Carton boxing structure

Abstract

The utility model discloses a carton boxing structure which comprises a machine frame, a carton conveying mechanism, a carton clamping mechanical arm, a mechanical arm displacement driving mechanism, a lifting frame, a lifting driving mechanism and an opening stabilizing mechanism, the lifting driving mechanism is installed on the machine frame, the lifting frame is movably installed on the machine frame, and the opening stabilizing mechanism is installed on the lifting frame. The carton conveying mechanism is composed of a carton input section, a connecting conveying section and a carton output section, the rear end of the carton input section is connected with the front end of the carton output section through the connecting conveying section, and a U-shaped conveying channel is defined by the carton input section, the connecting conveying section and the carton output section in sequence. The conveying direction of the carton input section and the conveying direction of the carton output section are both perpendicular to the conveying direction of the connecting conveying section, and the opening stabilizing mechanism is located above the connecting conveying section and corresponds to the rear end of the connecting conveying section. The carton boxing structure is small in occupied space, the opening of the carton can be stably kept in a completely-opened state, and the boxing efficiency of carton stacks is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of paper product collection and sorting equipment, and in particular to a paper box packing structure. Background Technology

[0002] In the automated production process of paper boxes in the packaging and printing industry, after the paper boxes are formed by the gluing machine, they need to be counted and oriented by the box feeding and counting mechanism, and the set number of paper boxes are stacked vertically to form a paper box stack, so that the subsequent handling, packing or palletizing processes can be completed by the robot.

[0003] The current paper box packing structure is disclosed in a utility model patent with authorization announcement number CN211664374U, dated October 13, 2020, which discloses a paper product receiving container device. This device includes a frame, a counting sensor, a stacking device, a paper strip pad, a suction head displacement drive mechanism, a paper strip suction mechanism, a robotic arm body, and two paper product conveying synchronous belts, as well as a robotic arm displacement drive mechanism for driving the robotic arm body to lift, rotate, and translate. The robotic arm displacement drive mechanism moves the robotic arm body above the paper product column. The first and second pressure plates gently press down on the upper end of the paper product column to fix it, while the first and second bottom support plates fold inward to support the lower end of the paper product column. The clamping drive mechanism drives the grippers to clamp the paper product column. The robotic arm moves the paper product column to the collection frame through lifting, rotating, and translating, and then releases the grippers to complete the placement.

[0004] In the packing process, the opening of a carton to be filled typically has two pairs of oppositely arranged cover plates; when the carton is closed, the two pairs of cover plates work together to seal the opening. In the aforementioned paper product receiving container, the two pairs of cover plates need to be folded outwards sequentially during packing. However, due to the elastic restoring inertia of the cardboard creases, the folded cover plates easily spring back inwards and retract, preventing the carton opening from remaining fully open and leaving it only semi-closed. This semi-closed opening directly hinders the smooth and efficient loading of cardboard stacks into cartons, reducing the smoothness and efficiency of the packing operation and making it difficult to adapt to the continuous operation requirements of automated production lines. Furthermore, the paper product conveyor uses a linear synchronous belt channel running forward and backward, which occupies a large area and has poor adaptability to workshop production layouts, hindering the compact design of automated production lines. Utility Model Content

[0005] The problem to be solved by this utility model is to provide a cardboard box packing structure that occupies little space, can keep the cardboard box opening stable and fully open, and improve the packing efficiency of cardboard box stacks.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A cardboard box packing structure includes a frame, a carton conveying mechanism, a paper-clamping robot, and a robot displacement drive mechanism for driving the paper-clamping robot to lift, rotate, and translate. The carton conveying mechanism and the robot displacement drive mechanism are both mounted on the frame. The paper-clamping robot is mounted on the power output end of the robot displacement drive mechanism and is positioned above the carton conveying mechanism. The structure is characterized by further including a lifting frame and a lifting drive mechanism capable of driving the lifting frame to move up and down, as well as an opening and stabilizing mechanism capable of opening the carton opening. The lifting drive mechanism is mounted on... On the frame, a lifting frame is movably mounted on the frame, and a spreading and stabilizing mechanism is mounted on the lifting frame; the carton conveying mechanism consists of a carton input section, a connecting conveying section, and a carton output section. The rear end of the carton input section is connected to the front end of the carton output section through the connecting conveying section, and the carton input section, the connecting conveying section, and the carton output section sequentially form a U-shaped conveying channel. The conveying direction of the carton input section and the conveying direction of the carton output section are both perpendicular to the conveying direction of the connecting conveying section. The spreading and stabilizing mechanism is located above the connecting conveying section and corresponds to the rear end of the connecting conveying section.

[0008] Before starting work, the lifting drive mechanism drives the lifting frame and opens the stabilizing mechanism to move upward, leaving enough space below the lifting frame to place the cardboard boxes.

[0009] During operation, the empty cardboard box is placed with its opening facing upwards at the feed end of the carton input section, with all four lids folded outwards to a semi-open state. After reaching the rear end of the input section, the box enters the connecting conveyor section (the turning section of the U-shaped conveyor channel). Because the conveying direction of the connecting conveyor section is perpendicular to the input section, the box undergoes a 90° turn and moves along the connecting conveyor section towards the opening work station (rear end). When the box reaches the rear end of the connecting conveyor section (directly below the opening and stabilizing mechanism), it is positioned below the lifting frame. The lifting drive mechanism drives the lifting frame and the opening and stabilizing mechanism downwards, thus moving the support... The stabilizing mechanism extends downwards between the four cover plates of the carton opening, causing the stabilizing mechanism to push the four cover plates outwards, overcoming their springback inertia and stabilizing the carton opening in a fully open state. Next, a paper-clamping robot picks up the stack of cartons to be packed, and through lifting, rotating, and translating movements, places the stack of cartons into the opened carton to complete the packing. After packing is complete, the stabilizing mechanism retracts and resets, and the lifting drive mechanism drives the lifting frame and the stabilizing mechanism upwards to reset, causing the stabilizing mechanism to exit the carton opening. The carton is then transported from the carton output section to the next process, such as sealing and stacking. Simultaneously, the next empty carton begins to be transported from the carton input section, entering a new cycle, achieving continuous automated packing.

