Box opening and moving device and box opening machine

Abstract

The utility model discloses a box opening and moving device and a box opening machine, and relates to the technical field of packaging machinery. According to the box opening and walking device, the box walking channel is arranged on the machine frame, the box supporting frames are arranged on the two sides of the box walking channel, the box conveying mechanism is arranged in the box walking channel, the two-shaft driving mechanical arm is adopted by the box conveying mechanism to serve as a power execution component, and the box opening mechanism is arranged on one side of the box walking channel. A cutter supporting plate is arranged between the box opening mechanism and the adjacent box supporting frame; when the box conveying mechanism conveys a packaging box to move towards the box opening mechanism, a box cover of the packaging box is pressed below the cutter supporting plate under the guiding effect of the cutter supporting plate. According to the box conveying mechanism, stable operation and accurate positioning conveying of the box conveying frame can be achieved, a box cover of a packaging box is guided to the position below the cutter supporting plate, interference between the box cover of the packaging box and a box opening plate of the box opening mechanism is avoided when the box opening mechanism executes the box opening action, and meanwhile displacement of the packaging box can be avoided when the box cover is pressed by the cutter supporting plate.

Description

Technical Field

[0001] This utility model relates to the field of packaging machinery technology, particularly to the field of box opening machinery technology in packaging machinery, and more specifically to a box opening and feeding device and a box opening machine. Background Technology

[0002] Existing carton opening machines generally include a folding box blank storage warehouse, a box picking mechanism, a box conveying mechanism, and a box opening mechanism. The box picking mechanism takes out box blanks one by one from the folding box blank storage warehouse and places them on the box conveying mechanism. The box conveying mechanism transports the box blanks taken out by the box picking mechanism to the box opening mechanism station. The box opening mechanism performs the box opening action on the box blanks transported to the box opening station, opening and forming the box blanks into packaging boxes that can hold materials.

[0003] For example, the authorization announcement date is November 26, 2024, the authorization announcement number is CN222062436U, and the title is "A Packaging Box Opening Device for a Packaging Machine". This utility model patent includes a machine body and a first conveying component, an opening component and a second conveying component arranged sequentially along the conveying direction on the machine body. The opening component includes a sliding seat, a flipping component and an opening plate. The sliding seat is slidably arranged on the machine body and the sliding direction of the sliding seat is perpendicular to the conveying direction. The flipping component is rotatably arranged on the sliding seat and moves with the sliding seat. The opening plate is arranged at one end of the flipping component and is used to open the packaging box.

[0004] In the aforementioned prior art box-opening device, the second conveying assembly is used to convey the packaging box. The second conveying assembly includes a driving component, which is movably mounted on the machine body and is used to drive the packaging box to move. The driving actuator of the driving component proposed in this prior art is generally selected from a circulating chain drive structure or a circulating belt drive structure. A push rod or clamp is set on the circulating chain to clamp or push the packaging box to move. That is, a push rod or clamp is set on the circulating chain or conveyor belt to form the driving component in the aforementioned prior art.

[0005] Because the drive unit needs to cooperate with the box-opening assembly, the drive unit positions and transports the box to be opened to the box-opening assembly, and the box-opening plate of the box-opening assembly inserts into the box to open it. This requires high positioning accuracy of the box being transported by the drive unit. If the positioning accuracy of the box is poor, it will cause interference between the box-opening plate of the box-opening assembly and the box, affecting the movement of the box-opening plate and causing the box-opening plate to fail to open the box.

[0006] The aforementioned prior art only uses the flipping of the opening plate to open the packaging box. When the opening plate flips, the packaging box may be displaced, which will affect the relative positioning of the packaging box and the driving component, and affect the subsequent processes (such as pushing the material into the box). Utility Model Content

[0007] In order to overcome the defects and deficiencies in the existing technology, the present invention provides a box opening and feeding device and a box opening machine. The purpose of the present invention is to improve the conveying positioning accuracy and stability of the existing box opening and feeding device, avoid interference between the box opening plate and the box blank due to low conveying positioning accuracy, which would affect the insertion of the box opening plate into the box blank, and also avoid the problem of box blank movement caused by the box opening plate flipping.

[0008] To address the problems existing in the prior art, the present invention is achieved through the following technical solution.

[0009] The first aspect of this utility model provides a box opening and conveying device, including a frame, a box conveying channel on the frame, box support frames on both sides of the box conveying channel, and a box conveying mechanism inside the box conveying channel. The box conveying mechanism includes a box conveying frame and a drive execution mechanism, wherein the drive execution mechanism is a two-axis driven robotic arm. The box conveying frame is mounted on the moving platform of the two-axis driven robotic arm, which drives the box conveying frame to move according to a set motion trajectory. The set motion trajectory is that the box conveying frame rises from an initial position to contact the packaging box to be conveyed, moves along a first direction to convey the packaging box, and after being conveyed to a set position, the box conveying frame descends a set height. After descending to the set position, the box conveying frame returns to the initial position along a second direction opposite to the first direction. A box opening mechanism is provided on one side of the box conveying channel, and a knife plate is provided between the box opening mechanism and its adjacent box support frame. When the box conveying mechanism conveys the packaging box to the box opening mechanism, the box lid is pressed under the knife plate under the guidance of the knife plate.

