedly connected by a set of first support rods; the mounting plate and the top plate, and the mounting side plate and the top side plate are fixedly connected by a set of second support rods. The first and second support rods provide support and fixation.

[0020] Beneficial effects

[0021] This utility model, through the coordinated arrangement of the mounting plate, the positioning top plate, the cylinder assembly, the bending assembly, the rotating assembly, and the suction assembly, enables the unpacking device to complete the unpacking operation for all specified box types with a single adjustment, eliminating the need for manual adjustment and saving time, effort, and increasing efficiency.

[0022] By setting up large and small hoppers, large-sized and small-sized cardboard are stacked respectively. The unpacking device can be equipped with multiple cardboard hoppers. After the initial debugging, the unpacking gripper mechanism does not need to be debugged. The unpacking operation is simple and efficient. When changing cardboard specifications in the future, only the corresponding cardboard hopper needs to be replaced. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure of a robot's multi-box, adjustment-free box-opening device;

[0024] Figure 2 A first-person view structural diagram of the box-opening gripper mechanism;

[0025] Figure 3 A second-view structural diagram of the box-opening gripper mechanism;

[0026] Figure 4 A third-view structural diagram of the box-opening gripper mechanism;

[0027] Figure 5 for Figure 4 Enlarged diagram of A in the middle;

[0028] Figure 6 This is a schematic diagram of the bottom of the vacuum suction cup;

[0029] Figure 7 This is a schematic diagram of the carton forming mechanism;

[0030] Figure 8 This is a structural diagram of a cardboard silo;

[0031] Figure 9 for Figure 8 Enlarged diagram of B in the diagram.

[0032] In the attached diagram: 1. Unpacking gripper mechanism; 11. Mounting flange plate; 111. Flange connecting seat; 12. Mounting plate; 121. Mounting side plate; 13. Top plate at position; 131. Top side plate at position; 132. Connecting plate; 133. Extension plate; 14. Cylinder assembly; 141. Cylinder body; 142. Piston rod; 143. Cylinder mounting seat; 144. Y-type connector; 15. Bending assembly; 151. Bending plate; 152. Fixing plate; 153. Connecting pin; 16. Rotating assembly; 161. Rotating shaft; 162. Shaft retaining ring; 163. Shaft locking plate; 164. First limit block; 165. Second limit block; 17. Suction assembly; 171. Vacuum suction cup; 1711. First suction... 1712. Second suction cup; 1713. Third suction cup; 1714. Suction surface; 172. Vacuum generator; 1721. First vacuum generator; 1722. Second vacuum generator; 1723. Third vacuum generator; 18. Solenoid valve; 19. First support link; 110. Second support link; 2. Robot; 3. Carton forming mechanism; 31. Compacting zone; 311. Curved chute; 312. Push plate; 313. Dual-axis cylinder; 32. Sealing zone; 4. Conveyor belt; 5. Cardboard hopper; 51. Fixing frame; 52. Slide rail; 53. Crossbar; 54. Positioning block; 55. Tapered box pulling block; 56. Gravity pressure plate; 57. Large hopper; 58. Small hopper. Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. The embodiments described below are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0034] Please see Figure 1 As shown in the figure, this utility model provides a technical solution.

[0035] A robotic multi-box unloading device without adjustment, comprising:

[0036] The system comprises an unpacking gripper mechanism 1, a robot 2, a carton forming mechanism 3, a conveyor belt 4, and a cardboard hopper 5. The unpacking gripper mechanism 1 is equipped with a mounting flange plate 11, on which a flange connecting seat 111 is mounted. The flange connecting seat 111 is connected to the wrist of the robot 2. The unpacking gripper mechanism 1 also includes a mounting plate 12, a positioning top plate 13, a cylinder assembly 14, a bending assembly 15, a rotating assembly 16, and a suction assembly 17. The mounting flange plate 11, mounting plate 12, and positioning top plate 13 are arranged sequentially. One end of the mounting plate 12 rotates. A mounting side plate 121 is connected; one end of the positioning top plate 13 is rotatably connected to the positioning top side plate 131, and the mounting side plate 121 and the positioning top side plate 131 are on the same side; a cylinder assembly 14 is provided above the mounting plate 12, and a bending assembly 15 is rotatably connected to the head of the cylinder assembly 14; a rotating assembly 16 is provided below the notch at one end of the mounting plate 12, and a protrusion is provided on the mounting side plate 121 near the notch, and the protrusion and the notch can be spliced ​​to form a plane; a suction assembly 17 is movably installed on the end faces of the positioning top plate 13 and the positioning top side plate 131.

[0037] This utility model utilizes the coordinated arrangement of mounting plate 12, top plate 13, cylinder assembly 14, bending assembly 15, rotating assembly 16, and suction assembly 17. When the robot 2's wrist-controlled opening gripper mechanism 1 suctions cardboard from the cardboard bin 5, cylinder assembly 14 retracts. Under the rotational action of rotating assembly 16, bending assembly 15 drives mounting side plate 121 and top plate 131 to rotate upwards. At this time, the protrusion and notch are engaged, and mounting plate 12, mounting side plate 121, top plate 13, and top plate 131 are all on the same horizontal line. When board 131 is in its initial state, the suction component 17 picks up the cardboard. After the cardboard is picked up, the opening gripper mechanism 1 straightens the cardboard into place, the cylinder component 14 extends, and the bending component 15 drives the mounting side plate 121 and the top side plate 131 to rotate downwards. The top side plate 131 changes from its initial state to a side-opening state. After the opening gripper mechanism 1 has straightened the cardboard, it is sent to the carton forming mechanism 3 for folding and sealing, and finally sent to the conveyor belt 4. This allows for the completion of the opening operation for all specified carton types with a single adjustment, eliminating the need for manual adjustment and saving time, effort, and increasing efficiency.

[0038] In this embodiment, preferably, an extension plate 133 is fixedly connected to the top side plate 131 at the end away from the bending component 15; a connecting plate 132 is provided between the top side plate 131 and the extension plate 133. By providing the extension plate 133, the box opening gripper mechanism 1 can change the suction operation of large-size cardboard, realizing the box opening operation without adjustment for multiple box types.

[0039] In this embodiment, preferably, the cylinder assembly 14 includes a cylinder body 141 and a piston rod 142; the end of the cylinder body 141 is fixedly mounted on a cylinder mounting base 143; a retractable piston rod 142 is provided on the cylinder body 141 at the end away from the cylinder mounting base 143, and a Y-shaped connector 144 is provided at the head of the piston rod 142; the Y-shaped connector 144 is rotatably connected to the bending assembly 15. By providing the Y-shaped connector 144 at the head of the piston rod 142, the piston rod 142 can extend and retract, and the bending assembly 15 can be moved through the Y-shaped connector 144, thereby changing the initial state and the side-blowing state, realizing the cardboard suction and straightening operation.

[0040] In this embodiment, preferably, the bending assembly 15 includes a bending plate 151, a fixing plate 152, and a connecting pin 153; one end of the bending plate 151 is embedded in the Y-shaped connector 144; a through hole is provided at the end of the bending plate 151, and the connecting pin 153 passes through the Y-shaped connector 144 and the through hole; the bending plate 151 at the end away from the Y-shaped connector 144 is fixed to the mounting side plate 121 by the fixing plate 152. Through the bending assembly 15, the cylinder assembly 14 can drive the mounting side plate 121 and the top side plate 131 to move up and down along the bending plate 151, realizing the suction and alignment of the cardboard.