[0010] In a preferred embodiment, the opening and stabilizing mechanism includes four opening mechanisms and two opening and closing adjustment mechanisms. The lifting frame is a rectangular frame, and the two opening and closing adjustment mechanisms are both mounted on the rectangular frame. Two of the opening mechanisms are arranged side by side on the rectangular frame along its length, and one of the opening and closing adjustment mechanisms simultaneously drives the two opening mechanisms to move closer or further apart. The other two opening mechanisms are arranged side by side on the rectangular frame along its width, and the other opening and closing adjustment mechanism simultaneously drives the two opening mechanisms to move closer or further apart. The four opening mechanisms are located below the lifting frame, and the four opening mechanisms together form an opening operation area adapted to the opening of the carton.

[0011] Before operation, the lifting drive mechanism drives the rectangular frame to move upward, leaving enough space below the rectangular frame to place the carton. At the same time, two opening and closing adjustment mechanisms drive the corresponding opening mechanisms to be in a retracted state (moving relatively close), so that the opening working area enclosed by the four opening mechanisms is smaller than the opening size of the carton.

[0012] During operation, the carton is conveyed to the bottom of the rectangular frame. The lifting drive mechanism drives the rectangular frame downward, causing four opening mechanisms to extend downward between the four cover plates of the carton opening. Then, one opening and closing adjustment mechanism drives two opening mechanisms along the length direction to move outward, pressing against and opening one pair of cover plates of the carton. Simultaneously, another opening and closing adjustment mechanism drives two opening mechanisms along the width direction to move outward, pressing against and opening the other pair of cover plates of the carton. At this time, the four opening mechanisms simultaneously extend outward in four directions (length and width), overcoming the springback inertia of the four cover plates and keeping the carton opening stably in a fully open state. After the carton is packed, the two opening and closing adjustment mechanisms drive the corresponding two opening mechanisms to retract and reset, and the lifting drive mechanism drives the rectangular frame upward to reset, causing the four opening mechanisms to exit the carton opening and enter the next cycle.

[0013] In a further preferred embodiment, the opening and closing adjustment mechanism includes two first linear guides, two pairs of first sliders, two moving crossbars, a first servo motor, a first driving wheel, a first driven wheel, and a first synchronous belt. The two first linear guides are respectively mounted on opposite sides of the rectangular frame. Each pair of first sliders is mounted on a corresponding first linear guide and can move along that guide. The two ends of the moving crossbars are respectively mounted on the corresponding two first sliders. The opening mechanisms are respectively mounted on the corresponding moving crossbars. The first servo motor is mounted on the rectangular frame. The first driving wheel and the first driven wheel are rotatably mounted on the rectangular frame. The first synchronous belt is tensioned outside the first driving wheel and the first driven wheel. The first synchronous belt has a forward section and a return section. One of the first sliders in each pair is connected to the forward section and the return section of the first synchronous belt, respectively. The first driving wheel is connected to the power output shaft of the first servo motor. The first servo motor drives the first driving wheel to rotate, which in turn drives the two pairs of first sliders to move synchronously in opposite directions via the first synchronous belt, causing the two opening mechanisms to move closer or further away from each other along the first linear guides.

[0014] In a further preferred embodiment, another opening and closing adjustment mechanism includes two first linear guides, a pair of first sliders, a moving crossbar, an adjusting crossbar, an adjusting cylinder, a first servo motor, a first driving wheel, a first driven wheel, and a first synchronous belt. The two first linear guides are respectively installed on two opposite sides of the rectangular frame. The pair of first sliders are respectively installed on the corresponding first linear guides and can move on them. The two ends of the moving crossbar are respectively installed on the two corresponding first sliders. The adjusting crossbar is installed on the lifting frame and parallel to the moving crossbar. The adjusting cylinder is installed on the adjusting crossbar, with its piston rod horizontally positioned and extending inwards. One of the opening mechanisms is installed on the end of the adjusting cylinder's piston rod, and the other opening mechanism is installed on the moving crossbar. The first servo motor is installed on the rectangular frame. The first driving wheel and the first driven wheel are rotatably installed on the rectangular frame. The first synchronous belt is tensioned outside the first driving wheel and the first driven wheel. One of the first sliders is connected to the first synchronous belt, and the first driving wheel is drive-connected to the power output shaft of the first servo motor. "Inwards" refers to facing the center of the opening operation area. Initially, the piston rod of the adjusting cylinder is in a retracted state, causing the corresponding opening mechanism and the other opposing opening mechanism to be in a state of separation. When the two opposing covers of the carton opening are to be opened, the piston rod of the adjusting cylinder extends inward, causing the corresponding opening mechanism to move inward. At the same time, the first servo motor drives the first drive wheel to rotate, which drives the first slider to move through the first synchronous belt, causing the moving crossbar and the opening mechanism on it to move inward, so that the two opening mechanisms move closer together.

[0015] In a further preferred embodiment, the opening mechanism includes baffles arranged vertically. The upper ends of three baffles are respectively mounted on the corresponding moving crossbars, and the upper end of the fourth baffle is mounted on the end of the piston rod of the adjusting cylinder. The baffles adopt a vertical flat plate structure, allowing them to fit snugly against the inner wall of the carton cover, increasing the opening contact area, ensuring even force distribution and stable opening of the cover, and preventing excessive local stress that could cause deformation or damage to the carton.