[0010] More preferably, the box opening mechanism includes a box opening assembly slidably mounted on a frame on one side of the box conveying channel, and a box insertion drive assembly whose opening plate and pressing plate at the front end of the box opening assembly are inserted into the box blank and exit the box blank after opening the box blank; the moving direction of the box opening assembly is perpendicular to the moving direction of the box conveying mechanism; the box opening assembly includes a sliding seat, a box opening drive component mounted on the sliding seat, a box opening plate mounted on the box opening drive component, and a pressing plate arranged parallel to the box opening plate; the box insertion drive assembly drives the opening plate and pressing plate of the box opening assembly to extend into the box blank to be opened; the box opening drive component drives the opening plate to rotate; the opening plate opens the box blank; and the pressing plate is used to press the box blank.

[0011] More preferably, the box-opening plate includes a first edge and a second edge. When the box-opening driving member drives the box-opening plate to rotate, the first edge rotates around the second edge, and the second edge is collinear with the rotation axis of the box-opening driving member.

[0012] More preferably, the distance between the outer edge of the pressing plate and the second edge of the opening plate is adapted to the width of the packaging box of the box blank to be opened; the pressing plate is slidably assembled on the sliding seat and locked and fixed to the sliding seat by a locking member.

[0013] More preferably, the insert drive assembly includes a servo motor and an insert swing arm, one end of which is mounted on the output shaft of the servo motor and the other end is connected to a sliding seat; the insert swing arm is provided with a redundancy groove, and the sliding seat is provided with a roller that cooperates with the redundancy groove.

[0014] More preferably, a clamping plate is provided below the knife plate. When the box blank to be opened is conveyed to the position, the clamping plate approaches the knife plate under the drive of the clamping drive assembly, clamping the box cover of the box blank to be opened between the clamping plate and the knife plate.

[0015] More preferably, the two-axis driven robotic arm includes a fixed base, a first servo drive motor, a second servo drive motor, a first transmission arm assembly, and a second transmission arm assembly. Both the first and second servo drive motors are fixedly mounted on the fixed base. One end of the first transmission arm assembly is connected to the drive shaft of the first servo drive motor, and the other end is connected to the box conveyor frame. One end of the second transmission arm assembly is connected to the drive shaft of the second servo drive motor, and the other end is connected to the box conveyor frame. The first and second servo drive motors cooperate to drive the box conveyor frame to move according to a set motion trajectory.

[0016] More preferably, the structure of the first transmission arm assembly is the same as that of the second transmission arm assembly; the first transmission arm assembly includes a first swing arm, a first balance plate, a first balance arm, a first transmission arm, and a second balance arm. One end of the first swing arm is fixedly mounted on the drive shaft of the first servo drive motor, and the other end of the first swing arm is hinged to one end of the first transmission arm, and the other end of the first transmission arm is hinged to the box conveyor frame; the first balance plate is provided with a first hinge portion, a second hinge portion, and a third hinge portion, and the first hinge portion of the first balance plate is coaxially mounted with the hinge shaft that hinges the first swing arm and the first transmission arm; one end of the first balance arm is hinged to a fixed base, and the other end of the first balance arm is hinged to the second hinge portion of the first balance plate; one end of the second balance arm is hinged to the third hinge portion of the first balance plate, and the other end of the second balance arm is hinged to the box conveyor frame; the first balance arm and the first swing arm form a parallelogram structure, and the first transmission arm and the second balance arm form a parallelogram structure.

[0017] More preferably, the box conveyor includes a mounting plate, a first inserter plate assembly, and a second inserter plate assembly. The first inserter plate assembly is fixedly mounted on the mounting plate, and the second inserter plate assembly is arranged parallel to the first inserter plate assembly and mounted on the mounting plate via a movable guide shaft.

[0018] More preferably, both the first and second insert plate assemblies include a fixed insert plate and a movable insert plate. The fixed insert plate is provided with an assembly hole for assembling the movable insert plate. The fixed insert plate and the movable insert plate are fixed relative to each other by a fastener, and the relative position between the fixed insert plate and the movable insert plate can be adjusted by changing the position of the fastener in the assembly hole.

[0019] More preferably, the fixed claw plate is provided with a plurality of claws, and the movable claw plate is provided with a plurality of claws, wherein the claws on the fixed claw plate and the claws on the movable claw plate cooperate to form a box-removing claw for clamping the packaging box.

