Automatic feeding robot for carton blanks

Abstract

The utility model discloses an automatic carton blank feeding robot which comprises a cooperative mechanical arm and a carton blank grabbing device, the carton blank grabbing device comprises a supporting assembly, a clamping assembly and a wire clamping and cutting assembly, the supporting assembly is connected to the tail end of the cooperative mechanical arm, and the clamping assembly is connected to the tail end of the cooperative mechanical arm. The clamping assembly comprises a first clamping jaw and a second clamping jaw which are connected to the supporting assembly and can move relatively. The wire clamping and cutting assembly is connected to the side, away from the second clamping jaw, of the first clamping jaw. The thread clamping and trimming assembly comprises a supporting plate piece, a lifting driving mechanism, a guiding mechanism, a first sensor, a cutter mounting plate, a thread clamping plate piece and a thread trimming cutter. According to the automatic feeding robot for the carton blanks, automatic operation of cutting off ribbons of the carton blanks and automatic feeding can be achieved, the labor cost and the labor intensity are reduced, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of carton blank automatic feeding, and particularly relates to a carton blank automatic feeding robot. BACKGROUND

[0002] In industrial production, in order to facilitate the transportation of products and protect the products during transportation, the products are generally packaged by paper boxes. The paper boxes are in a flat state after being produced in a paper box factory, and are usually called carton blanks. When the products are packaged by using the paper boxes, the carton blanks in the flat state need to be unfolded into a three-dimensional state and folded to seal the boxes, so that the products can be put into the paper boxes to package the products.

[0003] The box opening machine is also called a carton forming and bottom sealing machine. It is a special packaging equipment that can automatically complete the opening of the box, the forming of the box, the folding of the bottom flap and the sealing of the box with adhesive tape and then conveying the box to the cartoning machine in the production and packaging process. It is an essential equipment for automatic large-scale production. The carton blanks produced in the paper box factory are usually stacked and then bundled together with a tie band for easy handling. In the automatic production line, how to automatically feed the stacked and bundled carton blanks to the box opening machine and cut off the tie band is a problem to be solved. UTILITARIAN CONTENT

[0004] Therefore, the utility model provides a carton blank automatic feeding robot to solve the problem of how to automatically feed the carton blanks and cut off the tie band to improve the production efficiency.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A carton blank automatic feeding robot, comprising a cooperative mechanical arm and a carton blank grabbing device, the carton blank grabbing device comprising a support assembly, a clamping assembly and a wire clamping and cutting assembly, the support assembly being connected to the end of the cooperative mechanical arm, the clamping assembly comprising a first clamping jaw and a second clamping jaw connected to the support assembly and movable relative to each other, and the wire clamping and cutting assembly being connected to the side of the first clamping jaw away from the second clamping jaw.

[0007] The thread clamping and cutting assembly comprises a support plate, a lifting driving mechanism, a guide mechanism, a first sensor, a cutter mounting plate, a thread clamping plate and a thread cutting cutter, the support plate is connected to the first clamping jaw, the lifting driving mechanism is connected to the upper end of the support plate, the guide mechanism is connected to the lower end of the support plate, the first sensor is connected to the support plate, the cutter mounting plate and the thread clamping plate are respectively located on the side of the guide mechanism, the upper end of the cutter mounting plate is connected to the output end of the lifting driving mechanism, the thread cutting cutter is assembled at the lower end of the cutter mounting plate, and the thread clamping plate is connected to the cutter mounting plate through an elastic mechanism.

[0008] The guide mechanism comprises a longitudinal guide plate and a transverse guide plate, the upper end of the longitudinal guide plate is connected to the support plate, the transverse guide plate is connected to the lower end of the longitudinal guide plate and extends below the thread clamping plate and the thread cutting cutter, the transverse guide plate is in a wedge-shaped structure, a thread clamping portion is formed on the transverse guide plate corresponding to the position of the thread clamping plate, and a thread cutting groove is formed on the transverse guide plate corresponding to the position of the thread cutting cutter.

[0009] In a preferred scheme, the elastic mechanism comprises a connecting plate, a guide column and a spring, the connecting plate is fixedly connected to the cutter mounting plate, a through hole is formed in the connecting plate, the guide column is movably arranged in the through hole, the first end of the guide column is connected to the top surface of the thread clamping plate, the second end of the guide column is provided with a stop portion, and the spring is sleeved on the guide column and connected between the top surface of the thread clamping plate and the connecting plate.

[0010] In a preferred scheme, the bottom surface of the thread clamping plate is formed as an inclined surface matched with the upper surface of the thread clamping portion.

[0011] In a preferred scheme, a guide groove extending in the longitudinal direction is formed in the longitudinal guide plate, and the cutter mounting plate is slidably connected to the guide groove.