[0016] In a further preferred embodiment, the movable crossbar has a first strip-shaped hole extending along its length. The upper end of the baffle has a support block with at least one positioning through hole corresponding to the first strip-shaped hole. A first locking bolt is installed in the first strip-shaped hole, and a nut is provided on the shank of the first locking bolt. The shank of the first locking bolt passes through the positioning through hole and the first strip-shaped hole in sequence, and the head of the first locking bolt and the nut together clamp the support block and the movable crossbar. The adjusting crossbar has a second strip-shaped hole extending along its length. The cylinder body of the adjusting cylinder has a positioning screw hole corresponding to the second strip-shaped hole. A second locking bolt is installed in the positioning screw hole, and the shank of the second locking bolt passes through the second strip-shaped hole and the positioning screw hole in sequence. The head of the second locking bolt and the cylinder body of the adjusting cylinder together clamp the adjusting crossbar. The support block can move horizontally along the first strip hole on the moving crossbar to adjust the installation position of the baffle on the moving crossbar; the adjusting cylinder can move horizontally along the second strip hole on the adjusting crossbar to adjust the installation position of the adjusting cylinder on the adjusting crossbar, so that the four opening mechanisms can adapt to the openings of cartons of different sizes and specifications.

[0017] In a preferred embodiment, the carton conveying mechanism includes a conveyor frame, multiple rollers, and a rotation drive mechanism capable of driving each roller to rotate. The rotation drive mechanism is mounted on the conveyor frame, and each roller is rotatably mounted on the conveyor frame. A portion of the rollers are arranged along the conveying direction of the carton input section, a portion along the turning direction of the connecting conveyor section, and the remaining rollers are arranged along the conveying direction of the carton output section. The rollers experience rolling friction with the bottom of the carton, which is far less than the sliding friction of the synchronous belt.

[0018] In a further preferred embodiment, the rotation drive mechanism includes a drive motor, a reducer, multiple annular chains, and multiple transmission sprockets. The drive motor and the reducer are both mounted on the conveyor frame. The output shaft of the drive motor is connected to the rotating shaft of one of the rollers through the reducer. Each transmission sprocket is mounted on the end of the rotating shaft of the corresponding roller, and each annular chain is sleeved on two corresponding transmission sprockets.

[0019] In a further preferred embodiment, the rear end of the connecting conveyor section is provided with a first side-blocking mechanism that can move above each of the rollers, and the first side-blocking mechanism moves along the conveying direction of the connecting conveyor section; the front end of the carton output section is provided with a second side-blocking mechanism that can move above each of the rollers, and the second side-blocking mechanism moves along the conveying direction of the carton output section. The first side-blocking mechanism can limit the carton on the connecting conveyor section, and the second side-blocking mechanism can limit the carton on the carton output section, preventing the carton from shifting or tilting during U-shaped turns or conveying, ensuring that the carton is conveyed to the packing station. Before packing, the two side-blocking mechanisms can push the carton to a preset packing position, aligning it with the opening and stabilizing mechanism, eliminating the need for the paper clamping robot to adjust its position, thus improving packing efficiency.

[0020] In a further preferred embodiment, the first side-blocking mechanism includes a second linear guide rail, a second slider, a first side stop, a first side baffle, a second servo motor, a second driving wheel, a second driven wheel, and a second synchronous belt. The second linear guide rail is mounted on the conveyor frame and parallel to the conveying direction of the connecting conveyor section. The second slider is mounted on the second linear guide rail and can move on it. The first side stop is mounted on the second slider, and the first side baffle is mounted on the first side stop and positioned above each of the rollers. The second servo motor is mounted on the conveyor frame. The second driving wheel and the second driven wheel are rotatably mounted on the conveyor frame. The second synchronous belt is tensioned outside the second driving wheel and the second driven wheel. The first side stop is connected to the second synchronous belt, and the second driving wheel is connected to the power output shaft of the second servo motor. The second servo motor drives the second driving wheel to rotate, which in turn drives the first side stop and the first side baffle to move along the second linear guide rail via the second synchronous belt.

[0021] In a further preferred embodiment, the second side stop mechanism includes a third linear guide rail, a third slider, a second side stop seat, a lifting cylinder, a second side baffle, a third servo motor, a third driving wheel, a third driven wheel, and a third synchronous belt. The third linear guide rail is mounted on the conveyor frame and parallel to the conveying direction of the carton output section. The third slider is mounted on the third linear guide rail and can move on it. The second side stop seat is mounted on the third slider. The lifting cylinder is mounted on the second side stop seat, with the piston rod of the lifting cylinder extending downwards. The second side baffle is mounted on the end of the piston rod of the lifting cylinder. The third servo motor is mounted on the conveyor frame. The third driving wheel and the third driven wheel are rotatably mounted on the conveyor frame. The third synchronous belt is tensioned outside the third driving wheel and the third driven wheel. The second side stop seat is connected to the third synchronous belt. The third driving wheel is connected to the power output shaft of the third servo motor. The third servo motor drives the third driving wheel to rotate, which in turn drives the second side stop seat, the lifting cylinder, and the second side baffle to move along the third linear guide rail via the third synchronous belt. The lifting cylinder drives the second side baffle to move up and down at the front end of the carton output section: when the carton is transported to the packing station, the lifting cylinder drives the second side baffle to move upward until the second side baffle is above the carton output section, limiting one side of the carton; when the carton is stacked and the carton needs to be output, the lifting cylinder drives the second side baffle to move downward until the second side baffle is below the carton output section, completely avoiding the carton's conveying path and not affecting the normal conveying of subsequent cartons.

[0022] In a preferred embodiment, the lifting drive mechanism includes a lifting drive motor, a drive sprocket, a driven sprocket, a transmission chain, and a guide mechanism. The lifting drive motor is mounted on the top of the frame, the drive sprocket is mounted on the top of the frame, and the driven sprocket is mounted on the bottom of the frame. The drive sprocket and the driven sprocket together tension the transmission chain. The transmission chain has two vertically oriented straight segments. The lifting frame is connected to one of the straight segments of the transmission chain via the guide mechanism. The drive sprocket is connected to the lifting drive motor. Typically, the lifting mechanism includes two transmission chains. Two adjacent corners of the lifting frame are connected to one straight segment of each of the two transmission chains. The lifting drive motor drives the drive sprocket, driven sprocket, and transmission chain to move the lifting frame vertically. The lifting and lowering of the transmission chain with the assistance of the guide mechanism prevents the transmission chain from becoming non-parallel or skewed, ensuring smoother lifting and lowering of the lifting frame. Alternatively, the lifting drive mechanism can also employ a structure combining a motor, lead screw, guide rod, guide sleeve, nut, and guide mechanism, or a structure combining a motor, gear, rack, and guide mechanism.