[0020] The second aspect of this utility model provides a box-opening machine, including the box-opening and box-carrying device, the box blank storage warehouse, and the box-retrieving mechanism described in the first aspect. The box-retrieving mechanism is disposed between the box-opening and box-carrying device and the box blank storage warehouse. The box-retrieving mechanism takes out box blanks one by one from the box blank storage warehouse and places them on the box conveyor rack of the box-opening and box-carrying device.

[0021] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0022] 1. Compared with the existing box conveying mechanism that uses a single servo motor to drive a circulating chain or belt, the box conveying mechanism of this utility model uses a two-axis driven robotic arm as the driving execution mechanism for the box conveying frame. This can achieve stable operation and precise positioning of the box conveying frame, meet the requirements of the box opening mechanism for conveying stability and positioning accuracy, and improve the box opening success rate.

[0023] 2. Under the action of the two-axis driven robotic arm, the box conveyor frame of this utility model makes a reciprocating rotary motion trajectory. The motion trajectory of the box conveyor frame presents a rectangular trajectory. The motion trajectory of the box conveyor frame can be adjusted by program control, and the two-axis driven robotic arm can be adjusted to make the motion trajectory adjustment more flexible and changeable. It can meet the material conveying under various working conditions. The motion trajectory is varied and can be adjusted and changed by program control, which can better meet the stability requirements and positioning accuracy requirements of packaging box conveying.

[0024] 3. The box holder of this utility model is used to support the packaging box. During the conveying process, the packaging box is placed on the box holder. The box conveyor is driven by a two-axis mechanical arm to perform a motion trajectory each time, which can convey the packaging box forward a set distance. When the box conveyor descends and resets, the packaging box is supported by the box holder, ensuring the stability of the packaging box.

[0025] 4. This utility model provides a support blade plate between the box opening mechanism and the box holder. The function of the support blade plate is to guide the box lid of the packaging box to the bottom of the support blade plate, so as to avoid interference between the box lid of the packaging box and the box opening plate of the box opening mechanism when the box opening mechanism performs the opening action; it can also prevent the packaging box from shifting when the support blade plate presses down on the box lid.

[0026] 5. This utility model employs a combination of an opening plate and a pressing plate inserted into the box blank to be opened. The pressing plate and the opening plate are inserted together into the box blank. When the opening plate rotates to open the box blank, the pressing plate fixes the box blank, preventing displacement and ensuring the positioning accuracy of the packaging box. Without the pressing plate, the box blank may tilt upwards at one end while adhering to the side of the box conveying mechanism during the opening plate's rotation, causing displacement and affecting the positioning accuracy of the resulting packaging box, thus impacting subsequent processes. The combined action of the opening plate and the pressing plate ensures accurate opening of the box blank, improves the success rate of opening, and prevents displacement of the box blank during opening.

[0027] 6. Compared with the prior art, one edge of the box-opening plate of this utility model is collinear with the rotation axis of the box-opening drive component, ensuring that after the box-opening plate is inserted into the box blank, the second edge can abut against the connection between the bottom and side surfaces of the box blank. When the box-opening plate is flipped, it ensures that the rotation axis of the side surface of the box blank relative to the bottom surface is basically coincident with the rotation axis of the box-opening plate, which is conducive to opening the box blank and further improves the success rate of opening the box.

[0028] 7. Compared with the prior art, the distance between the two sides of the pressing plate and the opening plate of this utility model is adapted to the width of the bottom surface of the box blank, generally slightly smaller than the width of the bottom surface of the box blank. This allows the opening plate and the pressing plate to be smoothly inserted into the box blank. At the same time, the outer edge of the pressing plate inserted into the box blank can be pressed tightly against the bottom surface of the box blank, more preferably against the connection between the bottom surface of the box blank and the other side, to prevent the bottom surface of the box blank from lifting and causing the box blank to shift when the opening plate rotates. The pressing plate is slidably assembled on the sliding seat and locked and fixed by the locking device. This structure ensures that the distance between the pressing plate and the opening plate is adjustable to adapt to box blanks of different widths and sizes.

[0029] 8. The box opening drive component and the box insertion drive component of this utility model both use servo motors as power sources, which are precise in control and precise in action positioning, and can meet the precision requirements of the box opening mechanism. The efficiency of the coordination between various actions is adjustable.

[0030] 9. The present invention further includes a clamping plate that cooperates with the knife plate, so that the box blank is clamped and fixed after being conveyed to the position, avoiding displacement of the box blank when the box opening plate and the box pressing plate are inserted, and further improving the positioning stability and accuracy of the box blank.

[0031] 10. The two-axis driven robotic arm of this utility model is a two-axis parallel robotic arm structure. The structure of the first transmission arm assembly and the second transmission arm assembly ensures the stable operation of the box conveyor. The swing arm and the first balance arm form a parallelogram structure, and the transmission arm and the second balance arm form a parallelogram structure, so that the stability of the box conveyor can be guaranteed regardless of how the transmission arm assembly drives, ensuring the horizontal movement trajectory and stable operation of the conveyor.