[0041] In this embodiment, preferably, the rotating assembly 16 includes a rotating shaft 161, shaft retaining rings 162, and locking plates 163; the rotating shaft 161 is rotatably mounted on the bottom of the mounting plate 12; a plurality of shaft retaining rings 162 are sleeved on the rotating shaft 161; a plurality of locking plates 163 pass through the shaft retaining rings 162; the end faces of the locking plates 163 located at both ends of the rotating shaft 161 are fixed to the bottom of the mounting plate 12, and the end face of the locking plate 163 located in the middle of the rotating shaft 161 is fixed to the bottom of the mounting side plate 121; a first limiting block 164 is also provided at the bottom of the mounting plate 12; a second limiting block 165 is provided at the end face of the top plate 13. When the piston rod 142 retracts, the rotating shaft 161 rotates counterclockwise, causing the bending assembly 15 to move upward. The mounting side plate 121 and the top-positioned side plate 131 rotate upward under the influence of the bending assembly 15. When the mounting side plate 121 touches the first limiting block 164, the rotating shaft 161 stops rotating. At this time, the mounting side plate 121 and the top-positioned side plate 131 are in their initial state. When the piston rod 142 extends, the rotating shaft 161 rotates clockwise, causing the bending assembly 15 to move downward. During the downward rotation, the mounting side plate 121 touches the second limiting block 165, and the rotating shaft 161 stops rotating. The mounting side plate 121 and the top-positioned side plate 131 change from their initial state to a side-opening state.

[0042] In this embodiment, preferably, the suction assembly 17 is provided with a vacuum suction cup 171; the bottom surface of the vacuum suction cup 171 is provided with a suction surface 1714; the vacuum suction cup 171 includes a first suction cup 1711, a second suction cup 1712, and a third suction cup 1713; a set of first suction cups 1711 are passed through the end face of the positioning top plate 13, and a set of third suction cups 1713 are also passed through the end face of the positioning top plate 13 away from the positioning top side plate 131; a set of second suction cups 1712 are passed through the end face of the positioning top side plate 131. When the vacuum suction cup 171 sucks up the cardboard, the cardboard is tightly attached to the end faces of the positioning top plate 13 and the positioning top side plate 131. The vacuum suction cup 171 uses negative pressure to suck up the cardboard, and the suction surface 1714 is flush with the end faces of the positioning top plate 13 and the positioning top side plate 131 to ensure good airtightness, and the cardboard is smoothly sucked up by the vacuum suction cup 171. When picking up small-sized cardboard, the first suction cup 1711 and the second suction cup 1712 work together; when picking up large-sized cardboard, the first suction cup 1711, the second suction cup 1712 and the third suction cup 1713 work together.

[0043] In this embodiment, preferably, one set of first suction cups 1711 consists of four or more; one set of second suction cups 1712 consists of four or more; and one set of third suction cups 1713 consists of two or more. By setting multiple suction cups, the cardboard can be picked up from all directions, ensuring that the cardboard is picked up and aligned smoothly.

[0044] In this embodiment, preferably, the suction assembly 17 is further provided with a vacuum generator 172, which is disposed at the bottom of the mounting flange plate 11; the vacuum generator 172 includes a second vacuum generator 1722, a first vacuum generator 1721 and a third vacuum generator 1723 arranged sequentially; the first vacuum generator 1721 controls the first suction cup 1711, the second vacuum generator 1722 controls the second suction cup 1712, and the third vacuum generator 1723 controls the third suction cup 1713. The first vacuum generator 1721, the second vacuum generator 1722, and the third vacuum generator 1723 independently control the first suction cup 1711, the second suction cup 1712, and the third suction cup 1713, respectively. When picking up small-sized cardboard, only the first vacuum generator 1721 and the second vacuum generator 1722 need to be turned on; when picking up large-sized cardboard, the first vacuum generator 1721, the second vacuum generator 1722, and the third vacuum generator 1723 need to be turned on, realizing multi-box type box opening operation without adjustment and improving production efficiency.