[0023] In a further preferred embodiment, the guiding mechanism includes two fourth linear guides and two fourth sliders. The two fourth linear guides are vertically mounted on the frame, and the two fourth sliders are respectively mounted on the corresponding fourth linear guides and can move on the fourth linear guides. The two adjacent corners of the lifting frame are respectively mounted on the corresponding fourth sliders.

[0024] The aforementioned paper-clamping robot and its displacement drive mechanism are existing technologies and will not be described in detail here. The aforementioned paper-clamping robot and its displacement drive mechanism can adopt the specific structure disclosed in the utility model patent "A Paper Product Container Receiving Device" (authorization announcement number CN211664374U) or the specific structure disclosed in the utility model patent "A Fully Automatic Box Gluing Production Line" (authorization announcement number CN219114904U).

[0025] Compared with the prior art, this utility model has the following advantages:

[0026] (1) This utility model opens the four cover plates of the carton by opening the stabilizing mechanism, overcomes the inertia of creases, keeps the carton opening fully open, eliminates the interference of carton stacking, and improves packing efficiency and accuracy.

[0027] (2) The opening and stabilizing mechanism of this utility model is aligned with the rear end of the connecting conveyor section. When the carton stack is conveyed to the packing station, the carton opening has been stably opened, and the paper clamping robot can directly complete the packing. All actions are smoothly connected and adapted to the rhythm of the automated production line.

[0028] (3) The carton conveying mechanism of this utility model is a U-shaped conveying channel, which can reduce the floor space occupied by the conveying mechanism, adapt to the small production layout of the workshop, and facilitate compact connection with the preceding equipment such as the gluing machine and the box feeding counting mechanism, so as to realize the integrated design of the production line. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of a specific embodiment of the present utility model;

[0030] Figure 2 This is a schematic diagram of the structure of the cardboard box in the unfolding operation area according to a specific embodiment of this utility model;

[0031] Figure 3 This is a schematic diagram of the structure of the stabilizing mechanism according to a specific embodiment of this utility model;

[0032] Figure 4 yes Figure 3 A schematic diagram of the structure viewed from the left.

[0033] Figure 5 yes Figure 3 A structural diagram viewed from below;

[0034] Figure 6 This is a schematic diagram of the structure of the carton conveying mechanism according to a specific embodiment of this utility model;

[0035] Figure 7 This is a schematic diagram of the structure of the first side guard mechanism in a specific embodiment of this utility model. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1-7 As shown, the carton packing structure in this embodiment includes a frame 1, a carton conveying mechanism 2, a paper clamping robot 3, and a robot displacement driving mechanism 4 for driving the paper clamping robot 3 to lift, rotate, and translate. The carton conveying mechanism 2 and the robot displacement driving mechanism 4 are both mounted on the frame 1. The paper clamping robot 3 is mounted on the power output end of the robot displacement driving mechanism 4, and the paper clamping robot 3 is located above the carton conveying mechanism 2. This carton packing structure also includes a lifting frame 5 and a lifting drive mechanism 6 that can drive the lifting frame 5 to move up and down, as well as a spreading and stabilizing mechanism 7 that can open the carton opening. The lifting drive mechanism 6 is mounted on the frame 1, the lifting frame 5 is movably mounted on the frame 1, and the spreading and stabilizing mechanism 7 is mounted on the lifting frame 5. The carton conveying mechanism 2 consists of a carton input section 21, a connecting conveying section 22, and a carton output section 23. The rear end of the carton input section 21 is connected to the front end of the carton output section 23 through the connecting conveying section 22. The carton input section 21, the connecting conveying section 22, and the carton output section 23 sequentially form a U-shaped conveying channel 24. The conveying direction of the carton input section 21 and the conveying direction of the carton output section 23 are both perpendicular to the conveying direction of the connecting conveying section 22. The spreading and stabilizing mechanism 7 is located above the connecting conveying section 22 and corresponds to the rear end of the connecting conveying section 22.

[0038] Before operation, the lifting drive mechanism 6 drives the lifting frame 5 and the stabilizing mechanism 7 to move upward, leaving enough space below the lifting frame 5 to place the cardboard box.

[0039] During operation, an empty cardboard box is placed with its opening facing upwards at the feed end of the cardboard box input section 21. The four covers 81 of the cardboard box 8 are pre-folded outwards to a semi-open state. After the cardboard box reaches the rear end of the cardboard box input section 21, it enters the connecting conveyor section 22 (the turning section of the U-shaped conveyor channel 24). Since the conveying direction of the connecting conveyor section 22 is perpendicular to the input section, the cardboard box turns 90° and moves along the connecting conveyor section 22 towards the opening work station (rear end). When the cardboard box is conveyed to the rear end of the connecting conveyor section 22 (directly below the opening stabilizing mechanism 7), the cardboard box is below the lifting frame 5. The lifting drive mechanism 6 drives the lifting frame 5 and the opening stabilizing mechanism 7 to move downwards. The stabilizing mechanism 7 extends downwards between the four cover plates 81 of the carton opening, causing it to push the cover plates 81 outwards, overcoming their springback inertia and keeping the carton opening fully open. Next, the paper-clamping robot 3 picks up the stack of cartons to be packed and, through lifting, rotating, and translating movements, places the stack into the opened carton to complete the packing. After packing, the stabilizing mechanism 7 retracts and resets, and the lifting drive mechanism 6 drives the lifting frame 5 and the stabilizing mechanism 7 upwards to reset, causing the stabilizing mechanism 7 to exit the carton opening. The carton is then transported by the carton output section 23 to the next process, such as sealing and stacking. Simultaneously, the next empty carton begins to be transported from the carton input section 21, starting a new cycle and achieving continuous automated packing.