[0032] 11. To further ensure the conveying and positioning accuracy of packaging boxes, this utility model includes insert claws on the box conveyor frame. The insert claws limit the position of the packaging boxes, preventing displacement between the boxes and the conveyor frame, which would affect the conveying and positioning accuracy. The box conveyor frame, through the arrangement of a first insert claw plate assembly and a second insert claw plate assembly, allows for adjustable spacing between the two assemblies under the action of a movable guide shaft, accommodating packaging boxes of different lengths. The fixed and movable insert claw plates also accommodate packaging boxes of different widths. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the box opening and conveying device of this utility model;

[0034] Figure 2 This is a three-dimensional structural diagram of the box-opening mechanism in the box-opening and box-moving device of this utility model. Figure 1 ;

[0035] Figure 3 This is a three-dimensional structural diagram of the box-opening mechanism in the box-opening and box-moving device of this utility model. Figure 2 ;

[0036] Figure 4 This is a three-dimensional structural diagram of the box conveying mechanism in the box opening and box moving device of this utility model;

[0037] Reference numerals: 100, frame; 200, box conveying channel; 300, box holder; 400, box conveying mechanism; 401, fixed base; 402, first servo drive motor; 403, second servo drive motor; 404, first transmission arm assembly; 405, second transmission arm assembly; 406, box conveying frame; 407, first swing arm; 408, first balance plate; 409, first balance arm; 410, first transmission arm; 411, second balance arm; 412, first hinge; 413, second hinge; 414, third hinge; 415, mounting plate; 416, first claw plate assembly; 417, second claw plate assembly; 418, movable guide shaft; 419, fixed claw plate; 420, movable claw plate; 421, mounting hole.

[0038] 500. Box opening mechanism; 501. Box opening plate; 502. Box pressing plate; 503. Box insertion drive assembly; 504. Sliding seat; 505. Box opening drive component; 506. First edge; 507. Second edge; 508. Outer edge of the box pressing plate; 509. Box insertion slide rail; 510. Box insertion swing arm; 511. Redundancy groove; 512. Roller; 513. Knife support plate; 514. Pressing plate; 515. Pressing drive assembly; 516. Guide shaft. Detailed Implementation

[0039] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] Example 1

[0041] As a preferred embodiment of this utility model, please refer to the appendix to the specification. Figure 1 As shown, this embodiment discloses a box opening and box conveying device, including a frame 100, a box conveying channel 200 provided on the frame 100, box support frames 300 provided on both sides of the box conveying channel 200, and a box conveying mechanism 400 provided inside the box conveying channel 200. The box conveying mechanism 400 includes a box conveying frame 406 and a drive execution mechanism, wherein the drive execution mechanism is a two-axis driven robotic arm. The box conveying frame 406 is mounted on the moving platform of the two-axis driven robotic arm, and the two-axis driven robotic arm drives the box conveying frame 406 to move according to a set motion trajectory, wherein the set motion trajectory is the box conveying frame 406 moving from an initial position. When the box conveyor 406 rises and contacts the packaging box to be conveyed, it moves along the first direction to convey the packaging box. After being conveyed to the set position, the box conveyor 406 descends to the set height. After descending to the set position, the box conveyor 406 returns to the initial position along the second direction opposite to the first direction. An opening mechanism 500 is provided on one side of the box conveying channel 200. A knife plate 513 is provided between the opening mechanism 500 and its adjacent box support 300. When the box conveyor 400 conveys the packaging box to the opening mechanism 500, the box lid is pressed under the knife plate 513 under the guiding action of the knife plate 513.

[0042] In this embodiment, a two-axis driven robotic arm is used as the driving actuator for the box conveyor 406. This enables stable operation and precise positioning of the box conveyor 406, meeting the requirements of the box opening mechanism 500 for conveying stability and positioning accuracy, thus improving the box opening success rate. The two-axis driven robotic arm consists of two servo drive motors working together to drive the box conveyor 406, ensuring precise positioning and stable operation. Compared to a circulating chain or circulating conveyor belt structure driven by only one servo drive motor, this provides more precise positioning and more stable operation.

[0043] Under the action of the two-axis driven robotic arm, the box conveyor 406 performs a reciprocating rotary motion trajectory. The motion trajectory of the box conveyor 406 presents a rectangular trajectory. The motion trajectory of the box conveyor 406 can be adjusted by the two-axis driven robotic arm through program control, making the motion trajectory adjustment more flexible and versatile. It can meet the material conveying needs under various working conditions. The motion trajectory is highly variable and can be adjusted and changed through program control, which can better meet the stability and positioning accuracy requirements of packaging box conveying.

[0044] The box holder 300 is used to support the packaging box. During the conveying process, the packaging box is placed on the box holder 300. The box conveyor 406 is driven by the two-axis robotic arm to perform a motion trajectory each time, which can convey the packaging box forward a set distance. When the box conveyor 406 descends and resets, the packaging box is supported by the box holder 300, ensuring the stability of the packaging box.

