Automatic counting, stacking and boxing machine

Abstract

The utility model discloses an automatic counting, stacking and boxing machine which comprises a machine frame, two annular conveying belts, a graded box feeding and counting mechanism, an ejection steering mechanism, a paper box stacking mechanism, a paper placing platform, a backing paper pre-wrapping mechanism, an opening stabilizing mechanism, a paper box conveying mechanism and a moving mechanism capable of driving the paper placing platform to move horizontally. The first paper clamping manipulator and the second paper clamping manipulator can lift, rotate and translate; the forward sections of the two annular conveying belts are correspondingly matched to form a vertical paper conveying channel for vertically standing and conveying paper boxes; the vertical paper conveying channel, the ejection steering mechanism, the paper box stacking mechanism, the moving mechanism, the backing paper pre-wrapping mechanism, the opening stabilizing mechanism and the paper box conveying mechanism are sequentially connected from front to back in the paper box conveying process and all installed on the machine frame. The first paper clamping mechanical arm and the second paper clamping mechanical arm are both installed on the machine frame.

Description

Technical Field

[0001] This utility model relates to the technical field of paper product collection and sorting equipment, and in particular to an automatic counting, stacking and packing machine. 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] Existing cardboard box stacking and packing methods suffer from numerous technical shortcomings: the paper sorting and counting process is prone to overlapping, miscounting, and undercounting due to cardboard box sticking or abnormal posture; the turning mechanism relies heavily on rigid guides, making cardboard boxes prone to jamming and tipping; the stacking process lacks multi-directional limiting, resulting in cardboard box stacks that are easily tilted and uneven; the pre-wrapping of the bottom paper relies heavily on manual operation, which is inefficient and inaccurate, and the middle cardboard boxes are prone to falling off when gripped by robotic arms; the carton opening cover is prone to springing back due to the inertia of creases, resulting in a semi-closed state that hinders packing; and the connection between various processes is disconnected, requiring manual intervention in the flow, which cannot adapt to the needs of high-speed continuous production. These problems lead to low overall production efficiency, high labor intensity, and unstable product qualification rates, making it difficult to meet the industry's needs for large-scale and automated production. Utility Model Content

[0004] The problem to be solved by this utility model is to provide an automatic counting and stacking carton packing machine. This automatic counting and stacking carton packing machine can count and separate paper, stack neatly, pre-wrap bottom paper to prevent the carton stack from falling, keep the carton opening stable and fully open, and improve the packing efficiency of the carton stack.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] An automatic counting and stacking case packing machine includes a frame and two annular conveyor belts. Each conveyor belt has a forward section running from front to back and a return section running from back to front. The forward sections of the two conveyor belts cooperate to form a vertical paper feeding channel for vertically conveying cartons. The machine is characterized by further including a graded carton feeding and counting mechanism, a push-out turning mechanism, a carton stacking mechanism, a paper feeding platform, a pre-wrapped bottom paper mechanism, a support and stabilizing mechanism, a carton conveying mechanism, and a moving mechanism capable of driving the paper feeding platform to move horizontally. It also includes a first paper-clamping robot and a second paper-clamping robot capable of lifting, rotating, and translating. The graded carton feeding and counting mechanism, the vertical paper feeding channel, the push-out turning mechanism, the carton stacking mechanism, the moving mechanism, the pre-wrapped bottom paper mechanism, the support and stabilizing mechanism, and the carton conveying mechanism are sequentially connected from front to back along the carton conveying flow and are all mounted on the frame. The first and second paper-clamping robots are both mounted on the frame.

[0007] The graded box feeding and counting mechanism is used to separate and count individual sheets of paper from each box.

[0008] The ejection and turning mechanism is used to turn each vertically standing cardboard box vertically and then transport it to the cardboard box stacking mechanism;

[0009] A cardboard box stacking mechanism is used to stack vertically standing cardboard boxes into neat stacks.

[0010] The paper feeding platform is used to move the entire stack of cardboard boxes back and forth between the cardboard box stacking mechanism and the pre-wrapped bottom paper mechanism;

[0011] The pre-wrapped bottom paper mechanism is used to place a strip of bottom paper on the paper-laying platform and fold the two ends of the strip of bottom paper to fit the two sides of the entire stack of paper boxes.

[0012] The opening stabilizing mechanism is used to simultaneously open the two pairs of cover plates of the carton opening, so that the carton opening is stably kept in a fully open state.

[0013] The carton conveying mechanism is used to convey the carton to the area below the opening and stabilizing mechanism, so that the opening of the carton corresponds to the opening and stabilizing mechanism;

[0014] The first paper-gripping robot is used to grip and transport stacks of cardboard boxes from the cardboard box stacking mechanism and place them on the paper-dispensing platform.

[0015] The second paper-gripping robot is used to pick up stacks of cardboard boxes from the paper-laying platform and transport them into the cardboard boxes.

[0016] The terms "front" and "back" are defined as follows: based on the time of paper box delivery, the side where the paper box arrives first is designated as "front," and the side where it arrives last is designated as "back." The aforementioned vertical paper feeding channel is perpendicular to the horizontal plane, allowing the paper boxes to be transported in a vertically upright position.

[0017] Initially, the graded box feeding and counting mechanism starts, separating stacked boxes into individual sheets to avoid overlapping or consecutive sheets, while simultaneously counting each box. The counted boxes enter a vertical paper conveying channel formed by two circular conveyor belts. Under the continuous clamping of the conveyor belts, the boxes change from a flat position to a vertical standing position and are smoothly conveyed backward. Then, the vertically standing boxes are conveyed to the rear end of the vertical paper conveying channel, where a push-out turning mechanism applies a lateral push-out force, breaking the inertial conveying direction of the boxes in the vertical paper conveying channel, causing the boxes to smoothly turn around the contact point and maintain a vertical posture as they are conveyed to the box stacking mechanism. Next, the boxes are gradually stacked in the box stacking mechanism to form a neat stack, stopping once a preset number is reached. Then, a moving mechanism drives the paper feeding platform to the pre-wrapped bottom paper mechanism, which automatically grabs a single strip of bottom paper and lays it on the paper feeding platform. The paper-feeding platform is then moved to the cardboard box stacking mechanism via a moving mechanism. The first paper-clamping robot is activated, which picks up the cardboard box stack from the stacking mechanism and transports it to the strip bottom paper on the paper-feeding platform. The ends of the strip bottom paper are then folded and attached to both sides of the cardboard box stack to prevent it from falling off. At the same time, the carton conveying mechanism transports the empty carton to the area directly below the opening and stabilizing mechanism. The opening and stabilizing mechanism is activated, simultaneously opening the two pairs of cover plates of the carton opening to overcome the springback inertia of the creases and keep the carton opening fully open. Finally, the second paper-clamping robot is activated, which picks up the cardboard box stack and, through lifting, rotating, translating, and lifting actions, precisely places the cardboard box stack into the opened carton. After the carton is packed, the opening and stabilizing mechanism retracts and resets, and the carton is conveyed to the next process via the carton conveying mechanism. All mechanisms reset simultaneously, and the cycle begins again.

[0018] In a preferred embodiment, the graded feeding and counting mechanism includes a paper feed conveyor belt, a doctor blade, a pressure roller, a visual counter, and an elastic adjustment mechanism capable of adjusting the pressure of the pressure roller. The paper feed conveyor belt is mounted on the frame and corresponds to the front end of the vertical paper feeding channel. The paper feed conveyor belt has a forward section running from front to back and a return section running from back to front, with the forward section of the paper feed conveyor belt located above its return section. The doctor blade and the elastic adjustment mechanism are sequentially mounted on the frame from front to back. The lower edge of the doctor blade is the doctor blade edge, which is located above the forward section of the paper feed conveyor belt, and a paper passage gap for only a single sheet of paper can pass through is provided between the doctor blade edge and the forward section of the paper feed conveyor belt. The pressure roller is rotatably mounted on the power output end of the elastic adjustment mechanism, and the pressure roller is in contact with the forward section of the paper feed conveyor belt. The visual counter is mounted on the frame and located on one side of the front end of the vertical paper feeding channel, with the visual counter facing the front end of the vertical paper feeding channel.

[0019] The workflow for box delivery and counting is as follows:

[0020] First-level paper separation and flow restriction: Each cardboard box is stacked flat in a cardboard box stack and placed in the paper output mechanism. The paper output mechanism then gradually conveys the bottom cardboard box of the stack to the upper paper conveyor belt in a fish-scale pattern (the next cardboard box is partially stacked on top of the previous cardboard box) from front to back. The forward section of the upper paper conveyor belt continues to convey each cardboard box to the area below the scraper blade. Because a paper passage gap is reserved between the scraper blade and the forward section, allowing only a single cardboard box to pass through, when multiple overlapping and stuck cardboard boxes pass through this paper passage gap, the excess cardboard boxes on the upper layer behind are intercepted and peeled off by the scraper blade, allowing only single cardboard boxes to pass through in sequence. This can prevent duplicate sheets and consecutive sheets from the source and complete the graded flow restriction of single cardboard boxes.

[0021] Secondary pressure and posture stabilization: As the paper conveyor belt continues to move backward, a single paper box enters between the pressure roller and the paper conveyor belt. The elastic adjustment mechanism provides an adjustable flexible clamping force to the pressure roller. The pressure roller passively rotates with the paper box, providing flexible clamping and constraint to the paper box, eliminating slippage, warping, and shifting of the paper box on the paper conveyor belt. This allows the paper box to be conveyed backward at a uniform speed, flatly, and in a close fit, completing the pressure and posture stabilization classification and adapting to paper boxes of different thicknesses.

[0022] Three-stage fixed-position clamping and feeding: The paper boxes, after being conveyed by pressure stabilization, enter the front end of the vertical paper feeding channel, where the vertical paper feeding channel clamps and feeds the paper boxes, gradually changing each paper box from a flat position to a vertical standing position in the vertical paper feeding channel.