[0040] The opening and stabilizing mechanism 7 includes four opening mechanisms 71 and two opening and closing adjustment mechanisms 72. The lifting frame 5 is a rectangular frame 51. The two opening and closing adjustment mechanisms 72 are both installed on the rectangular frame 51. Two of the opening mechanisms 71 are arranged side by side on the rectangular frame 51 along the length direction, and one of the opening and closing adjustment mechanisms 72 simultaneously drives the two opening mechanisms 71 to move closer or further apart. The other two opening mechanisms 71 are arranged side by side on the rectangular frame 51 along the width direction, and the other opening and closing adjustment mechanism 72 simultaneously drives the two opening mechanisms 71 to move closer or further apart. The four opening mechanisms 71 are located below the lifting frame 5, and the four opening mechanisms 71 together form an opening operation area 73 that is adapted to the opening 82 of the carton 8.

[0041] Before operation, the lifting drive mechanism 6 drives the rectangular frame 51 to move upward, leaving enough space below the rectangular frame 51 to place the carton. At the same time, the two opening and closing adjustment mechanisms 72 drive the corresponding opening mechanism 71 to be in a retracted state (moving relatively close), so that the opening working area 73 enclosed by the four opening mechanisms 71 is smaller than the opening size of the carton.

[0042] During operation, the carton is conveyed to the area below the rectangular frame 51. The lifting drive mechanism 6 drives the rectangular frame 51 downward, causing the four opening mechanisms 71 to extend downward between the four cover plates 81 of the carton opening. Then, one opening and closing adjustment mechanism 72 drives two opening mechanisms 71 arranged along the length direction to move outward, pressing against and opening a pair of cover plates 81 of the carton. At the same time, another opening and closing adjustment mechanism 72 drives two opening mechanisms 71 arranged along the width direction to move outward, pressing against and opening another pair of cover plates 81 of the carton. At this time, the four opening mechanisms 71 simultaneously extend outward in four directions (length and width), overcoming the springback inertia of the four cover plates 81 and keeping the carton opening stably in a fully open state. After the carton is packed, the two opening and closing adjustment mechanisms 72 drive the corresponding two opening mechanisms 71 to retract and reset. The lifting drive mechanism 6 drives the rectangular frame 51 upward to reset, causing the four opening mechanisms 71 to exit the carton opening and enter the next cycle.

[0043] The opening and closing adjustment mechanism 72 includes two first linear guides 721, two pairs of first sliders 722, two moving crossbars 723, a first servo motor 724, a first driving wheel 725, a first driven wheel 726, and a first synchronous belt (not shown in the figure). The two first linear guides 721 are respectively installed on two opposite sides of the rectangular frame 51. Each pair of first sliders 722 is respectively installed on the corresponding first linear guide 721 and can move on the corresponding first linear guide 721. The two ends of the moving crossbars 723 are respectively installed on the corresponding two first sliders 722. Above, the spreading mechanism 71 is respectively mounted on the corresponding moving crossbar 723; the first servo motor 724 is mounted on the rectangular frame 51, and the first driving wheel 725 and the first driven wheel 726 are rotatably mounted on the rectangular frame 51. The first synchronous belt is tensioned outside the first driving wheel 725 and the first driven wheel 726. The first synchronous belt has a forward section and a return section. One of the first sliders 722 in each pair is connected to the forward section and the return section of the first synchronous belt, respectively. The first driving wheel 725 is driven by the power output shaft of the first servo motor 724. The first servo motor 724 drives the first driving wheel 725 to rotate, which drives the two pairs of first sliders 722 to move synchronously in opposite directions in a linear motion through the first synchronous belt, causing the two spreading mechanisms 71 to move closer or further away along the first linear guide rail 721.

[0044] Another opening and closing adjustment mechanism 72 includes two first linear guides 721, a pair of first sliders 722, a moving crossbar 723, an adjusting crossbar 727, an adjusting cylinder 728, a first servo motor 724, a first driving wheel 725, a first driven wheel 726, and a first synchronous belt. The two first linear guides 721 are respectively installed on the other two opposite sides of the rectangular frame 51. The pair of first sliders 722 are respectively installed on the corresponding first linear guides 721 and can move on the corresponding first linear guides 721. The two ends of the moving crossbar 723 are respectively installed on the corresponding two first sliders 722. The adjusting crossbar 727 is installed on the lifting frame and is parallel to the moving crossbar 723. Okay, the adjusting cylinder 728 is mounted on the adjusting crossbar 727. The piston rod of the adjusting cylinder 728 is horizontally positioned with its extension direction facing inward. One of the aforementioned spreading mechanisms 71 is mounted on the end of the piston rod of the adjusting cylinder 728, and the other spreading mechanism 71 is mounted on the moving crossbar 723. The first servo motor 724 is mounted on the rectangular frame 51. The first driving wheel 725 and the first driven wheel 726 are rotatably mounted on the rectangular frame 51. The first synchronous belt is tensioned outside the first driving wheel 725 and the first driven wheel 726. One of the first sliders 722 is connected to the first synchronous belt, and the first driving wheel 725 is drive-connected to the power output shaft of the first servo motor 724. The aforementioned "facing inward" refers to facing towards the center of the spreading working area. In the initial state, the piston rod of the adjusting cylinder 728 is in a retracted state, causing the corresponding spreading mechanism 71 and the other opposing spreading mechanism 71 to be in a state of mutual distance. When the two opposing covers of the carton opening are to be opened, the piston rod of the adjusting cylinder 728 extends inward, driving the corresponding opening mechanism 71 to move inward. At the same time, the first servo motor 724 drives the first drive wheel 725 to rotate, which drives the first slider 722 to move through the first synchronous belt, driving the moving crossbar 723 and the opening mechanism 71 on it to move inward, so that the two opening mechanisms 71 move closer together.