[0012] In a preferred scheme, a surrounding portion is connected to the upper end of the transverse guide plate, and the lower end of the thread clamping plate and the thread cutting cutter is arranged in the surrounding portion.

[0013] In a preferred scheme, guide wheels are respectively arranged at the opposite sides of the lower end of the longitudinal guide plate.

[0014] In a preferred scheme, the first clamping jaw is fixedly connected to the first end of the support assembly, the second clamping jaw is movably connected to the second end of the support assembly through a transverse driving mechanism, and the transverse driving mechanism is configured to drive the second clamping jaw to move relative to the first clamping jaw.

[0015] In a preferred embodiment, the carton blank gripping device further includes a visual positioning component and a second sensor, the visual positioning component and the second sensor being respectively connected to the support component and located between the first gripper and the second gripper.

[0016] The automatic carton blank feeding robot provided in this embodiment includes a collaborative robotic arm and a carton blank gripping device. The carton blank gripping device includes a clamping component and a wire clamping and cutting component. First, the clamping component clamps and grips the carton blanks bound with cable ties and transports them to the carton blank temporary storage and transfer platform under the drive of the collaborative robotic arm. Then, the wire clamping and cutting component cuts off the cable ties on the carton blanks on the carton blank temporary storage and transfer platform. After the cable ties are cut off, the carton blanks are transported from the carton blank temporary storage and transfer platform to the carton erector feeding platform through the corresponding conveying component. This realizes the automated operation of cutting off the cable ties and automatic feeding of the carton blanks, reduces labor costs and labor intensity, and improves production efficiency. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the automatic carton blank feeding robot in an embodiment of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the cardboard blank gripping device in this embodiment of the utility model;

[0019] Figure 3 This is a schematic diagram of the wire clamping and cutting assembly in an embodiment of this utility model;

[0020] Figure 4 This is a structural schematic diagram of the wire clamping and cutting assembly from another perspective in an embodiment of this utility model;

[0021] Figure 5 This is a structural diagram of the interconnected parts of the guide mechanism, the tool mounting plate, and the clamping plate in an embodiment of this utility model. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of this utility model shown in and described with reference to the drawings are merely exemplary, and this utility model is not limited to these embodiments.

[0023] It should be noted that the same or similar reference numerals in the accompanying drawings of the embodiments of this utility model correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0024] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0025] This utility model embodiment provides an automatic carton blank feeding robot, see reference. Figures 1 to 5 The automatic carton blank feeding robot 1 includes a collaborative robotic arm 1a and a carton blank gripping device 1b. The carton blank gripping device 1b mainly includes a support component 11, a clamping component 12, and a wire clamping and cutting component 13. The support component 11 is connected to the end of the collaborative robotic arm 1a. The clamping component 12 includes a first gripper 121 and a second gripper 122 connected to the support component 11 and movable relative to each other. The wire clamping and cutting component 13 is connected to the side of the first gripper 121 opposite to the second gripper 122.

[0026] The support assembly 11 includes a connecting flange 111 and a support frame 112. One end of the connecting flange 111 is connected to the end of the collaborative robotic arm 1a, and the other end of the connecting flange 111 is connected to the support frame 112. The clamping assembly 12 is connected below the support frame 112.

[0027] The wire clamping and cutting assembly 13 includes a support plate 131, a lifting drive mechanism 132, a guide mechanism 133, a first sensor 134, a cutter mounting plate 135, a wire clamping plate 136, and a wire cutting cutter 137. The support plate 131 is connected to the first gripper 121. The lifting drive mechanism 132 is connected to the upper end of the support plate 131, the guide mechanism 133 is connected to the lower end of the support plate 131, and the first sensor 134 is connected to the support plate 131. The cutter mounting plate 135 and the wire clamping plate 136 are located on the side of the guide mechanism 133. The upper end of the cutter mounting plate 135 is connected to the output end of the lifting drive mechanism 132. The wire cutting cutter 137 is mounted on the lower end of the cutter mounting plate 135. The wire clamping plate 136 is connected to the cutter mounting plate 135 via an elastic mechanism 138.

[0028] The guiding mechanism 133 includes a longitudinal guide plate 1331 and a transverse guide plate 1332. The upper end of the longitudinal guide plate 1331 is connected to the support plate 131, and the transverse guide plate 1332 is connected to the lower end of the longitudinal guide plate 1331 and extends to the area below the wire clamping plate 136 and the wire cutting tool 137. The transverse guide plate 1332 has a wedge-shaped structure, and a wire clamping part 1333 is formed on the transverse guide plate 1332 at a position corresponding to the position of the wire clamping plate 136. A wire cutting groove 1334 is formed on the transverse guide plate 1332 at a position corresponding to the position of the wire cutting tool 137.

[0029] Furthermore, the wire clamping and cutting assembly 13 also includes a limit switch 139 connected to the first clamp 121.