[0023] Level 4 visual counting statistics: The visual counter faces the front end of the vertical paper feeding channel and performs real-time image acquisition, edge recognition, single sheet verification and quantity accumulation for each passing paper box, realizing non-contact accurate counting; the counting data can be linked to the subsequent stacking mechanism in real time, triggering the stacking switching action when the preset stacking quantity is reached, and completing the accurate counting and classification.

[0024] In a further preferred embodiment, the elastic adjustment mechanism includes an adjustment seat, a wheel seat, and a compression spring. The adjustment seat is mounted on the frame. The front end of the wheel seat is hinged to the front end of the adjustment seat via a pin. The compression spring is positioned between the rear end of the adjustment seat and the rear end of the wheel seat, with its upper end connected to the rear end of the adjustment seat and its lower end connected to the rear end of the wheel seat. The pressure roller is rotatably mounted on the rear end of the wheel seat. The elastic force of the compression spring provides a flexible clamping force to the pressure roller, avoiding damage to the cardboard box caused by rigid clamping. It is also adaptable to cardboard boxes of different thicknesses. When there is a slight deviation in the cardboard box thickness, the compression spring can adaptively extend and retract, ensuring that the pressure roller always remains in contact with the cardboard box surface and maintains a stable clamping force.

[0025] In a preferred embodiment, the ejection steering mechanism includes a paper receiving and conveying mechanism and an ejection guide roller. The paper receiving and conveying mechanism is mounted on the frame, and its front end is connected to the rear end of the vertical paper feeding channel. The ejection guide roller is rotatably mounted on the frame and located behind the rear end of the vertical paper feeding channel. The tangent direction of the roller surface of the ejection guide roller toward the front end of the paper receiving and conveying mechanism is located outside the rear end of the vertical paper feeding channel. The ejection guide roller is used to push the paper box at the rear end of the vertical paper feeding channel to the front end of the paper receiving and conveying mechanism. During operation, individual cardboard boxes, standing upright, are continuously conveyed along a vertical paper feeding channel perpendicular to the horizontal plane to the rear end of the channel by two circular conveyor belts. At this point, the rear edge of the cardboard box first contacts the roller surface of the ejector guide roller facing the front end of the receiving paper feeding mechanism. The ejector guide roller rotates synchronously, and the roller surface of the ejector guide roller facing the front end of the receiving paper feeding mechanism applies a lateral ejection force to the cardboard box towards the front end of the receiving paper feeding mechanism. This ejection force directly breaks the longitudinal conveying motion of the cardboard box along the vertical paper feeding channel. Under the action of the lateral ejection force, the cardboard box smoothly turns towards the front end of the receiving paper feeding mechanism around the contact point with the ejector guide roller. The continuous conveying by the two circular conveyor belts keeps the cardboard box in an upright posture at all times. Finally, the cardboard box is successfully pushed from the rear end of the vertical paper feeding channel to the front end of the receiving paper feeding mechanism, completing the entire ejection and turning process.

[0026] Typically, the aforementioned paper receiving and conveying mechanism includes a paper receiving conveyor belt. The conveying direction of the paper receiving conveyor belt is perpendicular to the conveying direction of the vertical paper conveying channel, and the rear end of the vertical paper conveying channel corresponds to the front end of the paper receiving conveyor mechanism. The paper receiving conveyor belt conveys backward, providing conveying power to the paper box after it has turned, achieving a smooth connection between the turning and subsequent conveying. The aforementioned paper receiving conveyor belt and the two aforementioned annular conveyor belts can all be driven by a conveying drive mechanism. The conveying drive mechanism generally includes a drive roller, a driven roller, and a drive motor capable of driving the drive roller to rotate. The drive motor is mounted on the frame, and both the drive roller and the driven roller can be rotatably mounted on the frame. The paper receiving conveyor belt and the two annular conveyor belts are respectively tensioned outside the corresponding drive roller and driven roller.

[0027] In a further preferred embodiment, the paper box stacking mechanism includes a front baffle, a middle push plate, a rear baffle, a first position adjustment mechanism capable of driving the front baffle to move horizontally and vertically, a second position adjustment mechanism capable of driving the middle push plate to move horizontally and vertically, and a third position adjustment mechanism capable of driving the rear baffle to move horizontally. The first, second, and third position adjustment mechanisms are sequentially installed on the frame from front to back along the conveying direction of the paper receiving and conveying mechanism. The front baffle is installed on the power output end of the first position adjustment mechanism, the middle push plate is installed on the power output end of the second position adjustment mechanism, and the rear baffle is installed on the power output end of the third position adjustment mechanism. The front baffle, middle push plate, and rear baffle are all located above the paper receiving and conveying mechanism. Furthermore, when the middle push plate is in its highest rising position, the lower edge of the middle push plate is higher than the upper edge of the rear baffle. When the front baffle is in its highest rising position, the lower edge of the front baffle is higher than the upper edge of the paper box.

[0028] Before the cartons are stacked, the first position adjustment mechanism drives the front baffle to move forward and horizontally above the front end of the paper receiving and conveying mechanism, and then lowers it so that the initial position of the front baffle is at its lowest position. The second position adjustment mechanism drives the middle push plate to move backward and horizontally to the middle of the paper receiving and conveying mechanism, and then raises it so that the initial position of the middle push plate is at its highest position. The third position adjustment mechanism drives the rear baffle to move forward and horizontally, so that the rear baffle first passes the lower edge of the middle push plate, and then the rear baffle is behind the front baffle, and there is a certain distance between the rear baffle and the front baffle, which is used to accommodate the carton stack.

[0029] As the upright cardboard boxes are conveyed to the paper receiving conveyor, they gradually stack into a pile due to the obstruction of the front baffle. The first position adjustment mechanism drives the front baffle to slowly move backward as the pile of boxes increases until it contacts the rear baffle. Then, the first position adjustment mechanism drives the front baffle to rise to its highest position and continues to drive it forward to move above the front end of the paper receiving conveyor. Simultaneously, the second position adjustment mechanism drives the middle push plate to move forward while maintaining its highest position, passing over the upper edge of the rear baffle. The rear baffle moves until it is behind the front baffle; the third position adjustment mechanism drives the rear baffle to slowly move backward as the number of cardboard box stacks increases; when the cardboard box stacks reach a certain number, the second position adjustment mechanism drives the middle push plate to descend to the lowest position, and the second position adjustment mechanism continues to drive the middle push plate to move backward to the front of the cardboard box stack, so that the middle push plate and the rear baffle together clamp the cardboard box stack, and the middle push plate and the rear baffle are simultaneously transported backward to the rear end of the paper receiving conveyor mechanism, waiting for the next process operation, that is, completing one round of cardboard box stacking.

[0030] When a new round of cardboard box stacking begins, the first position adjustment mechanism drives the front baffle to descend to its lowest position. Under the obstruction of the front baffle, the cardboard boxes gradually stack into a stack. At this time, the cardboard box stack from the previous round is picked up by the paper-retrieving robot. After the second position adjustment mechanism drives the middle push plate to rise to its highest position from the last position of the previous round, the third position adjustment mechanism drives the rear baffle to move forward horizontally, so that the rear baffle first passes the lower edge of the middle push plate, and then the rear baffle is behind the front baffle. The cardboard box stacking is repeated according to the above steps.

[0031] In a further preferred embodiment, both the first position adjustment mechanism and the second position adjustment mechanism include a first lateral translation mechanism and a first lifting mechanism. The first lateral translation mechanism is mounted on the frame and above the paper feeding mechanism. The first lifting mechanism is mounted on the power output end of the first lateral translation mechanism. The front baffle and the middle push plate are respectively mounted on the power output ends of their respective first lifting mechanisms. The first lateral translation mechanism drives the first lifting mechanism and its associated front baffle and middle push plate to move horizontally, and the corresponding first lifting mechanisms then drive the front baffle and middle push plate to move vertically.

[0032] In a further preferred embodiment, the first lateral translation mechanism includes a first slider, a first translation seat, a first servo motor, and a first gear. The frame is equipped with a first linear guide rail and a first rack. The first linear guide rail and the first rack are mounted parallel to each other on the frame and arranged horizontally. Two first sliders are sequentially mounted on the first linear guide rail from front to back and are both capable of moving on the first linear guide rail. Two first translation seats are respectively mounted on corresponding first sliders. Two first lifting mechanisms are respectively mounted on corresponding first translation seats. Two first servo motors are respectively mounted on corresponding first translation seats. Two first gears are respectively mounted on the power output shafts of corresponding first servo motors, and both first gears mesh with the first rack. The two first servo motors drive the two first translation seats, thereby driving the corresponding first lifting mechanisms, front baffle, and middle push plate to move horizontally along the same first linear guide rail.

[0033] In a further preferred embodiment, the first lifting mechanism includes a guide rail mounting base, a first lifting cylinder, a first lifting guide rail, a first lifting slider, and a first lifting seat. The guide rail mounting base is mounted on the first translational seat, the first lifting cylinder is mounted on the guide rail mounting base with its piston rod pointing downwards, the first lifting guide rail is mounted on the guide rail mounting base and parallel to the first lifting cylinder, the first lifting slider is mounted on the first lifting guide rail and can move along it, and the first lifting seat is mounted on the first lifting slider and connected to the end of the piston rod of the first lifting cylinder. The front baffle and the middle push plate are respectively mounted on their respective first lifting seats. The first lifting cylinder drives the first lifting seat to move up and down under the guidance of the first lifting guide rail, thereby driving the front baffle and the middle push plate to move up and down.

[0034] In a further preferred embodiment, the third position adjustment mechanism includes a second slider, a second translation seat, a second servo motor, and a second gear. The frame is equipped with a second linear guide rail and a second rack. The second linear guide rail and the second rack are mounted parallel to each other on the frame and arranged horizontally. The second slider is mounted on the second linear guide rail and can move along it. The second translation seat is mounted on the second slider, and the rear baffle is mounted on the second translation seat. The second servo motor is mounted on the second translation seat, and the second gear is mounted on the power output shaft of the second servo motor, meshing with the second rack. The second servo motor drives the second translation seat, causing the rear baffle to move horizontally along the second linear guide rail.