[0045] A knife plate 513 is provided between the box opening mechanism 500 and the box holder 300. The function of the knife plate 513 is to guide the box lid and guide the box lid to the bottom of the knife plate 513, so as to avoid the box lid of the box and the box opening plate 501 of the box opening mechanism 500 from interfering when the box opening mechanism 500 performs the box opening action.

[0046] Example 2

[0047] As another preferred embodiment of this utility model, this embodiment is a further detailed supplement and explanation of the technical solution of this utility model based on the above-described embodiment 1. In this embodiment, refer to the appendix to the specification. Figure 2 and attached Figure 3As shown, the box opening mechanism 500 includes a box opening assembly slidably mounted on a frame 100 on one side of the box conveying channel 200, and a box insertion drive assembly 503 for inserting a box opening plate 501 and a box pressing plate 502 at the front end of the box opening assembly into the box blank and exiting the box blank after opening the box blank; the moving direction of the box opening assembly is perpendicular to the moving direction of the box conveying mechanism 400; the box opening assembly includes a sliding seat 504, a box opening drive component 505 mounted on the sliding seat 504, a box opening plate 501 mounted on the box opening drive component 505, and a box pressing plate 502 arranged parallel to the box opening plate 501. The box insertion drive assembly 503 drives the box opening plate 501 and the box pressing plate 502 of the box opening assembly to extend into the box blank to be opened. The box opening drive component 505 drives the box opening plate 501 to rotate, the box opening plate 501 opens the box blank, and the box pressing plate 502 is used to press the box blank.

[0048] Compared to existing box-opening assemblies, this embodiment employs a combination of an opening plate 501 and a pressing plate 502 inserted into the box blank to be opened. The pressing plate 502, along with the opening plate 501, is inserted into the box blank. As the opening plate 501 rotates to open the box blank, the pressing plate 502 fixes the box blank, preventing displacement and ensuring the box blank's positioning accuracy. Without the pressing plate 502, the box blank might tilt upwards at one end against the side of the box conveying mechanism 400 when the opening plate 501 rotates, causing displacement of the box and affecting the positioning accuracy of the resulting box, thus impacting subsequent processes. The combined action of the opening plate 501 and the pressing plate ensures accurate opening of the box blank, improves the success rate of opening, and prevents displacement of the box blank during opening.

[0049] As an example of this embodiment, the sliding seat 504 is slidably mounted on the insert slide rail 509 on the frame 100.

[0050] In a preferred embodiment of this invention, the box-opening plate 501 includes a first edge 506 and a second edge 507. When the box-opening drive member 505 drives the box-opening plate 501 to rotate, the first edge 506 rotates around the second edge 507, and the second edge 507 is collinear with the rotation axis of the box-opening drive member 505. In this embodiment, one edge of the box-opening plate 501 is collinear with the rotation axis of the box-opening drive member 505, ensuring that after the box-opening plate 501 is inserted into the box blank, the second edge 507 can abut against the connection between the bottom and side surfaces of the box blank. When the box-opening plate 501 is flipped, it ensures that the rotation axis of the side surface of the box blank relative to the bottom surface is substantially coincident with the rotation axis of the box-opening plate 501, which is beneficial for opening the box blank and further improves the success rate of opening the box.

[0051] As an example of this embodiment, the distance between the outer edge 508 of the pressing plate and the second edge 507 of the opening plate 501 is adapted to the width of the packaging box of the box blank to be opened; the pressing plate 502 is slidably assembled on the sliding seat 504 and locked and fixed to the sliding seat 504 by a locking member. The distance between the two sides of the pressing plate 502 and the opening plate 501 is adapted to the width of the bottom surface of the box blank, generally slightly smaller than the width of the bottom surface of the box blank, so that the opening plate 501 and the pressing plate 502 can be smoothly inserted into the box blank. At the same time, the outer edge of the pressing plate 502 inserted into the box blank can be pressed against the bottom surface of the box blank, more preferably against the connection between the bottom surface of the box blank and the other side, to prevent the bottom surface of the box blank from lifting up and causing the box blank to shift when the opening plate 501 rotates. The pressing plate 502 is slidably assembled on the sliding seat 504 and locked in place by a locking component. This structure ensures that the distance between the pressing plate 502 and the opening plate 501 is adjustable to accommodate box blanks of different widths and sizes.

[0052] As an example of this embodiment, the aforementioned insert drive assembly 503 and open drive component 505 can use cylinders as drive actuators, but preferably, servo motors are used. The insert drive assembly 503 includes a servo motor and an insert swing arm 510. One end of the insert swing arm 510 is mounted on the output shaft of the servo motor, and the other end is connected to a sliding seat 504. The insert swing arm 510 is provided with a redundancy groove 511, and the sliding seat 504 is provided with rollers 512 that cooperate with the redundancy groove 511. Using a servo motor as the power source ensures precise control and accurate motion positioning, meeting the precision requirements of the open mechanism 500. The efficiency of the coordination between various actions is adjustable.