[0030] The process of cutting cable ties on a carton blank using the cable tie assembly 13 described above includes: first, the cooperating robotic arm 1a controls the cable tie assembly 13 to move along the surface of the carton blank, so that the wedge-shaped transverse guide plate 1332 is inserted into the gap between the cable tie and the surface of the carton blank and hooks the cable tie; after the first sensor 134 detects that the cable tie has been hooked and guided onto the transverse guide plate 1332, the lifting drive mechanism 132 drives the cutter mounting plate 135 to descend, so that the clamping plate 136 presses against the clamping part 1333 to clamp the cable tie; then, the lifting drive mechanism 132 drives the cutter mounting plate 135 to continue to descend, so that the cutting cutter 137 is inserted into the cutting groove 1334 to cut the cable tie; finally, while keeping the cable tie clamped, the cooperating robotic arm 1a controls the entire cable tie assembly 13 to move and pull out the cut cable tie.

[0031] In this embodiment, the elastic mechanism 138 includes a connecting plate 1381, a guide post 1382, and a spring 1383. The connecting plate 1381 is fixedly connected to the tool mounting plate 135. A through hole is provided on the connecting plate 1381. The guide post 1382 is movably inserted into the through hole. The first end of the guide post 1382 is connected to the top surface of the wire clamping plate 136. A stop portion is provided at the second end of the guide post 1382. The spring 1383 is sleeved on the guide post 1382 and connected between the top surface of the wire clamping plate 136 and the connecting plate 1381. When the lifting drive mechanism 132 drives the tool mounting plate 135 to descend, it also drives the wire clamping plate 136 and the wire cutting tool 137 to descend simultaneously. After the wire clamping plate 136 presses against the wire clamping part 1333, since the wire clamping plate 136 is connected to the tool mounting plate 135 through the elastic mechanism 138, the tool mounting plate 135 can continue to descend a certain distance, driving the wire cutting tool 137 to descend further and insert into the wire cutting groove 1334 to cut the cable tie.

[0032] In this embodiment, the transverse guide plate 1332 has a wedge-shaped structure, the surface of the clamping part 1333 is an inclined surface, and correspondingly, the bottom surface of the clamping plate 136 is formed as an inclined surface that matches the upper surface of the clamping part 1333.

[0033] In this embodiment, a guide groove 1335 extending longitudinally is provided on the longitudinal guide plate 1331, and the tool mounting plate 135 is slidably connected to the guide groove 1335. Further, a retaining wall 1336 is connected to the longitudinal guide plate 1331 above the transverse guide plate 1332, and the lower ends of the wire clamping plate 135 and the wire cutting tool 137 pass through the retaining wall 1336.

[0034] In this embodiment, the lower end of the longitudinal guide plate 1331 is connected to guide wheels 1337 on opposite sides of the transverse guide plate 1332.

[0035] In this embodiment, the first gripper 121 is fixedly connected to the first end of the support component 11, and the second gripper 122 is movably connected to the second end of the support component 11 through a lateral drive mechanism 123. The lateral drive mechanism 123 is configured to drive the second gripper 122 to move relative to the first gripper 121, so as to clamp and grasp the carton blank or release the carton blank.

[0036] Furthermore, the carton blank gripping device 1b also includes a visual positioning component 14 and a second sensor 15, which are respectively connected to the support component 11 and located between the first gripper 121 and the second gripper 122. The visual positioning component 14 mainly includes a CCD camera 141 and a light source 142.

[0037] The first sensor 134 and the second sensor 15 are, for example, diffuse reflective sensors.

[0038] The automatic carton preform feeding robot 1 provided in the above embodiment works as follows:

[0039] (1) The collaborative robotic arm 1a drives the carton blank gripping device 1b to move above the carton blank raw material warehouse, controls the first gripper 121 and the second gripper 122 of the carton blank gripping device 1b to grip and grab the carton blanks tied with cable ties, and transports them to the carton blank temporary storage and transfer platform under the drive of the collaborative robotic arm.

[0040] During the grasping process, the visual positioning component 14 positions the cardboard blank, and the second sensor 15 is used to detect whether the cardboard blank is clamped and whether it falls during the transportation process.

[0041] (2) After the carton blank is transferred to the carton blank temporary storage and transfer platform, the carton blank gripping device 1b is controlled to release the carton blank, and the wire clamping and cutting assembly 13 is controlled to move along the surface of the carton blank, so that the wedge-shaped transverse guide plate 1332 is inserted into the gap between the cable tie and the surface of the carton blank and hooks the cable tie.

[0042] (3) When the first sensor 134 detects that the cable tie is hooked up and guided onto the horizontal guide plate 1332, the lifting drive mechanism 132 drives the cutter mounting plate 135 to descend, so that the clamping plate 136 presses against the clamping part 1333 to clamp the cable tie. Then, the lifting drive mechanism 132 drives the cutter mounting plate 135 to continue to descend, so that the wire cutting cutter 137 is inserted into the wire cutting groove 1334 to cut the cable tie.