[0035] In a preferred embodiment, the pre-wrapped bottom paper mechanism includes a first adsorption mechanism, two folding clamps, and two second lifting mechanisms. The frame has a paper feeding station, and the paper feeding platform has a paper feeding station. The frame has a position switching mechanism that can drive the first adsorption mechanism to switch positions between the paper feeding station and the paper feeding station. The first adsorption mechanism is installed on the power output end of the position switching mechanism, and its adsorption direction is downward. The paper feeding platform has two vertically penetrating holes, which are aligned on the same straight line and form the paper feeding station. Both second lifting mechanisms are installed at the bottom of the paper feeding platform, with their power output ends facing upward. The two folding clamps are respectively installed on the power output ends of the corresponding second lifting mechanisms, and are positioned below the two holes and can move vertically within the corresponding holes.

[0036] Before use, place a stack of strips of bottom paper on the paper feeding station.

[0037] In use, the position switching mechanism drives the first adsorption mechanism to move to the paper feeding station and lowers it, allowing it to adsorb a single strip of bottom paper. Then, the position switching mechanism drives the first adsorption mechanism to rise, transferring the adsorbed strip of bottom paper to the paper feeding station on the paper feeding platform, ensuring the strip of bottom paper covers the two insertion holes. Next, the first paper clamping robot places the entire stack of cardboard boxes onto the middle of the strip of bottom paper. Finally, two second lifting mechanisms synchronously drive the folding edge clamps. The paper rises, causing the folding clamp to pass through the corresponding insertion hole on the paper feeding platform, pushing and bending both ends of the strip of bottom paper upwards so that the two ends of the strip of bottom paper adhere to both sides of the carton stack; the folding clamp remains in the pushing state until the two grippers of the second paper clamping robot insert downwards into the outer side of the two ends of the bottom paper, then the two second lifting mechanisms synchronously drive the folding clamp to descend below the corresponding insertion hole, and the two grippers of the second paper clamping robot clamp the two ends of the strip of bottom paper together with the carton stack; while the first adsorption mechanism returns to the paper feeding station, ready for the next round of pre-packaging.

[0038] In a further preferred embodiment, the first adsorption mechanism includes a nozzle mounting base and two vacuum nozzles. The nozzle mounting base is mounted on the power output end of the position switching mechanism, and the two vacuum nozzles are respectively mounted on both ends of the nozzle mounting base, with the two vacuum nozzles facing downwards.

[0039] In a further preferred embodiment, the paper-laying platform is also provided with at least one first through hole, located between the two insertion holes. A second adsorption mechanism is installed in the first through hole, with the adsorption direction of the second adsorption mechanism facing upwards. When the strip-shaped bottom paper is placed on the paper-laying platform, the second adsorption mechanism adsorbs upwards, firmly fixing the bottom paper on the paper-laying platform and preventing displacement. In a more preferred embodiment, the second adsorption mechanism is an exhaust fan, with the air inlet of the exhaust fan facing upwards.

[0040] In a further preferred embodiment, the second lifting mechanism includes a folding cylinder and a folding block. The cylinder body of the folding cylinder is installed on the bottom of the paper feeding platform, the piston rod of the folding cylinder is set upward, the folding block is installed on the end of the piston rod of the folding cylinder, and the folding clamp is installed on the folding block.

[0041] In a further preferred embodiment, the position switching mechanism includes a second lateral translation mechanism and a third lifting mechanism. The second lateral translation mechanism is mounted on the frame, and the third lifting mechanism is mounted on the power output end of the second lateral translation mechanism. The first suction mechanism is mounted on the power output end of the third lifting mechanism. The second lateral translation mechanism drives the third lifting mechanism and the first suction mechanism to switch positions between the paper feeding station and the paper discharging station. The second lateral translation mechanism drives the third lifting mechanism and the first suction mechanism thereon to move horizontally, and the corresponding third lifting mechanism drives the first suction mechanism to move up and down.

[0042] In a further preferred embodiment, the second lateral translation mechanism includes a third linear guide rail, a third slider, a third translation seat, 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 frame and located between the paper feeding station and the paper discharging station. The third slider is mounted on the third linear guide rail and can move along it. The third translation seat is mounted on the third slider, and the third lifting mechanism is mounted on the third translation seat. The third servo motor is mounted on the frame. The third driving wheel and the third driven wheel are rotatably mounted on the frame. The third synchronous belt is tensioned outside the third driving wheel and the third driven wheel. The third slider is connected to the third synchronous belt, and 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 third slider, the third translation seat, the third lifting mechanism, and the first suction mechanism to move horizontally along the third linear guide rail via the third synchronous belt.

[0043] In a further preferred embodiment, the third lifting mechanism includes a second lifting cylinder and a second lifting seat. The second lifting cylinder is mounted on the third translational seat, with its piston rod pointing downwards. The second lifting seat is mounted on the end of the piston rod of the second lifting cylinder, and the first adsorption mechanism is mounted on the second lifting seat. The second lifting cylinder drives the second lifting seat to move up and down, thereby driving the first adsorption mechanism to move up and down.

[0044] In a preferred embodiment, the opening and stabilizing mechanism includes a first lifting frame, four baffles, two opening and closing adjustment mechanisms, and a lifting drive mechanism capable of driving the first lifting frame to move up and down. The lifting drive mechanism is mounted on the frame, and the first lifting frame is movably mounted on the frame. The first lifting frame is a rectangular frame, and both opening and closing adjustment mechanisms are mounted on the rectangular frame. Two baffles 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 baffles to move closer or further apart. The other two baffles are arranged side by side on the rectangular frame along its width, and another opening and closing adjustment mechanism simultaneously drives the two baffles to move closer or further apart. All four baffles are vertically arranged and located below the first lifting frame, and the four baffles together form an opening operation area adapted to the opening of the carton.

[0045] Before starting work, 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, the two opening and closing adjustment mechanisms drive the corresponding baffles to be in a retracted state (moving relatively close), so that the open working area enclosed by the four baffles is smaller than the opening size of the carton.

[0046] During operation, the carton is conveyed to the bottom of the rectangular frame. The lifting drive mechanism drives the rectangular frame downward, causing four baffles to extend downward between the four cover plates of the carton opening. Then, one opening and closing adjustment mechanism drives two baffles 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 baffles along the width direction to move outward, pressing against and opening another pair of cover plates of the carton. At this time, the four baffles extend outward synchronously from the four directions of length and width, overcoming the springback inertia of the four cover plates and keeping the carton opening stably in the fully open state. After the carton is packed, the two opening and closing adjustment mechanisms drive the corresponding two baffles to retract and reset, and the lifting drive mechanism drives the rectangular frame upward to reset, causing the four baffles to exit the carton opening and enter the next cycle.

[0047] In a further preferred embodiment, the opening and closing adjustment mechanism includes two fourth linear guides, two pairs of fourth sliders, two moving crossbars, a fourth servo motor, a fourth driving wheel, a fourth driven wheel, and a fourth synchronous belt. The two fourth linear guides are respectively mounted on opposite sides of the rectangular frame. Each pair of fourth sliders is mounted on a corresponding fourth linear guide and can move along that guide. The two ends of the moving crossbar are respectively mounted on the corresponding two fourth sliders. The baffles are respectively mounted on the corresponding moving crossbars. The fourth servo motor is mounted on the rectangular frame. The fourth driving wheel and the fourth driven wheel are rotatably mounted on the rectangular frame. The fourth synchronous belt is tensioned outside the fourth driving wheel and the fourth driven wheel. The fourth synchronous belt has a forward section and a return section. One of the fourth sliders in each pair is connected to both the forward and return sections of the fourth synchronous belt. The fourth driving wheel is connected to the power output shaft of the fourth servo motor. The fourth servo motor drives the fourth driving wheel to rotate, which in turn drives the two pairs of fourth sliders to move synchronously in opposite directions via the fourth synchronous belt, causing the two baffles to move closer or further away along the fourth linear guides.

[0048] In a further preferred embodiment, another opening and closing adjustment mechanism includes two fourth linear guides, a pair of fourth sliders, a moving crossbar, an adjusting crossbar, an adjusting cylinder, a fourth servo motor, a fourth driving wheel, a fourth driven wheel, and a fourth synchronous belt. The two fourth linear guides are respectively installed on two opposite sides of the rectangular frame. The pair of fourth sliders are respectively installed on the corresponding fourth linear guides and can move on them. The two ends of the moving crossbar are respectively installed on the corresponding two fourth sliders. The adjusting crossbar is installed on the first 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 baffle is installed on the end of the piston rod of the adjusting cylinder, and the other baffle is installed on the moving crossbar. The fourth servo motor is installed on the rectangular frame. The fourth driving wheel and the fourth driven wheel are rotatably installed on the rectangular frame. The fourth synchronous belt is tensioned outside the fourth driving wheel and the fourth driven wheel. One of the fourth sliders is connected to the fourth synchronous belt, and the fourth driving wheel is connected to the power output shaft of the fourth servo motor. "Inwards" refers to facing towards the center of the opening operation area. Initially, the piston rod of the adjusting cylinder is in a retracted state, causing the corresponding baffle and the other opposing baffle to move away from each other. To open the two opposing baffles of the carton opening, the piston rod of the adjusting cylinder extends inward, causing the corresponding baffle to move inward. At the same time, the fourth servo motor drives the fourth drive wheel to rotate, which in turn drives the fourth slider to move via the fourth synchronous belt. This causes the moving crossbar and the baffle on it to move inward, bringing the two baffles closer together.