[0045] The opening mechanism 71 includes baffles 711, which are vertically arranged. The upper ends of three baffles 711 are respectively mounted on the corresponding moving crossbars 723, and the upper end of the fourth baffle 711 is mounted on the end of the piston rod of the adjusting cylinder 728. The baffles 711 adopt a vertical flat plate structure, which can fit in close contact with the inner wall of the carton cover, increasing the opening contact area, making the cover plate evenly stressed and stable when opening, and avoiding excessive local stress that could cause deformation or damage to the carton.

[0046] The movable crossbar 723 is provided with a first strip-shaped hole 7231 extending along the length of the movable crossbar 723. The upper end of the baffle 711 is provided with a support block 7111. The support block 7111 is provided with at least one positioning through hole 7112 corresponding to the first strip-shaped hole 7231. A first locking bolt 7232 is installed in the first strip-shaped hole 7231. A nut is provided on the shank of the first locking bolt 7232. The shank of the first locking bolt 7232 passes through the positioning through hole 7112 and the first strip-shaped hole 7231 in sequence. The head of the first locking bolt 7232... Together with the nut, the support block 7111 and the moving crossbar 723 are clamped; the adjusting crossbar 727 is provided with a second strip hole 7271 extending along the length direction of the adjusting crossbar 727; the cylinder body of the adjusting cylinder 728 is provided with a positioning screw hole corresponding to the second strip hole 7271; a second locking bolt 7272 is installed in the positioning screw hole; the rod of the second locking bolt 7272 passes through the second strip hole 7271 and the positioning screw hole in sequence; the head of the second locking bolt 7272 and the cylinder body of the adjusting cylinder 728 together clamp the adjusting crossbar 727. The support block 7111 can move horizontally along the first strip hole 7231 on the moving crossbar 723 to adjust the installation position of the baffle 711 on the moving crossbar 723; the adjusting cylinder 728 can move horizontally along the second strip hole 7271 on the adjusting crossbar 727 to adjust the installation position of the adjusting cylinder 728 on the adjusting crossbar 727, so that the four opening mechanisms 71 can be adapted to the openings of cartons of different sizes and specifications.

[0047] The carton conveying mechanism 2 includes a conveyor frame 25, multiple rollers 26, and a rotation drive mechanism 27 capable of driving each roller 26 to rotate. The rotation drive mechanism 27 is mounted on the conveyor frame 25. Each roller 26 is rotatably mounted on the conveyor frame 25. Some rollers 26 are arranged along the conveying direction of the carton input section 21, some rollers 26 are arranged along the turning direction of the connecting conveyor section 22, and the remaining rollers 26 are arranged along the conveying direction of the carton output section 23. The rollers 26 and the bottom of the carton experience rolling friction, which is much less than the sliding friction of the synchronous belt.

[0048] The rotation drive mechanism 27 includes a drive motor 271, a reducer 272, multiple annular chains, and multiple transmission sprockets. The drive motor 271 and the reducer 272 are both mounted on the conveyor frame 25. The output shaft of the drive motor 271 is connected to the rotating shaft of one of the rollers 26 through the reducer 272. Each transmission sprocket is mounted on the end of the rotating shaft of the corresponding roller 26, and each annular chain is sleeved on two corresponding transmission sprockets.

[0049] The rear end of the connecting conveyor section 22 is provided with a first side blocking mechanism 28 that can move above each of the rollers 26. The first side blocking mechanism 28 moves along the conveying direction of the connecting conveyor section 22. The front end of the carton output section 23 is provided with a second side blocking mechanism 29 that can move above each of the rollers 26. The second side blocking mechanism 29 moves along the conveying direction of the carton output section 23. The first side blocking mechanism 28 can limit the carton on the connecting conveyor section 22, and the second side blocking mechanism 29 can limit the carton on the carton output section 23, preventing the carton from shifting or tilting during U-shaped turns or conveying, and ensuring that the carton is conveyed to the packing station. Before packing, the two side blocking mechanisms can push the carton to the preset packing position and align it with the opening and stabilizing mechanism 7. The paper clamping robot 3 does not need to be adjusted in position, improving packing efficiency.

[0050] The first side-blocking mechanism 28 includes a second linear guide rail 281, a second slider 282, a first side-blocking seat 283, a first side-blocking plate 284, a second servo motor 285, a second driving wheel 286, a second driven wheel 287, and a second synchronous belt 288. The second linear guide rail 281 is mounted on the conveyor frame 25 and parallel to the conveying direction of the connecting conveyor section 22. The second slider 282 is mounted on the second linear guide rail 281 and can move on the second linear guide rail 281. The first side-blocking seat 283 is mounted on the second linear guide rail 285. On slider 282, a first side baffle 284 is mounted on a first side stop 283 and positioned above each roller 26; a second servo motor 285 is mounted on a conveyor frame 25; a second driving wheel 286 and a second driven wheel 287 are rotatably mounted on the conveyor frame 25; a second synchronous belt 288 is tensioned outside the second driving wheel 286 and the second driven wheel 287; the first side stop 283 is connected to the second synchronous belt 288; and the second driving wheel 286 is connected to the power output shaft of the second servo motor 285. The second servo motor 285 drives the second driving wheel 286 to rotate, which in turn drives the first side stop 283 and the first side baffle 284 to move along the second linear guide rail 281 via the second synchronous belt 288.