[0045] In this embodiment, preferably, the carton forming mechanism 3 includes a compaction zone 31 and a sealing zone 32; the compaction zone 31 is provided with a curved slide 311, and push plates 312 are arranged opposite each other on both sides of the curved slide 311; a dual-axis cylinder 313 is provided at the bottom of each of the two push plates 312. The robot 2 delivers the neatly arranged cardboard to the compaction zone 31 through the carton opening gripper mechanism 1. The carton forming mechanism 3, through the curved slide 311, cooperates with the robot 2 to compact the front and rear folding panels of the carton inward. Then, the robot 2 pushes the carton onto the push plates 312. The dual-axis cylinder 313 extends and retracts to bring the left and right folding panels together inward to form a complete bottom of the carton. The robot 2 continues to push the carton forward to the sealing zone 32 to complete the sealing operation.

[0046] In this embodiment, preferably, the cardboard hopper 5 includes a fixed frame 51, on which a slide rail 52 is provided; a crossbar 53 is provided above the front side of the slide rail 52, and a positioning block 54 is sleeved on the crossbar 53; a tapered pull-out block 55 is bolted to the outside of the positioning block 54; and a gravity pressure plate 56 is fixedly connected to the rear side of the slide rail 52. The slide rail 52 can be used to stack cardboard, the positioning block 54 can position the cardboard folding board within the slide rail 52, the tapered pull-out block 55 facilitates the opening gripper mechanism 1 to quickly pick up and separate the cardboard, and the gravity pressure plate 56 presses against the rear side of the stacked cardboard by its weight. After the robot 2 completes one opening operation, the cardboard moves forward along the slide rail 52 to maintain supply.

[0047] In this embodiment, preferably, the cardboard hopper 5 is provided with a large hopper 57 and a small hopper 58. The cardboard hopper can be customized according to the actual cardboard specifications, with the large hopper and small hopper respectively used for stacking large-specification cardboard and small-specification cardboard. The box-opening device can be equipped with multiple cardboard hoppers. After the initial debugging, the box-opening gripper mechanism does not require further debugging. The box-opening operation is simple and efficient. When changing cardboard specifications, only the corresponding cardboard hopper needs to be replaced.

[0048] In this embodiment, preferably, a solenoid valve 18 is provided on the top of the mounting flange plate 11. The solenoid valve 18 controls the on / off state and flow direction of the airflow inside the cylinder assembly 14 through electromagnetic induction, thereby controlling the extension and retraction of the piston rod 142.

[0049] In this embodiment, preferably, the mounting flange plate 11 and the mounting plate 12 are fixedly connected by a set of first support rods 19; the mounting plate 12 and the top plate 13, and the mounting side plate 121 and the top side plate 131 are fixedly connected by a set of second support rods 110. The first support rods 19 and the second support rods 110 provide support and fixation.

Claims

1. A robot multi-box type adjustment-free box opening device, characterized in that: It includes a box-opening gripper mechanism (1), a robot (2), a carton forming mechanism (3), a conveyor belt (4), and a cardboard hopper (5); the box-opening gripper mechanism (1) is provided with a mounting flange plate (11), and a flange connecting seat (111) is provided on the mounting flange plate (11); the flange connecting seat (111) is connected to the wrist of the robot (2); The box-opening gripper mechanism (1) further includes a mounting plate (12), a positioning top plate (13), a cylinder assembly (14), a bending assembly (15), a rotating assembly (16), and a suction assembly (17); the mounting flange plate (11), the mounting plate (12), and the positioning top plate (13) are arranged sequentially; one end of the mounting plate (12) is rotatably connected to the mounting side plate (121); one end of the positioning top plate (13) is rotatably connected to the positioning top side plate (131), and the mounting side plate (121)... On the same side as the top plate (131); a cylinder assembly (14) is provided above the mounting plate (12), and a bending assembly (15) is rotatably connected to the head of the cylinder assembly (14); a rotating assembly (16) is provided below the notch at one end of the mounting plate (12), and a protrusion is provided on the mounting side plate (121) near the notch, and the protrusion and the notch can be spliced ​​into a plane; a suction assembly (17) is movably installed on the end face of the top plate (13) and the top plate (131).

2. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: An extension plate (133) is fixedly connected to the top side plate (131) at the end away from the bending component (15); a connecting plate (132) is provided between the top side plate (131) and the extension plate (133).

3. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: The cylinder assembly (14) includes a cylinder body (141) and a piston rod (142); the end of the cylinder body (141) is fixedly mounted on a cylinder mounting base (143); the cylinder body (141) at the end away from the cylinder mounting base (143) is provided with a telescopic piston rod (142), and the head of the piston rod (142) is provided with a Y-type connector (144); the Y-type connector (144) is rotatably connected to a bending assembly (15).

4. The robot multi-box type adjustment-free box opening device according to claim 3, characterized in that: The bending assembly (15) includes a bending plate (151), a fixing plate (152), and a connecting pin (153); one end of the bending plate (151) is embedded in the Y-type connector (144); a through hole is provided at the end of the bending plate (151), and the connecting pin (153) passes through the Y-type connector (144) and the through hole; the bending plate (151) at the end away from the Y-type connector (144) is fixed to the mounting side plate (121) by the fixing plate (152).

5. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: The rotating assembly (16) includes a rotating shaft (161), shaft retaining rings (162), and a locking plate (163); the rotating shaft (161) is rotatably mounted on the bottom of the mounting plate (12); a plurality of shaft retaining rings (162) are sleeved on the rotating shaft (161); a plurality of locking plates (163) pass through the shaft retaining rings (162); the end faces of the locking plates (163) located at both ends of the rotating shaft (161) are fixed to the bottom of the mounting plate (12), and the end faces of the locking plates (163) located in the middle of the rotating shaft (161) are fixed to the bottom of the mounting side plate (121); a first limiting block (164) is also provided at the bottom of the mounting plate (12); a second limiting block (165) is provided at the end face of the top plate (13).

6. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: The suction assembly (17) is provided with a vacuum suction cup (171); the bottom end face of the vacuum suction cup (171) is provided with a suction surface (1714); the vacuum suction cup (171) includes a first suction cup (1711), a second suction cup (1712) and a third suction cup (1713); a set of first suction cups (1711) is provided through the end face of the positioning top plate (13), and a set of third suction cups (1713) is also provided through the end face of the positioning top plate (131) away from the positioning top side plate (131); a set of second suction cups (1712) is provided through the end face of the positioning top side plate (131).

7. The robot multi-box type adjustment-free box opening device according to claim 6, characterized in that: The suction assembly (17) is also provided with a vacuum generator (172), which is located at the bottom of the mounting flange plate (11). The vacuum generator (172) includes a second vacuum generator (1722), a first vacuum generator (1721), and a third vacuum generator (1723) arranged in sequence. The first vacuum generator (1721) controls the first suction cup (1711), the second vacuum generator (1722) controls the second suction cup (1712), and the third vacuum generator (1723) controls the third suction cup (1713).

8. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: The carton forming mechanism (3) includes a compaction zone (31) and a sealing zone (32); the compaction zone (31) is provided with a curved chute (311), and push plates (312) are provided on both sides of the curved chute (311); a double-axis cylinder (313) is provided at the bottom of each of the two push plates (312).

9. The robot multi-box type adjustment-free box opening device according to claim 1, characterized in that: The cardboard hopper (5) includes a fixed frame (51), on which a slide rail (52) is provided; a crossbar (53) is provided above the front side of the slide rail (52), and a positioning block (54) is sleeved on the crossbar (53); a tapered box pull block (55) is bolted to the outside of the positioning block (54); and a gravity pressure plate (56) is fixedly connected to the rear side of the slide rail (52).

10. The robot multi-box type adjustment-free box opening device according to claim 9, characterized in that: The cardboard hopper (5) is equipped with a large hopper (57) and a small hopper (58).

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