[0049] In a further 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 rectangular 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 above lifting mechanism includes two transmission chains. Two adjacent corners of the rectangular frame are connected to one straight segment of each of the two transmission chains. The lifting drive motor drives the drive sprocket, the driven sprocket, and the transmission chain to move the rectangular frame up and down. 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 rectangular frame. Of course, the specific structure of the above lifting drive mechanism can also adopt 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.

[0050] In a further preferred embodiment, the guiding mechanism includes two fifth linear guide rails and two fifth sliders. The two fifth linear guide rails are both vertically mounted on the frame, and the two fifth sliders are respectively mounted on the corresponding fifth linear guide rails and can move on the fifth linear guide rails. The two adjacent corners of the rectangular frame are respectively mounted on the corresponding fifth sliders.

[0051] In a preferred embodiment, the carton conveying mechanism comprises 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 via the connecting conveying section. The carton input section, connecting conveying section, and carton output section sequentially form a U-shaped conveying channel. The conveying directions of the carton input section and the carton output section are perpendicular to the conveying direction of the connecting conveying section. The stabilizing mechanism is positioned above the connecting conveying section and corresponds to its rear end. This U-shaped conveying channel design reduces the floor space required for the conveying mechanism, making it suitable for production layouts in confined spaces. During operation, an empty cardboard box is placed with its opening facing upwards at the infeed 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). Since 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 first lifting frame. The lifting drive mechanism drives the first lifting frame and the opening and stabilizing mechanism downwards, causing the opening and stabilizing mechanism to extend downwards. Between the four cover plates at the carton opening, the stabilizing mechanism pushes the four cover plates outward, overcoming their springback inertia and keeping the carton opening fully open. Next, the second paper-gripping robot clamps both ends of the strip bottom paper and the entire stack of cartons on the paper-laying platform. Through lifting, rotating, and translating operations, it places the strip bottom paper and the entire stack of cartons into the opened carton to complete the packing. After packing, the stabilizing mechanism retracts and resets. The lifting drive mechanism drives the first lifting frame and the stabilizing mechanism upward 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.

[0052] Typically, the aforementioned 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. Some rollers are arranged along the conveying direction of the carton input section, some rollers are arranged 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 aforementioned rotation drive mechanism includes a drive motor, a reducer, multiple annular chains, and multiple transmission sprockets. The drive motor and reducer are both mounted on the conveyor frame, and 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 respectively mounted on the end of the rotating shaft of the corresponding roller, and each annular chain is respectively sleeved on two corresponding transmission sprockets.

[0053] In a preferred embodiment, the automatic counting and stacking carton packing machine further includes a stacked carton flipping mechanism. This mechanism includes a second lifting frame, a flipping strip suction cup, two grippers, and a fourth lifting mechanism capable of driving the second lifting frame up and down. The second lifting frame is vertically movable and mounted on the machine frame. The paper feeding platform is located below the second lifting frame and can move horizontally below it. The flipping strip suction cup is rotatably mounted on the second lifting frame and is positioned above the paper feeding platform. The two grippers are movably mounted at both ends of the flipping strip suction cup. The flipping strip suction cup has a paper feeding adsorption surface for placing the stacked cartons. This surface has multiple air holes communicating with the inner cavity of the flipping strip suction cup. The paper feeding adsorption surface is located within the gripping area of ​​the two grippers. The second lifting frame has a flipping drive mechanism capable of driving the flipping strip suction cup to rotate 180°. The flipping strip suction cup has an opening and closing drive mechanism capable of driving the two grippers to open and close. According to customer requirements, the stacked cartons can be flipped 180° to adjust their orientation using the stacked carton flipping mechanism.

[0054] Before use, the paper feeding platform is first moved horizontally to directly below the second lifting frame by the moving mechanism; then the second lifting frame is moved upward by the fourth lifting mechanism, so that sufficient space is reserved between the flipping strip suction cup and the paper feeding platform below to allow the flipping strip suction cup to complete a 180° rotation, avoiding interference between the flipping strip suction cup, grippers and the paper feeding platform during the flipping process; next, the flipping drive mechanism drives the flipping strip suction cup to rotate, so that the paper feeding suction surface on the flipping strip suction cup faces upward, and the two grippers are also set upward synchronously with the flipping strip suction cup, ready to receive the paper box stack; finally, the flipping strip suction cup is connected to the external negative pressure supply device.

[0055] When it is necessary to flip the glued edge of a stack of cardboard boxes, the negative pressure supply device is first activated. The first paper-gripping robot arm smoothly places a neat stack of cardboard boxes onto the paper-feeding surface of the flipping strip suction cup, which then holds the stack in place. Next, the opening and closing drive mechanism drives the two jaws at both ends of the flipping strip suction cup to close synchronously, stably clamping the stack on the paper-feeding surface and fixing its position to prevent displacement or scattering during the flipping process. Then, the flipping drive mechanism drives the flipping strip suction cup to rotate precisely 180°, causing the jaws and the held stack of cardboard boxes to flip synchronously, adjusting the glued edge of the stack to the correct position. The preset upward or downward state means that the paper-feeding suction surface, the grippers, and the clamped cardboard stack are all facing downward. After the flipping is completed, the second lifting frame is driven downward by the fourth lifting mechanism, so that the two grippers on the flipping strip suction cup are close to the paper-feeding platform. Finally, the two grippers are driven to open synchronously by the opening and closing drive mechanism, releasing the gripping of the cardboard stack. At the same time, the negative pressure supply device is turned off, so that the paper-feeding suction surface of the flipping strip suction cup is released from negative pressure, releasing the suction of the entire stack of cardboard boxes. The flipped cardboard stack is then placed smoothly on the paper-feeding platform. The paper-feeding platform is then driven horizontally to another operating position by the moving mechanism, thus completing one round of cardboard stack flipping and conveying operation.

[0056] In a further preferred embodiment, the fourth lifting mechanism includes a sixth linear guide rail, a sixth slide groove, a sixth gear, a sixth rack, and a sixth servo motor. The sixth rack is mounted on the frame and is vertically oriented. The sixth linear guide rail is mounted on the second lifting frame and is vertically oriented. The sixth slide groove is mounted on the frame, and the sixth linear guide rail is located within and can move along the sixth slide groove. The sixth servo motor is mounted on the frame, and the sixth gear is mounted on the power output shaft of the sixth servo motor, meshing with the sixth rack. The sixth servo motor drives the second lifting frame to move the tilting drive mechanism, the tilting strip suction cup, the opening and closing drive mechanism, and the two grippers up and down on the sixth linear guide rail.

[0057] In a further preferred embodiment, the flipping drive mechanism includes a seventh servo motor, a hollow rotating platform, and bearings. Both the seventh servo motor and the hollow rotating platform are mounted on the second lifting frame. The power output shaft of the seventh servo motor is connected to the hollow rotating platform via a transmission connection. One end of the flipping strip suction cup is connected to the hollow rotating platform, and the other end of the flipping strip suction cup is rotatably mounted on the second lifting frame via a bearing. The aforementioned hollow rotating platform is a high-precision indexing rotating structure. The seventh servo motor drives the hollow rotating platform to rotate, thereby driving the flipping strip suction cup to rotate precisely 180°.

[0058] The aforementioned moving mechanism is existing technology and will not be described in detail here. The moving mechanism can employ a structure consisting of a motor, lead screw, guide rod, guide sleeve, and nut; it can also employ a structure consisting of a motor, gear, rack, guide rail, and slider; or it can employ a structure consisting of a motor, driving sprocket, driven sprocket, chain, guide rail, and slider.

[0059] The aforementioned first paper-clamping robot, second paper-clamping robot, and opening / closing drive mechanism are all existing technologies, and therefore will not be described in detail here. The aforementioned first paper-clamping robot and second paper-clamping robot can adopt the specific structure disclosed in the utility model patent "A Paper Product Container Receiving Device" with authorization announcement number CN211664374U, or the specific structure disclosed in the utility model patent "A Fully Automatic Box Gluing Production Line" with authorization announcement number CN219114904U.

[0060] Compared with the prior art, this utility model has the following advantages:

[0061] (1) Full-process automated connection: From paper counting, turning, stacking, pre-wrapping bottom paper to boxing, each mechanism is connected in sequence along the process, without the need for manual intervention, which greatly improves production efficiency and adapts to the rhythm of automated production line.

[0062] (2) Accurate counting and neat stacking: The graded box feeding and counting mechanism can avoid repeated conveying and achieve non-contact accurate counting; the paper box stacking mechanism ensures that the paper box stacks are neat and improves the subsequent packing accuracy.

[0063] (3) Preventing drop and smooth packing: The pre-wrapped bottom paper mechanism automatically completes the bottom paper laying and edge folding, solving the problem of the carton falling when the robot arm is holding it; the opening and stabilizing mechanism completely overcomes the rebound of the carton cover, keeping the opening fully open, avoiding packing interference and improving packing smoothness.

[0064] (4) Stable conveying posture: The vertical paper feeding channel and the top-out turning mechanism work together to ensure that the paper box maintains a vertical standing posture throughout the process, without the risk of jamming or tipping.

[0065] (5) High adaptability: It can be adapted to different sizes and specifications of paper boxes and cartons without the need for extensive adjustments to the equipment structure, reducing production changeover costs and meeting diverse production needs. Attached Figure Description

[0066] Figure 1 This is a structural schematic diagram of a specific embodiment of the present utility model;

[0067] Figure 2 yes Figure 1 Rear view;

[0068] Figure 3 This is a schematic diagram of the structure of the graded box feeding and counting mechanism according to a specific embodiment of this utility model;

[0069] Figure 4 This is a schematic diagram (left view) of the graded box feeding and counting mechanism of a specific embodiment of this utility model.

[0070] Figure 5 yes Figure 4 A cross-sectional schematic diagram;

[0071] Figure 6 This is a schematic diagram of the ejector steering mechanism according to a specific embodiment of this utility model;

[0072] Figure 7 This is a schematic diagram of the structure of the paper box stacking mechanism according to a specific embodiment of this utility model;

[0073] Figure 8 This is a schematic diagram showing the position of the cardboard box stacking mechanism in a specific embodiment of this utility model.