[0051] The second side stop mechanism 29 includes a third linear guide rail 291, a third slider, a second side stop 293, a lifting cylinder 294, a second side baffle 295, a third servo motor 296, a third drive wheel, a third driven wheel, and a third synchronous belt. The third linear guide rail 291 is mounted on the conveyor frame 25 and is parallel to the conveying direction of the carton output section 23. The third slider is mounted on the third linear guide rail 291 and can move on the third linear guide rail 291. The second side stop 293 is mounted on the third slider. The lifting cylinder... The lifting cylinder 294 is mounted on the second side stop 293. The piston rod of the lifting cylinder 294 extends downwards, and the second side baffle 295 is mounted on the end of the piston rod of the lifting cylinder 294. The third servo motor 296 is mounted on the conveyor frame 25. The third driving wheel and the third driven wheel are rotatably mounted on the conveyor frame 25. The third synchronous belt is tensioned outside the third driving wheel and the third driven wheel. The second side stop 293 is connected to the third synchronous belt, and the third driving wheel is connected to the power output shaft of the third servo motor 296. The third servo motor 296 drives the third driving wheel to rotate, which in turn drives the second side stop 293, the lifting cylinder 294, and the second side baffle 295 to move along the third linear guide 291 via the third synchronous belt. The lifting cylinder 294 drives the second side baffle 295 to move up and down at the front end of the carton output section 23: when the carton is transported to the packing station, the lifting cylinder 294 drives the second side baffle 295 to move upward until the second side baffle 295 is above the carton output section 23, limiting one side of the carton; when the carton is finished being packed and the carton needs to be output, the lifting cylinder 294 drives the second side baffle 295 to move downward until the second side baffle 295 is below the carton output section 23, completely avoiding the conveying path of the carton and not affecting the normal conveying of subsequent cartons.

[0052] The lifting drive mechanism 6 includes a lifting drive motor 61, a drive sprocket, a driven sprocket, a transmission chain, and a guide mechanism 62. The lifting drive motor 61 is mounted on the top of the frame 1, the drive sprocket is mounted on the top of the frame 1, and the driven sprocket is mounted on the bottom of the frame 1. The drive sprocket and the driven sprocket together tension the transmission chain. The transmission chain has two straight segments running vertically. The lifting frame 5 is connected to one straight segment of the transmission chain through the guide mechanism 62. The drive sprocket is connected to the lifting drive motor 61. Typically, the above-mentioned lifting mechanism includes two transmission chains. The two adjacent corners of the lifting frame 5 are respectively connected to one straight segment of each of the two transmission chains. The lifting drive motor 61 drives the drive sprocket, the driven sprocket, and the transmission chain to move the lifting frame 5 vertically. With the cooperation of the guide mechanism 62, the lifting of the transmission chain can avoid non-parallelism or skewness, ensuring that the lifting frame 5 lifts and lowers more smoothly.

[0053] The guiding mechanism 62 includes two fourth linear guide rails 621 and two fourth sliders 622. The two fourth linear guide rails 621 are both vertically mounted on the frame 1. The two fourth sliders 622 are respectively mounted on the corresponding fourth linear guide rails 621 and can move on the fourth linear guide rails 621. The two adjacent corners of the lifting frame 5 are respectively mounted on the corresponding fourth sliders 622.

[0054] Furthermore, it should be noted that the names of the various parts of the specific embodiments described in this specification may differ. All equivalent or simple variations made to the structure, features, and principles described in this utility model patent concept are included within the protection scope of this utility model patent. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the structure of this utility model or exceed the scope defined in these claims, they should all fall within the protection scope of this utility model.

Claims

1. A cartoning structure of a cartoning machine, comprising a machine frame, a carton conveying mechanism, a carton clamping manipulator and a manipulator displacement driving mechanism for driving the carton clamping manipulator to lift, rotate and translate, the carton conveying mechanism and the manipulator displacement driving mechanism are both mounted on the machine frame, the carton clamping manipulator is mounted on a power output end of the manipulator displacement driving mechanism and is above the carton conveying mechanism; characterized in that: The lifting frame, the lifting driving mechanism capable of driving the lifting frame to move up and down, and the opening stabilizing mechanism capable of opening the carton opening are also included, the lifting driving mechanism is installed on the frame, the lifting frame is movably installed on the frame, and the opening stabilizing mechanism is installed on the lifting frame; the carton conveying mechanism is composed of a carton input section, a connecting conveying section and a carton output section, the rear end of the carton input section is connected with the front end of the carton output section through the connecting conveying section, and the carton input section, the connecting conveying section and the carton output section form a U-shaped conveying channel in sequence, the conveying direction of the carton input section and the conveying direction of the carton output section are both perpendicular to the conveying direction of the connecting conveying section, and the opening stabilizing mechanism is above the connecting conveying section and corresponds to the rear end of the connecting conveying section. ​ 2. The carton according to claim 1 wherein: The opening stabilizing mechanism includes four opening mechanisms and two opening and closing adjusting mechanisms, the lifting frame is a rectangular frame, the two opening and closing adjusting mechanisms are both installed on the rectangular frame, two of the opening mechanisms are arranged side by side on the rectangular frame along the length direction of the rectangular frame and are simultaneously driven by one of the opening and closing adjusting mechanisms to move relatively close to or away from each other, and the other two opening mechanisms are arranged side by side on the rectangular frame along the width direction of the rectangular frame and are simultaneously driven by the other opening and closing adjusting mechanism to move relatively close to or away from each other. The four opening mechanisms are below the lifting frame, and an opening operation area adapted to the carton opening is formed between the four opening mechanisms.

3. The carton of claim 2 wherein: The opening and closing adjusting mechanism includes two first linear guides, two pairs of first sliders, two moving cross bars, a first servo motor, a first driving wheel, a first driven wheel and a first synchronous belt, the two first linear guides are respectively installed on two opposite edges of the rectangular frame, each pair of first sliders is installed on and can move on the corresponding first linear guide, the two ends of the moving cross bar are respectively installed on the corresponding two first sliders, and the opening mechanism is installed on the corresponding moving cross bar; the first servo motor is installed on the rectangular frame, the first driving wheel and the first driven wheel are rotatably installed on the rectangular frame, the first synchronous belt is tensioned outside the first driving wheel and the first driven wheel, the first synchronous belt has a forward section and a return section, one of each pair of first sliders is connected with the forward section and the return section of the first synchronous belt respectively, and the first driving wheel is in transmission connection with the power output shaft of the first servo motor.