[0053] Example 3

[0054] As another preferred embodiment of this utility model, this embodiment is a further detailed supplement and explanation of the technical solution of this utility model based on the above-described embodiment 1 or embodiment 2. In this embodiment, refer to the appendix to the specification. Figure 2 and attached Figure 3 As shown, a clamping plate 514 is provided below the knife-supporting plate 513. When the box blank to be opened is conveyed into position, the clamping plate 514, driven by the clamping drive assembly 515, approaches the knife-supporting plate 513, clamping the box cover of the box blank to be opened between the clamping plate 514 and the knife-supporting plate 513. The clamping plate 514, which cooperates with the knife-supporting plate 513, further ensures that the box blank is clamped and fixed after being conveyed into position, preventing displacement of the box blank when the opening plate 501 and the pressing plate 502 are inserted, thus further improving the positioning stability and accuracy of the box blank.

[0055] As an example of this embodiment, the bottom of the clamping plate 514 is provided with a guide shaft 516, which passes through the frame 100 and slides with the frame 100.

[0056] As another example of this embodiment, the clamping drive assembly 515 is a cylinder.

[0057] As another example of this embodiment, the clamping drive assembly 515 includes a servo motor, a clamping swing arm and a connecting rod. One end of the clamping swing arm is mounted on the servo motor, and the other end is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the clamping plate 514.

[0058] Example 4

[0059] As another preferred embodiment of this utility model, this embodiment is a further detailed supplement and explanation of the technical solution of this utility model based on the above-described embodiments 1, 2, or 3. In this embodiment, refer to the appendix to the specification. Figure 4 As shown, in this embodiment, a two-axis parallel robotic arm is preferred as the two-axis driven robotic arm. Specifically, the two-axis driven robotic arm includes a fixed base 401, a first servo drive motor 402, a second servo drive motor 403, a first transmission arm assembly 404, and a second transmission arm assembly 405. The first servo drive motor 402 and the second servo drive motor 403 are both fixedly mounted on the fixed base 401. One end of the first transmission arm assembly 404 is connected to the drive shaft of the first servo drive motor 402, and the other end is connected to the box conveyor frame 406. One end of the second transmission arm assembly 405 is connected to the drive shaft of the second servo drive motor 403, and the other end is connected to the box conveyor frame 406. The first servo drive motor 402 and the second servo drive motor 403 cooperate to drive the box conveyor frame 406 to move according to a set motion trajectory.

[0060] Compared to the existing XY-axis robotic arm structure and the two-axis serial robotic arm structure, the two-axis parallel robotic arm in this embodiment can further ensure the stability and accuracy of the box conveyor 406. The parallel structure further ensures the stability of the structure.

[0061] As an example of this embodiment, the mounting base 401 may be part of the frame 100.

[0062] As another example of this embodiment, the structure of the first transmission arm assembly 404 is the same as that of the second transmission arm assembly 405; the first transmission arm assembly 404 includes a first swing arm 407, a first balance plate 408, a first balance arm 409, a first transmission arm 410, and a second balance arm 411. One end of the first swing arm 407 is fixedly mounted on the drive shaft of the first servo drive motor 402, and the other end of the first swing arm 407 is hinged to one end of the first transmission arm 410, and the other end of the first transmission arm 410 is hinged to the box conveyor frame 406; the first balance plate 408 is provided with a first hinge portion 412, a second hinge portion 413, and a third hinge portion. The first hinge portion 412 of the first balance plate 408 is coaxially assembled with the hinge shaft that hinges the first swing arm 407 and the first transmission arm 410. One end of the first balance arm 409 is hinged to the fixed base 401, and the other end of the first balance arm 409 is hinged to the second hinge portion 413 of the first balance plate 408. One end of the second balance arm 411 is hinged to the third hinge portion 414 of the first balance plate 408, and the other end of the second balance arm 411 is hinged to the box conveyor frame 406. The first balance arm 409 and the first swing arm 407 form a parallelogram structure, and the first transmission arm 410 and the second balance arm 411 form a parallelogram structure. The structure of the first transmission arm assembly 404 and the second transmission arm assembly 405 ensures the stable operation of the box conveyor frame 406. The swing arm and the first balance arm 409 form a parallelogram structure, and the transmission arm and the second balance arm 411 form a parallelogram structure, so that the stability of the box conveyor frame 406 can be guaranteed regardless of how the transmission arm assembly is driven, and the horizontal movement trajectory and operation of the conveyor frame can be guaranteed.