[0074] Figure 9 This is a schematic diagram of the structure of the paper feeding platform and the pre-wrapped bottom paper mechanism in a specific embodiment of this utility model;

[0075] Figure 10 This is a schematic diagram of the structure of the bottom of the paper-feeding platform according to a specific embodiment of this utility model;

[0076] Figure 11 This is a schematic diagram of the position switching mechanism according to a specific embodiment of the present invention;

[0077] Figure 12 This is a schematic diagram of the structure of the stabilizing mechanism according to a specific embodiment of this utility model;

[0078] Figure 13 This is a schematic diagram of the structure of the stabilizing mechanism according to a specific embodiment of the present invention (left view).

[0079] Figure 14 This is a schematic diagram of the structure of the carton conveying mechanism according to a specific embodiment of this utility model;

[0080] Figure 15 This is a schematic diagram of the structure of the stacked paper box flipping mechanism in a specific embodiment of this utility model. Detailed Implementation

[0081] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0082] like Figure 1-15As shown, the automatic counting and stacking case packing machine in this embodiment includes a frame 1, two annular conveyor belts 2, a graded box feeding and counting mechanism 3, an ejection and steering mechanism 4, a carton stacking mechanism 5, a paper feeding platform 7, a pre-wrapping bottom paper mechanism 8, a spreading and stabilizing mechanism 9, a carton conveying mechanism 10, and a moving mechanism 6 capable of driving the paper feeding platform 7 to move horizontally, as well as a first paper clamping robot 11 and a second paper clamping robot 12 capable of lifting, rotating, and translating; both annular conveyor belts 2 have a forward section running from front to back and a self-moving section running from front to back. The return section from back to front, the forward sections of the two circular conveyor belts 2 correspond to each other and form a vertical paper feeding channel 21 that can transport the carton vertically; the graded carton feeding and counting mechanism 3, the vertical paper feeding channel 21, the ejection and turning mechanism 4, the carton stacking mechanism 5, the moving mechanism 6, the pre-wrapping bottom paper mechanism 8, the opening and stabilizing mechanism 9, and the carton conveying mechanism 10 are connected sequentially from front to back along the carton conveying process and are all installed on the frame 1; the first paper clamping robot 11 and the second paper clamping robot 12 are both installed on the frame 1;

[0083] The graded box feeding and counting mechanism 3 is used to separate and count individual sheets of paper from each box.

[0084] The ejection and turning mechanism 4 is used to vertically turn each upright cardboard box and then transport it to the cardboard box stacking mechanism 5.

[0085] The cardboard box stacking mechanism 5 is used to stack the vertically standing cardboard boxes into a neat stack.

[0086] The paper feeding platform 7 is used to move the entire stack of paper boxes back and forth between the paper box stacking mechanism 5 and the pre-wrapped bottom paper mechanism 8;

[0087] The pre-wrapped bottom paper mechanism 8 is used to place a strip of bottom paper on the paper-laying platform 7 and fold the two ends of the strip of bottom paper to fit the two sides of the entire stack of paper boxes.

[0088] The stabilizing mechanism 9 is used to simultaneously open the two pairs of cover plates of the carton opening, so that the carton opening can be stably kept in a fully open state.

[0089] The carton conveying mechanism 10 is used to convey the carton to the area below the opening and stabilizing mechanism 9, so that the opening of the carton corresponds to the opening and stabilizing mechanism 9;

[0090] The first paper-gripping robot 11 is used to grip and transport the paper box stack from the paper box stacking mechanism 5 and place it on the paper-dispensing platform 7;

[0091] The second paper-gripping robot 12 is used to grip and transport stacks of cardboard boxes from the paper-laying platform 7 and place them into cardboard boxes.

[0092] The terms "front" and "back" are defined as follows: based on the time of paper box delivery, the side where the paper box arrives first is designated as "front," and the side where the paper box arrives last is designated as "back." The aforementioned vertical paper feeding channel 21 is perpendicular to the horizontal plane, allowing the paper box to be transported in a vertically upright position.

[0093] In the initial state, the graded box feeding and counting mechanism 3 is activated, separating the stacked boxes into individual sheets to avoid overlapping or continuous sheets, while simultaneously counting each box. The counted boxes enter the vertical paper feeding channel 21 formed by two circular conveyor belts 2. Under the continuous clamping of the circular conveyor belts 2, the boxes change from a flat position to a vertical standing position and are smoothly conveyed backward. Then, the vertically standing boxes are conveyed to the rear end of the vertical paper feeding channel 21, where the push-out turning mechanism 4 applies a lateral push-out force, breaking the inertial conveying direction of the boxes in the vertical paper feeding channel 21, causing the boxes to smoothly turn around the contact point and maintain a vertical posture as they are conveyed to the box stacking mechanism 5. Next, the boxes are gradually stacked in the box stacking mechanism 5 to form a neat stack, stopping once a preset number is reached. Then, the moving mechanism 6 drives the paper feeding platform 7 to move to the pre-wrapped bottom paper mechanism 8, where the pre-wrapped bottom paper mechanism 8 automatically grabs a single strip of bottom paper and lays it on the paper feeding platform 7, and then... The moving mechanism 6 drives the paper-laying platform 7 to move to the cardboard stacking mechanism 5, and activates the first paper-clamping robot 11. The first paper-clamping robot 11 picks up the cardboard stack from the cardboard stacking mechanism 5 and transports it to the strip bottom paper on the paper-laying platform 7. Then, the two ends of the strip bottom paper are folded and attached to the sides of the cardboard stack to complete the pre-packing to prevent it from falling. At the same time, the carton conveying mechanism 10 transports the empty carton to the underside of the opening and stabilizing mechanism 9. The opening and stabilizing mechanism 9 is activated and simultaneously opens the two pairs of cover plates of the carton opening to overcome the springback inertia of the creases and keep the carton opening fully open. Finally, the second paper-clamping robot 12 is activated and picks up the cardboard stack. Through lifting, rotating, translating and lifting actions, the cardboard stack is accurately placed into the opened carton. After the carton is packed, the opening and stabilizing mechanism 9 closes and resets. The carton is transported to the next process by the carton conveying mechanism 10. All mechanisms reset simultaneously and enter the next cycle.

[0094] The graded paper feeding and counting mechanism 3 includes a paper feed conveyor belt 31, a paper scraper 32, a pressure roller 33, a visual counter 34, and an elastic adjustment mechanism 35 that can adjust the pressure of the pressure roller 33. The paper feed conveyor belt 31 is mounted on the frame 1 and corresponds to the front end of the vertical paper feeding channel 21. The paper feed conveyor belt 31 has a forward section that runs from front to back and a return section that runs from back to front. The forward section of the paper feed conveyor belt 31 is located above its return section. The paper scraper 32 and the elastic adjustment mechanism 35 are arranged sequentially from front to back on the frame 1. The paper scraper 32... The lower edge of the paper feeder is a scraper blade 321, which is located above the forward section of the upper paper conveyor belt 31. A paper feeding gap 322, which allows only a single sheet of paper to pass through, is provided between the scraper blade 321 and the forward section of the upper paper conveyor belt 31. The pressure roller 33 is rotatably mounted on the power output end of the elastic adjustment mechanism 35 and is in contact with the forward section of the upper paper conveyor belt 31. The visual counter 34 is mounted on the frame 1 and is located on the front end of the vertical paper feeding channel 21, with the visual counter 34 facing the front end of the vertical paper feeding channel 21.

[0095] The workflow for box delivery and counting is as follows:

[0096] First-level paper separation and flow restriction: Each cardboard box is stacked flat in a cardboard box stack and placed in the paper output mechanism. The paper output mechanism then gradually conveys the bottom cardboard box of the stack to the upper paper conveyor belt 31 in a fish-scale pattern (the next cardboard box is partially stacked on top of the previous cardboard box) from front to back. The forward section of the upper paper conveyor belt 31 continues to convey each cardboard box to the area below the scraper blade 32. Since the scraper blade 321 of the scraper blade 32 has a paper passage gap 322 that only allows a single cardboard box to pass through, when multiple overlapping and stuck cardboard boxes pass through this paper passage gap 322, the excess cardboard boxes on the upper layer behind are intercepted and peeled off by the scraper blade 321, allowing only a single cardboard box to pass through in sequence. This can prevent duplicate and consecutive sheets from the source and complete the graded flow restriction of single cardboard boxes.

[0097] Secondary pressure and posture stabilization: As the forward section of the paper conveyor belt 31 continues to convey the paper, a single paper box enters between the pressure roller 33 and the paper conveyor belt 31. The elastic adjustment mechanism 35 provides an adjustable flexible clamping force to the pressure roller 33. The pressure roller 33 passively rotates with the paper box conveying, and flexibly clamps and constrains the paper box, eliminating the slippage, warping, and movement of the paper box on the paper conveyor belt 31, so that the paper box is conveyed backward in a uniform, flat, and fitted posture, completing the pressure and posture stabilization classification, and adapting to paper boxes of different thicknesses.

[0098] Three-stage fixed-position clamping and feeding: The paper boxes conveyed by the pressure stabilizer enter the front end of the vertical paper feeding channel 21, and the vertical paper feeding channel 21 clamps and feeds the paper boxes, so that each paper box gradually changes from a flat state to a vertical standing state in the vertical paper feeding channel 21.

[0099] Level 4 visual counting statistics: The visual counter 34 faces the front end of the vertical paper feeding channel 21 and performs real-time image acquisition, edge recognition, single sheet verification and quantity accumulation for each paper box that passes through, so as to achieve non-contact accurate counting; the counting data can be linked to the subsequent stacking mechanism in real time, and trigger the stacking switching action when the preset stacking quantity is reached, so as to complete the accurate counting and classification.