4. The carton of claim 3 wherein: Another said opening and closing adjusting mechanism includes two first linear guides, a pair of first sliders, a moving cross bar, an adjusting cross bar, an adjusting cylinder, a first servo motor, a first driving wheel, a first driven wheel and a first synchronous belt, the two first linear guides are respectively mounted on the other two opposite sides of the rectangular frame, the pair of first sliders are respectively mounted on and movable on the corresponding first linear guides, the two ends of the moving cross bar are respectively mounted on the corresponding two first sliders, the adjusting cross bar is mounted on the lifting frame and parallel to the moving cross bar, the adjusting cylinder is mounted on the adjusting cross bar, the piston rod of the adjusting cylinder is horizontally arranged and arranged inwardly, one said strutting open mechanism is mounted on the end of the piston rod of the adjusting cylinder, and the other said strutting open mechanism is mounted on the moving cross bar; the first servo motor is mounted on the rectangular frame, the first driving wheel and the first driven wheel are rotatably mounted on the rectangular frame, the first synchronous belt is tensioned outside the first driving wheel and the first driven wheel, one of the first sliders is connected with the first synchronous belt, and the first driving wheel is in transmission connection with the power output shaft of the first servo motor.

5. The carton of claim 4 wherein: The said strutting open mechanism includes baffles, and the baffles are vertically arranged, wherein the upper ends of three baffles are respectively mounted on the corresponding moving cross bars, and the upper end of the fourth baffle is mounted on the end of the piston rod of the adjusting cylinder.

6. The carton of claim 5 wherein: The moving cross bar is provided with a first slot extending along the length direction of the moving cross bar, the upper end of the baffle is provided with a supporting block, the supporting block is provided with at least one positioning through hole corresponding to the first slot, a first locking bolt is mounted in the first slot, a nut is arranged on the rod part of the first locking bolt, the rod part of the first locking bolt passes through the positioning through hole and the first slot in sequence, and the head part of the first locking bolt and the nut clamp the supporting block and the moving cross bar together; the adjusting cross bar is provided with a second slot extending along the length direction of the adjusting cross bar, the cylinder body of the adjusting cylinder is provided with a positioning screw hole corresponding to the second slot, a second locking bolt is mounted in the positioning screw hole, the rod part of the second locking bolt passes through the second slot and the positioning screw hole in sequence, and the head part of the second locking bolt and the cylinder body of the adjusting cylinder clamp the adjusting cross bar together.

7. The carton of claim 1, wherein: The carton conveying mechanism includes a conveying frame, a plurality of rollers and a rotating driving mechanism capable of driving each roller to rotate, the rotating driving mechanism is mounted on the conveying frame, each roller is rotatably mounted on the conveying frame, a part of the rollers are arranged along the conveying direction of the carton input section, a part of the rollers are arranged along the turning direction of the connecting conveying section, and the remaining part of the rollers are arranged along the conveying direction of the carton output section.

8. The carton of claim 7 wherein: The rear end of the connecting conveying section is provided with a first side blocking mechanism movable above each said roller, and the first side blocking mechanism moves along the conveying direction of the connecting conveying section; the front end of the carton output section is provided with a second side blocking mechanism movable above each said roller, and the second side blocking mechanism moves along the conveying direction of the carton output section.

9. The carton packing structure of claim 8, wherein: The first side stop mechanism comprises a second linear guide rail, a second sliding block, a first side stop seat, a first side stop plate, a second servo motor, a second driving wheel, a second driven wheel and a second synchronous belt. The second linear guide rail is installed on the conveying frame and parallel to the conveying direction of the connecting conveying section. The second sliding block is installed on the second linear guide rail and can move on the second linear guide rail. The first side stop seat is installed on the second sliding block. The first side stop plate is installed on the first side stop seat and above each roller. The second servo motor is installed on the conveying frame. The second driving wheel and the second driven wheel are rotatably installed on the conveying frame. The second synchronous belt is tensioned outside the second driving wheel and the second driven wheel. The first side stop seat is connected with the second synchronous belt. The second driving wheel is in driving connection with the power output shaft of the second servo motor. The second side stop mechanism comprises a third linear guide rail, a third sliding block, a second side stop seat, a lifting cylinder, a second side stop plate, a third servo motor, a third driving wheel, a third driven wheel and a third synchronous belt. The third linear guide rail is installed on the conveying frame and parallel to the conveying direction of the carton output section. The third sliding block is installed on the third linear guide rail and can move on the third linear guide rail. The second side stop seat is installed on the third sliding block. The lifting cylinder is installed on the second side stop seat. The piston rod of the lifting cylinder is arranged downward. The second side stop plate is installed on the end of the piston rod of the lifting cylinder. The third servo motor is installed on the conveying frame. The third driving wheel and the third driven wheel are rotatably installed on the conveying frame. The third synchronous belt is tensioned outside the third driving wheel and the third driven wheel. The second side stop seat is connected with the third synchronous belt. The third driving wheel is in driving connection with the power output shaft of the third servo motor.

10. The carton packing structure of claim 1, wherein: The lifting driving mechanism comprises a lifting driving motor, a driving sprocket, a driven sprocket, a transmission chain and a guide mechanism. The lifting driving motor is installed on the top of the frame. The driving sprocket is installed on the top of the frame. The driven sprocket is installed on the bottom of the frame. The driving sprocket and the driven sprocket jointly tension the transmission chain. The transmission chain has two straight sections going up and down. The lifting frame is connected with one straight section of the transmission chain through the guide mechanism. The driving sprocket is in driving connection with the lifting driving motor. The guide mechanism comprises two fourth linear guide rails and two fourth sliding blocks. The two fourth linear guide rails are vertically installed on the frame. The two fourth sliding blocks are respectively installed on the corresponding fourth linear guide rails and can move on the fourth linear guide rails. The adjacent two corners of the lifting frame are respectively installed on the corresponding fourth sliding blocks.

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