[0063] Example 5

[0064] As another preferred embodiment of this utility model, this embodiment is a further detailed supplement and explanation of the technical solution of this utility model based on the above-described embodiments 1, 2, 3, or 4. In this embodiment, refer to the appendix to the specification. Figure 4 As shown, the box conveyor 406 includes a mounting plate 415, a first inserter plate assembly 416 and a second inserter plate assembly 417. The first inserter plate assembly 416 is fixedly mounted on the mounting plate 415, and the second inserter plate assembly 417 is arranged parallel to the first inserter plate assembly 416 and is mounted on the mounting plate 415 through a movable guide shaft 418.

[0065] The aforementioned mounting plate 415 is the moving platform of the two-axis driven robotic arm.

[0066] As an example of this embodiment, both the first inserter plate assembly 416 and the second inserter plate assembly 417 include a fixed inserter plate 419 and a movable inserter plate 420. The fixed inserter plate 419 is provided with an assembly hole 421 for assembling the movable inserter plate 420. The fixed inserter plate 419 and the movable inserter plate 420 are fixed relative to each other by a fastener, and the relative position between the fixed inserter plate 419 and the movable inserter plate 420 can be adjusted by changing the position of the fastener in the assembly hole 421.

[0067] Furthermore, the fixed claw plate 419 is provided with a plurality of claws, and the movable claw plate 420 is provided with a plurality of claws. The claws on the fixed claw plate 419 and the claws on the movable claw plate 420 cooperate to form a box-removing claw for clamping the packaging box.

[0068] To further ensure the positioning accuracy of the packaging boxes during transport, this embodiment includes insert claws on the box conveyor frame 406. These claws limit the position of the packaging boxes, preventing displacement between the boxes and the conveyor frame 406, which would affect the positioning accuracy. The box conveyor frame 406, through the arrangement of a first claw plate assembly 416 and a second claw plate assembly 417, allows for adjustable spacing between them under the action of a movable guide shaft 418, accommodating packaging boxes of different lengths. The fixed claw plate 419 and the movable claw plate 420 can accommodate packaging boxes of different widths.

[0069] Example 6

[0070] As another preferred embodiment of the present invention, this embodiment provides a box opening machine, including the box opening and conveying device, box blank storage warehouse and box picking mechanism described in the above embodiments 1, 2, 3, 4 or 5. The box picking mechanism is arranged between the box opening and conveying device and the box blank storage warehouse. The box picking mechanism takes out the box blanks one by one from the box blank storage warehouse and places them on the box conveying rack 406 of the box opening and conveying device.

Claims

1. An open and remove cassette device comprising a frame (100), characterized in that: A box conveying passage (200) is arranged on the rack (100), and a box supporting rack (300) is arranged on both sides of the box conveying passage (200), and a box conveying mechanism (400) is arranged in the box conveying passage (200), the box conveying mechanism (400) comprises a box conveying frame (406) and a driving execution mechanism, and the driving execution mechanism is a two-axis driving mechanical arm; The box conveying frame (406) is assembled on the moving platform of the two-axis driving mechanical arm, the two-axis driving mechanical arm drives the box conveying frame (406) to move according to a set motion track, the set motion track is that the box conveying frame (406) is lifted from an initial position to contact a packaging box to be conveyed, the box conveying frame (406) moves in a first direction to convey the packaging box, after being conveyed to a set position, the box conveying frame (406) is lowered by a set height, and after being lowered to a position, the box conveying frame (406) is reset to the initial position in a second direction opposite to the first direction; an opening box mechanism (500) is arranged on one side of the box conveying passage (200), and a supporting cutter plate (513) is arranged between the opening box mechanism (500) and the box supporting rack (300) adjacent to the opening box mechanism (500); when the box conveying mechanism (400) conveys the packaging box to move to the opening box mechanism (500), under the guiding action of the supporting cutter plate (513), the box cover of the packaging box is pressed below the supporting cutter plate (513).

2. The open and remove apparatus of claim 1, wherein: The opening box mechanism (500) comprises an opening box assembly slidably assembled on the rack (100) on one side of the box conveying passage (200), an opening box plate (501) at the front end of the opening box assembly, and an inserted box driving assembly (503) for inserting the box blank and withdrawing the box blank after opening the box blank; the moving direction of the opening box assembly is perpendicular to the moving direction of the box conveying mechanism (400); the opening box assembly comprises a sliding seat (504), an opening box driving piece (505) assembled on the sliding seat (504), the opening box plate (501) assembled on the opening box driving piece (505), and the pressing box plate (502) arranged in parallel with the opening box plate (501); the inserted box driving assembly (503) drives the opening box plate (501) and the pressing box plate (502) of the opening box assembly to extend into the box blank to be opened, the opening box driving piece (505) drives the opening box plate (501) to rotate, the opening box plate (501) opens the box blank, and the pressing box plate (502) is used for pressing the box blank.

3. The open and remove apparatus of claim 2, wherein: The opening box plate (501) comprises a first edge (506) and a second edge (507), when the opening box driving piece (505) drives the opening box plate (501) to rotate, the first edge (506) rotates around the second edge (507), and the second edge (507) is collinear with the rotation axis of the opening box driving piece (505).