[0100] Typically, the aforementioned visual counter 34 is a camera. This camera can provide high-quality images and fast image processing capabilities, quickly capturing images of each sheet of cardboard passing through the upper and lower feeding mechanisms. Through image recognition technology, it completes edge detection and single-sheet verification of the cardboard box, effectively avoiding miscounting caused by overlapping or stacked sheets. It can also match the high-speed conveying rhythm of the cardboard box to ensure real-time counting and avoid missed counts.

[0101] The elastic adjustment mechanism 35 includes an adjustment seat 351, a wheel seat 352, and a compression spring 353. The adjustment seat 351 is mounted on the frame 1. The front end of the wheel seat 352 is hinged to the front end of the adjustment seat 351 via a pin. The compression spring 353 is located between the rear end of the adjustment seat 351 and the rear end of the wheel seat 352, with the upper end of the compression spring 353 connected to the rear end of the adjustment seat 351 and the lower end of the compression spring 353 connected to the rear end of the wheel seat 352. The pressure roller 33 is rotatably mounted on the rear end of the wheel seat 352. The elastic force of the compression spring 353 provides a flexible clamping force to the pressure roller 33, avoiding damage to the cardboard box caused by rigid clamping. It can also adapt to cardboard boxes of different thicknesses. When there is a slight deviation in the thickness of the cardboard box, the compression spring 353 can adaptively extend and retract to ensure that the pressure roller 33 is always in contact with the surface of the cardboard box and maintain a stable clamping force.

[0102] The ejection steering mechanism 4 includes a paper receiving and conveying mechanism 41 and an ejection guide roller 42. The paper receiving and conveying mechanism 41 is mounted on the frame 1, and the front end of the paper receiving and conveying mechanism 41 is connected to the rear end of the vertical paper feeding channel 21. The ejection guide roller 42 is rotatably mounted on the frame 1 and is located behind the rear end of the vertical paper feeding channel 21. The tangent direction of the roller surface of the ejection guide roller 42 toward the front end of the paper receiving and conveying mechanism 41 is located outside the rear end of the vertical paper feeding channel 21. The ejection guide roller 42 is used to push the paper box at the rear end of the vertical paper feeding channel 21 to the front end of the paper receiving and conveying mechanism 41. During operation, each cardboard box, standing upright, is continuously conveyed along the vertical paper feeding channel 21, perpendicular to the horizontal plane, to the rear end of the channel under the continuous clamping of two annular conveyor belts 2. At this time, the rear edge of the cardboard box first contacts the roller surface of the ejector guide roller 42 facing the front end of the receiving paper conveying mechanism 41. The ejector guide roller 42 rotates synchronously, and the roller surface of the ejector guide roller 42 facing the front end of the receiving paper conveying mechanism 41 applies a lateral ejection force to the cardboard box towards the front end of the receiving paper conveying mechanism 41. This ejection force directly breaks the longitudinal conveying motion of the cardboard box along the vertical paper feeding channel 21. Under the action of the lateral ejection force, the cardboard box smoothly turns towards the front end of the receiving paper conveying mechanism 41 around the contact point with the ejector guide roller 42. The continuous clamping of the two annular conveyor belts 2 keeps the cardboard box in an upright posture. Finally, the cardboard box is successfully pushed from the rear end of the vertical paper feeding channel 21 to the front end of the receiving paper conveying mechanism 41, completing the entire ejection and turning process.

[0103] Typically, the aforementioned paper receiving and conveying mechanism 41 includes a paper receiving conveyor belt. The conveying direction of the paper receiving conveyor belt is perpendicular to the conveying direction of the vertical paper conveying channel 21, and the rear end of the vertical paper conveying channel 21 corresponds to and cooperates with the front end of the paper receiving and conveying mechanism 41. The paper receiving conveyor belt conveys backward, providing conveying power for the paper box after turning, realizing a smooth connection between turning and subsequent conveying. The aforementioned paper receiving conveyor belt and the two aforementioned annular conveyor belts 2 can all be driven by a conveying drive mechanism. The conveying drive mechanism generally includes a drive roller, a driven roller, and a drive motor capable of driving the drive roller to rotate. The drive motor is mounted on the frame 1, and both the drive roller and the driven roller can be rotatably mounted on the frame 1. The paper receiving conveyor belt and the two annular conveyor belts 2 are respectively tensioned outside the corresponding drive roller and driven roller.

[0104] The paper box stacking mechanism 5 includes a front baffle 51, a middle push plate 52, a rear baffle 53, a first position adjustment mechanism 54 capable of driving the front baffle 51 to translate and rise, a second position adjustment mechanism 55 capable of driving the middle push plate 52 to translate and rise, and a third position adjustment mechanism 56 capable of driving the rear baffle 53 to translate. The first position adjustment mechanism 54, the second position adjustment mechanism 55, and the third position adjustment mechanism 56 are sequentially installed on the frame 1 from front to back along the conveying direction of the paper receiving and conveying mechanism 41. The front baffle 51 is installed on the first... On the power output end of the position adjustment mechanism 54, the middle push plate 52 is installed on the power output end of the second position adjustment mechanism 55, and the rear baffle 53 is installed on the power output end of the third position adjustment mechanism 56. The front baffle 51, the middle push plate 52, and the rear baffle 53 are all located above the paper receiving and conveying mechanism 41. When the middle push plate 52 is in its highest rising position, the lower edge of the middle push plate 52 is higher than the upper edge of the rear baffle 53. When the front baffle 51 is in its highest rising position, the lower edge of the front baffle 51 is higher than the upper edge of the paper box.

[0105] Before the cardboard boxes are stacked, the first position adjustment mechanism 54 drives the front baffle 51 to move forward and horizontally above the front end of the paper receiving and conveying mechanism 41, and lowers it so that the initial position of the front baffle 51 is at the lowest position of the lowered position; the second position adjustment mechanism 55 drives the middle push plate 52 to move backward and horizontally to the middle of the paper receiving and conveying mechanism 41, and raises it so that the initial position of the middle push plate 52 is at the highest position of the raised position; the third position adjustment mechanism 56 drives the rear baffle 53 to move forward and horizontally, so that the rear baffle 53 first passes the lower edge of the middle push plate 52, and then the rear baffle 53 is behind the front baffle 51, and there is a certain distance between the rear baffle 53 and the front baffle 51, which is used to accommodate the cardboard box stack.

[0106] As the upright cardboard boxes are conveyed to the paper receiving conveyor mechanism 41, they gradually stack into a pile under the obstruction of the front baffle 51. The first position adjustment mechanism 54 drives the front baffle 51 to slowly move backward as the number of cardboard box piles increases until the front baffle 51 contacts the rear baffle 53. Then, the first position adjustment mechanism 54 drives the front baffle 51 to rise to its highest position and continues to drive the front baffle 51 forward to above the front end of the paper receiving conveyor mechanism 41. At the same time, the second position adjustment mechanism 55 drives the middle push plate 52 to move forward while maintaining its highest position, passing over the upper edge of the rear baffle 53. The rear baffle 53 moves to the rear side of the front baffle 51; the third position adjustment mechanism 56 drives the rear baffle 53 to slowly move backward as the number of cardboard box stacks increases; when the cardboard box stacks reach a certain number, the second position adjustment mechanism 55 drives the middle push plate 52 to descend to the lowest position, and the second position adjustment mechanism 55 continues to drive the middle push plate 52 to move backward to the front end of the cardboard box stack, so that the middle push plate 52 and the rear baffle 53 together clamp the cardboard box stack, and the middle push plate 52 and the rear baffle 53 are simultaneously transported backward to the rear end of the paper receiving conveyor mechanism 41, waiting for the next process operation, that is, completing one round of cardboard box stacking.

[0107] When a new round of cardboard box stacking begins, the first position adjustment mechanism 54 drives the front baffle 51 to descend to its lowest position. Under the obstruction of the front baffle 51, the cardboard boxes gradually stack into a stack. At this time, the cardboard box stack from the previous round is picked up by the paper-picking robot. The second position adjustment mechanism 55 drives the middle push plate 52 to rise to its highest position from the last position of the previous round. Then, the third position adjustment mechanism 56 drives the rear baffle 53 to move forward horizontally, so that the rear baffle 53 first passes the lower edge of the middle push plate 52, and then the rear baffle 53 is placed behind the front baffle 51. The cardboard box stacking is repeated according to the above steps.

[0108] Both the first position adjustment mechanism 54 and the second position adjustment mechanism 55 include a first lateral translation mechanism 541 and a first lifting mechanism 542. The first lateral translation mechanism 541 is mounted on the frame 1 and above the paper receiving and conveying mechanism 41. The first lifting mechanism 542 is mounted on the power output end of the first lateral translation mechanism 541. The front baffle 51 and the middle push plate 52 are respectively mounted on the power output ends of the corresponding first lifting mechanisms 542. The first lateral translation mechanism 541 drives the first lifting mechanism 542 and its corresponding front baffle 51 and middle push plate 52 to move horizontally, and the corresponding first lifting mechanisms 542 drive the front baffle 51 and middle push plate 52 to move up and down.

[0109] The first lateral translation mechanism 541 includes a first slider 5411, a first translation seat 5412, a first servo motor 5413, and a first gear 5414. The frame 1 is provided with a first linear guide rail 101 and a first rack 102. The first linear guide rail 101 and the first rack 102 are installed parallel to each other on the frame 1 and arranged in the horizontal direction. Two first sliders 5411 are installed on the first linear guide rail 101 from front to back and can move on the first linear guide rail 101. Two first translation seats 5412 are respectively installed on the corresponding first sliders 5411. Two first lifting mechanisms 542 are respectively installed on the corresponding first translation seats 5412. Two first servo motors 5413 are respectively installed on the corresponding first translation seats 5412. Two first gears 5414 are respectively installed on the power output shaft of the corresponding first servo motor 5413. Both first gears 5414 mesh with the first rack 102. Two first servo motors 5413 are used to drive two first translation seats 5412 respectively, which in turn drive the corresponding first lifting mechanism 542, front baffle 51, and middle push plate 52 to move horizontally on the same first linear guide rail 101.