[0043] (4) While keeping the cable tie clamped, the collaborative robotic arm 1a controls the carton blank gripping device 1b to drive the wire clamping and cutting assembly 13 to move as a whole, pull out the cut cable tie and move it above the waste box, and then the lifting drive mechanism 132 drives the cutter mounting plate 135 to rise, loosen the cable tie, and let the cable tie fall into the waste box.

[0044] In summary, the automatic carton blank feeding robot provided in the above embodiments of this utility model first uses a clamping component to grip and grasp the carton blanks bound with cable ties, and then transports them to a carton blank temporary storage and transfer platform under the drive of a collaborative robotic arm. Then, a wire clamping and cutting component cuts off the cable ties on the carton blanks on the carton blank temporary storage and transfer platform. After the cable ties are cut off, the carton blanks are transported from the carton blank temporary storage and transfer platform to the carton erector feeding platform through a corresponding conveying component. This realizes the automated operation of cutting off cable ties and automatic feeding of carton blanks, reduces labor costs and labor intensity, and improves production efficiency.

[0045] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A carton blank automatic feeding robot comprising a collaborative robot arm and a carton blank gripping device, characterized in that, The carton blank grabbing device comprises a supporting assembly, a clamping assembly and a thread clamping and cutting assembly, the supporting assembly is connected to the end of the cooperative mechanical arm, the clamping assembly comprises a first clamping jaw and a second clamping jaw which are movably connected to the supporting assembly, the thread clamping and cutting assembly is connected to the side of the first clamping jaw away from the second clamping jaw; The thread clamping and cutting assembly comprises a supporting plate, a lifting driving mechanism, a guide mechanism, a first sensor, a cutter mounting plate, a thread clamping plate and a thread cutting cutter, the supporting plate is connected to the first clamping jaw, the lifting driving mechanism is connected to the upper end of the supporting plate, the guide mechanism is connected to the lower end of the supporting plate, the first sensor is connected to the supporting plate, the cutter mounting plate and the thread clamping plate are respectively located on the side of the guide mechanism, the upper end of the cutter mounting plate is connected to the output end of the lifting driving mechanism, the thread cutting cutter is assembled at the lower end of the cutter mounting plate, and the thread clamping plate is connected to the cutter mounting plate through an elastic mechanism. The guide mechanism comprises a longitudinal guide plate and a transverse guide plate, the upper end of the longitudinal guide plate is connected to the supporting plate, the transverse guide plate is connected to the lower end of the longitudinal guide plate and extends below the thread clamping plate and the thread cutting cutter, the transverse guide plate is in a wedge-shaped structure, a thread clamping part is formed on the transverse guide plate corresponding to the position of the thread clamping plate, and a thread cutting groove is formed on the transverse guide plate corresponding to the position of the thread cutting cutter.

2. The carton blank automatic feeding robot of claim 1, wherein, The elastic mechanism comprises a connecting plate, a guide column and a spring, the connecting plate is fixedly connected to the cutter mounting plate, a through hole is formed in the connecting plate, the guide column is movably arranged in the through hole, the first end of the guide column is connected to the top surface of the thread clamping plate, the second end of the guide column is provided with a stop part, and the spring is sleeved on the guide column and connected between the top surface of the thread clamping plate and the connecting plate.

3. The carton blank automatic feeding robot of claim 1, wherein, The bottom surface of the thread clamping plate is formed as an inclined surface matched with the upper surface of the thread clamping part.

4. The carton blank automatic feeding robot of claim 1, wherein, A guide groove extending in the longitudinal direction is formed in the longitudinal guide plate, and the cutter mounting plate is slidably connected to the guide groove.

5. The carton blank automatic feeding robot of claim 1, wherein, A surrounding part is connected to the upper end of the transverse guide plate, and the lower ends of the thread clamping plate and the thread cutting cutter are arranged in the surrounding part.

6. The carton blank automatic feeding robot of claim 1, wherein, Guide wheels are respectively arranged at the opposite sides of the lower end of the longitudinal guide plate.

7. The carton blank automatic feeding robot according to any one of claims 1-6, characterized in that, The first clamping jaw is fixedly connected to the first end of the supporting assembly, the second clamping jaw is movably connected to the second end of the supporting assembly through a transverse driving mechanism, and the transverse driving mechanism is configured to drive the second clamping jaw to move relative to the first clamping jaw.

8. The carton blank automatic feeding robot of claim 1, wherein, The carton blank grabbing device further comprises a visual positioning assembly and a second sensor, and the visual positioning assembly and the second sensor are respectively connected to the supporting assembly and located between the first clamping jaw and the second clamping jaw.

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