4. The open and remove apparatus according to claim 3, wherein: The spacing between the outer edge (508) of the pressing box plate and the second edge (507) of the opening box plate (501) is matched with the width of the packaging box of the box blank to be opened; the pressing box plate (502) is slidably assembled on the sliding seat (504) and is locked and fixed with the sliding seat (504) through a locking piece.

5. An apparatus according to any one of claims 2 to 4, wherein: The plug-in box driving assembly (503) comprises a servo motor and a plug-in box swing arm (510), one end of the plug-in box swing arm (510) is assembled on an output shaft of the servo motor, and the other end is connected with the sliding seat (504); the plug-in box swing arm (510) is provided with a redundant groove (511), and the sliding seat (504) is provided with a roller (512) matched with the redundant groove (511).

6. The open and remove apparatus according to any one of claims 1 to 4, wherein: A pressing plate (514) is arranged below the tool supporting plate (513), when the box blank to be opened is conveyed to the position, the pressing plate (514) is driven by the pressing driving assembly (515) to approach the tool supporting plate (513), and the box cover of the box blank to be opened is clamped between the pressing plate (514) and the tool supporting plate (513).

7. The open and remove apparatus according to any one of claims 1 to 4, wherein: The two-axis driving mechanical arm comprises a fixed seat (401), a first servo driving motor (402), a second servo driving motor (403), a first transmission arm assembly (404) and a second transmission arm assembly (405), the first servo driving motor (402) and the second servo driving motor (403) are fixedly assembled on the fixed seat (401), one end of the first transmission arm assembly (404) is connected with a driving shaft of the first servo driving motor (402), and the other end is connected with a box conveying frame (406); one end of the second transmission arm assembly (405) is connected with a driving shaft of the second servo driving motor (403), and the other end is connected with the box conveying frame (406); the first servo driving motor (402) and the second servo driving motor (403) cooperatively drive the box conveying frame (406) to move according to a set movement track.

8. The open and remove apparatus according to claim 7, wherein: The first transmission arm assembly (404) has the same structure as the second transmission arm assembly (405); the first transmission arm assembly (404) comprises a first swing arm (407), a first balance plate (408), a first balance arm (409), a first transmission arm (410) and a second balance arm (411), one end of the first swing arm (407) is fixedly assembled on the driving shaft of the first servo driving motor (402), the other end of the first swing arm (407) is hingedly connected with one end of the first transmission arm (410), and the other end of the first transmission arm (410) is hingedly connected with the box conveying frame (406); the first balance plate (408) is provided with a first hinge part (412), a second hinge part (413) and a third hinge part (414), the first hinge part (412) of the first balance plate (408) is coaxially assembled with the hinge shafts of the first swing arm (407) and the first transmission arm (410); one end of the first balance arm (409) is hingedly connected with the fixed seat (401), and the other end of the first balance arm (409) is hingedly connected with the second hinge part (413) of the first balance plate (408); one end of the second balance arm (411) is hingedly connected with the third hinge part (414) of the first balance plate (408), and the other end of the second balance arm (411) is hingedly connected with the box conveying frame (406); the first balance arm (409) and the first swing arm (407) form a parallelogram structure, and the first transmission arm (410) and the second balance arm (411) form a parallelogram structure.

9. The open and remove apparatus according to any one of claims 1 to 4, wherein: The box conveying frame (406) comprises a mounting plate (415), a first claw plate assembly (416) and a second claw plate assembly (417), the first claw plate assembly (416) is fixedly assembled on the mounting plate (415), and the second claw plate assembly (417) is arranged in parallel with the first claw plate assembly (416) and is assembled on the mounting plate (415) through a movable guide shaft (418).

10. The open and remove apparatus of claim 9, wherein: The first claw plate assembly (416) and the second claw plate assembly (417) each comprise a fixed claw plate (419) and a movable claw plate (420), the fixed claw plate (419) is provided with an assembly hole (421) for assembling the movable claw plate (420), the fixed claw plate (419) is relatively fixed with the movable claw plate (420) through a fixing member, and the relative position between the fixed claw plate (419) and the movable claw plate (420) is adjusted by changing the position of the fixing member in the assembly hole (421).

11. The open and remove apparatus of claim 10, wherein: The fixed claw plate (419) is provided with a plurality of claws, the movable claw plate (420) is provided with a plurality of claws, and the claws on the fixed claw plate (419) and the claws on the movable claw plate (420) cooperate to form box taking claws for clamping a packaging box.

12. An unboxing machine characterized in that: The box conveying frame (406) comprises a mounting plate (415), a first claw plate assembly (416) and a second claw plate assembly (417), the first claw plate assembly (416) is fixedly assembled on the mounting plate (415), and the second claw plate assembly (417) is arranged in parallel with the first claw plate assembly (416) and is assembled on the mounting plate (415) through a movable guide shaft (418).

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