[0110] The first lifting mechanism 542 includes a guide rail mounting base 5421, a first lifting cylinder 5422, a first lifting guide rail 5423, a first lifting slider 5424, and a first lifting seat 5425. The guide rail mounting base 5421 is mounted on the first translation seat 5412. The first lifting cylinder 5422 is mounted on the guide rail mounting base 5421, with the piston rod of the first lifting cylinder 5422 facing downwards. The first lifting guide rail 5423 is mounted on the guide rail mounting base 5421 and is parallel to the first lifting cylinder 5422. The first lifting slider 5424 is mounted on the first lifting guide rail 5423 and can move on the first lifting guide rail 5423. The first lifting seat 5425 is mounted on the first lifting slider 5424 and is connected to the end of the piston rod of the first lifting cylinder 5422. The front baffle 51 and the middle push plate 52 are respectively mounted on the corresponding first lifting seats 5425. The first lifting cylinder 5422 drives the first lifting seat 5425 to move up and down under the guidance of the first lifting guide rail 5423, thereby driving the front baffle 51 and the middle push plate 52 to move up and down.

[0111] The third position adjustment mechanism 56 includes a second slider 561, a second translation seat 562, a second servo motor 563, and a second gear 564. The frame 1 is equipped with a second linear guide rail 103 and a second rack 104. The second linear guide rail 103 and the second rack 104 are mounted parallel to each other on the frame 1 and arranged horizontally. The second slider 561 is mounted on the second linear guide rail 103 and can move along it. The second translation seat 562 is mounted on the second slider 561, and the rear baffle 53 is mounted on the second translation seat 562. The second servo motor 563 is mounted on the second translation seat 562, and the second gear 564 is mounted on the power output shaft of the second servo motor 563, meshing with the second rack 104. The second servo motor 563 drives the second translation seat 562, which in turn drives the rear baffle 53 to move horizontally along the second linear guide rail 103.

[0112] The pre-wrapped bottom paper mechanism 8 includes a first adsorption mechanism 81, two folding clamps 82, and two second lifting mechanisms 83. The frame 1 is provided with a paper feeding station 105, and the paper feeding platform 7 is provided with a paper feeding station 71. The frame 1 is provided with a position switching mechanism 13 that can drive the first adsorption mechanism 81 to switch positions between the paper feeding station 105 and the paper feeding station 71. The first adsorption mechanism 81 is installed on the power output end of the position switching mechanism 13, and the adsorption direction of the first adsorption mechanism 81 is downward. The paper feeding platform 7 is provided with two vertically penetrating holes 72, which are on the same straight line and constitute the paper feeding station 71. The two second lifting mechanisms 83 are installed at the bottom of the paper feeding platform 7, and the power output ends of the second lifting mechanisms 83 are upward. The two folding clamps 82 are respectively installed on the power output ends of the corresponding second lifting mechanisms 83, and the two folding clamps 82 are below the two holes 72 and can move up and down in the corresponding holes 72.

[0113] Before use, place a stack of strip paper on the paper supply station 105.

[0114] In use, the position switching mechanism 13 drives the first adsorption mechanism 81 to move to the paper feeding station 105 and drives the first adsorption mechanism 81 to descend, so that the first adsorption mechanism 81 adsorbs a single strip of bottom paper; then, the position switching mechanism 13 drives the first adsorption mechanism 81 to rise, and transfers the adsorbed strip of bottom paper to the paper feeding station 71 of the paper feeding platform 7, so that the strip of bottom paper covers the two insertion holes 72; then, the first paper clamping robot 11 places the entire stack of paper boxes on the middle part of the strip of bottom paper; then, the two second lifting mechanisms 83 synchronously drive the folding edge clamp 82 to... The first lifting mechanism 81 raises the edge-folding clamp 82 so that it passes through the corresponding insertion hole 72 of the paper feeding platform 7, pushing and bending both ends of the strip bottom paper upwards so that the two ends of the strip bottom paper adhere to both sides of the paper box stack. The edge-folding clamp 82 remains in the pushing state until the two grippers 143 of the second paper clamping robot 12 insert downwards into the outer side of the two ends of the bottom paper. Then, the two second lifting mechanisms 83 synchronously drive the edge-folding clamp 82 to descend below the corresponding insertion hole 72. The two grippers 143 of the second paper clamping robot 12 then clamp the two ends of the strip bottom paper together with the paper box stack. Meanwhile, the first adsorption mechanism 81 returns to the paper feeding station 105 to prepare for the next round of pre-packaging.

[0115] The first adsorption mechanism 81 includes a nozzle mounting base 811 and two vacuum nozzles 812. The nozzle mounting base 811 is mounted on the power output end of the position switching mechanism 13, and the two vacuum nozzles 812 are respectively mounted on both ends of the nozzle mounting base 811, with the two vacuum nozzles 812 facing downwards.

[0116] The paper feeding platform 7 is also provided with at least one first through hole 73, which is located between the two insertion holes 72. A second adsorption mechanism 74 is installed in the first through hole 73, and the adsorption direction of the second adsorption mechanism 74 is upward. When the strip of bottom paper is placed on the paper feeding platform 7, the second adsorption mechanism 74 adsorbs upward, firmly fixing the bottom paper on the paper feeding platform 7 and preventing displacement. In a more preferred embodiment, the second adsorption mechanism 74 is an exhaust fan, and the air inlet of the exhaust fan is upward.

[0117] The second lifting mechanism 83 includes a folding cylinder 831 and a folding block 832. The cylinder body of the folding cylinder 831 is installed on the bottom of the paper feeding platform 7. The piston rod of the folding cylinder 831 is set upward. The folding block 832 is installed on the end of the piston rod of the folding cylinder 831. The folding clamp 82 is installed on the folding block 832.

[0118] The position switching mechanism 13 includes a second lateral translation mechanism 131 and a third lifting mechanism 132. The second lateral translation mechanism 131 is mounted on the frame 1, and the third lifting mechanism 132 is mounted on the power output end of the second lateral translation mechanism 131. The first suction mechanism 81 is mounted on the power output end of the third lifting mechanism 132. The second lateral translation mechanism 131 is used to drive the third lifting mechanism 132 and the first suction mechanism 81 to switch positions between the paper feeding station 105 and the paper discharging station 71. The second lateral translation mechanism 131 drives the third lifting mechanism 132 and the first suction mechanism 81 on it to move horizontally, and the corresponding third lifting mechanism 132 drives the first suction mechanism 81 to move up and down.

[0119] The second transverse translation mechanism 131 includes a third linear guide rail 1311, a third slider 1312, a third translation seat 1313, a third servo motor 1314, a third drive wheel 1315, a third driven wheel 1316, and a third synchronous belt 1317. The third linear guide rail 1311 is mounted on the frame 1 and is located between the paper feeding station 105 and the paper unloading station 71. The third slider 1312 is mounted on the third linear guide rail 1311 and can move on the third linear guide rail 1311. The third translation seat 1313... The third sliding block 1312 is mounted on the third sliding block 1312, and the third lifting mechanism 132 is mounted on the third translation seat 1313. The third servo motor 1314 is mounted on the frame 1. The third driving wheel 1315 and the third driven wheel 1316 are rotatably mounted on the frame 1. The third synchronous belt 1317 is tensioned outside the third driving wheel 1315 and the third driven wheel 1316. The third sliding block 1312 is connected to the third synchronous belt 1317, and the third driving wheel 1315 is connected to the power output shaft of the third servo motor 1314. The third servo motor 1314 drives the third driving wheel 1315 to rotate, and the third synchronous belt 1317 drives the third sliding block 1312, the third translation seat 1313, the third lifting mechanism 132, and the first adsorption mechanism 81 to move horizontally along the third linear guide rail 1311.

[0120] The third lifting mechanism 132 includes a second lifting cylinder 1321 and a second lifting seat 1322. The second lifting cylinder 1321 is mounted on the third translation seat 1313, with the piston rod of the second lifting cylinder 1321 facing downwards. The second lifting seat 1322 is mounted on the end of the piston rod of the second lifting cylinder 1321, and the first adsorption mechanism 81 is mounted on the second lifting seat 1322. The second lifting cylinder 1321 drives the second lifting seat 1322 to move up and down, thereby driving the first adsorption mechanism 81 to move up and down.

[0121] The opening and stabilizing mechanism 9 includes a first lifting frame 91, four baffles 92, two opening and closing adjustment mechanisms 93, and a lifting drive mechanism 94 that can drive the first lifting frame 91 to move up and down. The lifting drive mechanism 94 is mounted on the frame 1. The first lifting frame 91 is movably mounted on the frame 1. The first lifting frame 91 is a rectangular frame 911. Both opening and closing adjustment mechanisms 93 are mounted on the rectangular frame 911. Two baffles 92 are arranged side by side on the rectangular frame 911 along the length direction, and one of the opening and closing adjustment mechanisms 93 simultaneously drives the two baffles 92 to move closer or further apart. The other two baffles 92 are arranged side by side on the rectangular frame 911 along the width direction, and the other opening and closing adjustment mechanism 93 simultaneously drives the two baffles 92 to move closer or further apart. All four baffles 92 are vertically arranged and located below the first lifting frame 91. The four baffles 92 form an opening operation area 95 that is adapted to the opening of the carton.

[0122] Before starting work, the lifting drive mechanism 94 drives the rectangular frame 911 to move upward, leaving enough space below the rectangular frame 911 to place the carton. At the same time, the two opening and closing adjustment mechanisms 93 drive the corresponding baffles 92 to be in a retracted state (moving relatively close), so that the open working area 95 formed by the four baffles 92 is smaller than the opening size of the carton.

[0123] During operation, the carton is conveyed to the area below the rectangular frame 911. The lifting drive mechanism 94 drives the rectangular frame 911 downward, causing four baffles 92 to extend downward between the four cover plates of the carton opening. Then, an opening and closing adjustment mechanism 93 drives two baffles 92 along the length direction to move outward, pressing against and opening a pair of cover plates of the carton. Simultaneously, another opening and closing adjustment mechanism 93 drives two baffles 92 along the width direction to move outward, pressing against and opening another pair of cover plates of the carton. At this time, the four baffles 92 simultaneously extend outward in the four directions of 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 93 drive the corresponding two baffles 92 to retract and reset, and the lifting drive mechanism 94 drives the rectangular frame 911 upward to reset, causing the four baffles 92 to exit the carton opening and enter the next cycle.

[0124] The opening and closing adjustment mechanism 93 includes two fourth linear guides 931, two pairs of fourth sliders 932, two moving crossbars 933, a fourth servo motor 934, a fourth driving wheel 935, a fourth driven wheel 936, and a fourth synchronous belt (not shown in the figure). The two fourth linear guides 931 are respectively installed on two opposite sides of the rectangular frame 911. Each pair of fourth sliders 932 is respectively installed on the corresponding fourth linear guide 931 and can move on the corresponding fourth linear guide 931. The two ends of the moving crossbars 933 are respectively installed on the corresponding two fourth sliders 932. 2. The baffles 92 are respectively mounted on the corresponding moving crossbars 933; the fourth servo motor 934 is mounted on the rectangular frame 911; the fourth driving wheel 935 and the fourth driven wheel 936 are rotatably mounted on the rectangular frame 911; the fourth synchronous belt is tensioned outside the fourth driving wheel 935 and the fourth driven wheel 936; the fourth synchronous belt has a forward section and a return section; one of the fourth sliders 932 in each pair is connected to the forward section and the return section of the fourth synchronous belt respectively; the fourth driving wheel 935 is connected to the power output shaft of the fourth servo motor 934. The fourth servo motor 934 drives the fourth driving wheel 935 to rotate, which drives the two pairs of fourth sliders 932 to perform synchronous and opposite linear motion through the fourth synchronous belt, causing the two baffles 92 to move closer or further away along the fourth linear guide rail 931.

[0125] Another opening and closing adjustment mechanism 93 includes two fourth linear guides 931, a pair of fourth sliders 932, a moving crossbar 933, an adjusting crossbar 937, an adjusting cylinder 938, a fourth servo motor 934, a fourth driving wheel 935, a fourth driven wheel 936, and a fourth synchronous belt. The two fourth linear guides 931 are respectively installed on the other two opposite sides of the rectangular frame 911. The pair of fourth sliders 932 are respectively installed on the corresponding fourth linear guides 931 and can move on the corresponding fourth linear guides 931. The two ends of the moving crossbar 933 are respectively installed on the corresponding two fourth sliders 932. The adjusting crossbar 937 is installed on the first lifting frame 91 and is connected to the moving crossbar 934. 33 are parallel. An adjusting cylinder 938 is mounted on an adjusting crossbar 937. The piston rod of the adjusting cylinder 938 is horizontally positioned with its extension direction facing inwards. One baffle 92 is mounted on the end of the piston rod of the adjusting cylinder 938, and another baffle 92 is mounted on a moving crossbar 933. A fourth servo motor 934 is mounted on a rectangular frame 911. The fourth driving wheel 935 and the fourth driven wheel 936 are rotatably mounted on the rectangular frame 911. A fourth synchronous belt is tensioned outside the fourth driving wheel 935 and the fourth driven wheel 936. One of the fourth sliders 932 is connected to the fourth synchronous belt. The fourth driving wheel 935 is connected to the power output shaft of the fourth servo motor 934. "Facing inwards" refers to facing towards the center of the expanded working area 95. In the initial state, the piston rod of the adjusting cylinder 938 is in a retracted state, causing the corresponding baffle 92 and the other opposing baffle 92 to move away from each other. When the two opposing covers of the carton opening are to be opened, the piston rod of the adjusting cylinder 938 extends inward, causing the corresponding baffle 92 to move inward. At the same time, the fourth servo motor 934 drives the fourth drive wheel 935 to rotate, which drives the fourth slider 932 to move through the fourth synchronous belt, causing the moving crossbar 933 and the baffle 92 on it to move inward, so that the two baffles 92 move closer together.

[0126] The lifting drive mechanism 94 includes a lifting drive motor 941, a drive sprocket, a driven sprocket, a transmission chain, and a guide mechanism 942. The lifting drive motor 941 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 rectangular frame 911 is connected to one straight segment of the transmission chain through the guide mechanism 942. The drive sprocket is connected to the lifting drive motor 941. Typically, the lifting mechanism includes two transmission chains. Two adjacent corners of the rectangular frame 911 are connected to one straight segment of each of the two transmission chains. The lifting drive motor 941 drives the drive sprocket, the driven sprocket, and the transmission chain to move the rectangular frame 911 up and down. The lifting and lowering of the transmission chain with the cooperation of the guide mechanism 942 can prevent the transmission chain from becoming non-parallel or skewed, ensuring that the rectangular frame 911 lifts and lowers more smoothly. Of course, the specific structure of the above-mentioned lifting drive mechanism 94 can also adopt a structure in which a motor, lead screw, guide rod, guide sleeve, nut, and guide mechanism 942 are combined, or it can adopt a structure in which a motor, gear, rack, and guide mechanism 942 are combined.

[0127] The guiding mechanism 942 includes two fifth linear guide rails 9421 and two fifth sliders 9422. The two fifth linear guide rails 9421 are vertically mounted on the frame 1. The two fifth sliders 9422 are respectively mounted on the corresponding fifth linear guide rails 9421 and can move on the fifth linear guide rails 9421. The two adjacent corners of the rectangular frame 911 are respectively mounted on the corresponding fifth sliders 9422.

[0128] The carton conveying mechanism 10 consists of a carton input section 1001, a connecting conveying section 1002, and a carton output section 1003. The rear end of the carton input section 1001 is connected to the front end of the carton output section 1003 via the connecting conveying section 1002. The carton input section 1001, connecting conveying section 1002, and carton output section 1003 sequentially form a U-shaped conveying channel 1004. The conveying directions of the carton input section 1001 and the carton output section 1003 are perpendicular to the conveying direction of the connecting conveying section 1002. The opening and stabilizing mechanism 9 is located above the connecting conveying section 1002 and corresponds to the rear end of the connecting conveying section 1002. The U-shaped conveying channel 1004 design of the carton conveying mechanism 10 reduces the floor space occupied by the conveying mechanism and is suitable for production layouts in small workshops. During operation, an empty cardboard box is placed with its opening facing upwards at the feed end of the cardboard box input section 1001, with the four lids of the box pre-folded outwards to a semi-open state. After reaching the rear end of the cardboard box input section 1001, the box enters the connecting conveyor section 1002 (the turning section of the U-shaped conveyor channel 1004). Since the conveying direction of the connecting conveyor section 1002 is perpendicular to the input section, the box makes a 90° turn and moves along the connecting conveyor section 1002 towards the opening work station (rear end). When the box is conveyed to the rear end of the connecting conveyor section 1002 (directly below the opening stabilizing mechanism 9), the box is below the first lifting frame 91. The lifting drive mechanism 94 drives the first lifting frame 91 and the opening stabilizing mechanism 9 to move downwards, thus driving... The opening stabilizing mechanism 9 extends downwards between the four cover plates of the carton opening, causing it to push the four cover plates outwards, overcoming their springback inertia and stabilizing the carton opening in a fully open state. Next, the second paper-gripping robot 12 clamps both ends of the strip bottom paper and the entire stack of cartons on the paper-laying platform 7. Through lifting, rotating, translating, and repositioning operations, it places the strip bottom paper and the entire stack of cartons into the opened carton to complete the packing. After packing, the opening stabilizing mechanism 9 retracts and resets. The lifting drive mechanism 94 drives the first lifting frame 91 and the opening stabilizing mechanism 9 upwards to reset, causing the opening stabilizing mechanism 9 to exit the carton opening. The carton is then transported by the carton output section 1003 to the next process, such as sealing and stacking. Simultaneously, the next empty carton begins to be transported from the carton input section 1001, entering a new cycle, achieving continuous automated packing.

[0129] Typically, the aforementioned carton conveying mechanism 10 includes a conveyor frame 1005, multiple rollers 1006, and a rotation drive mechanism capable of driving each roller 1006 to rotate. The rotation drive mechanism is mounted on the conveyor frame 1005. Each roller 1006 is rotatably mounted on the conveyor frame 1005. A portion of the rollers 1006 are arranged along the conveying direction of the carton input section 1001, a portion of the rollers 1006 are arranged along the turning direction of the connecting conveyor section 1002, and the remaining rollers 1006 are arranged along the conveying direction of the carton output section 1003. The aforementioned rotation drive mechanism includes a drive motor, a reducer, multiple annular chains, and multiple transmission sprockets. The drive motor and reducer are both mounted on the conveyor frame 1005. The output shaft of the drive motor is connected to the rotating shaft of one of the rollers 1006 via the reducer. Each transmission sprocket is respectively mounted on the end of the rotating shaft of the corresponding roller 1006, and each annular chain is respectively sleeved on two corresponding transmission sprockets.

[0130] This automatic counting and stacking carton packing machine also includes a stacked carton flipping mechanism 14; the stacked carton flipping mechanism 14 includes a second lifting frame 141, a flipping strip suction cup 142, two grippers 143, and a fourth lifting mechanism 144 capable of driving the second lifting frame 141 up and down. The second lifting frame 141 is vertically movable and mounted on the frame 1. The paper feeding platform 7 is located below the second lifting frame 141 and can move horizontally below the second lifting frame 141. The flipping strip suction cup 142 is rotatably mounted on the second lifting frame 141 and is located above the paper feeding platform 7. Two grippers 143 are movably mounted at both ends of a flipping strip suction cup 142. The flipping strip suction cup 142 has a paper-feeding adsorption surface 1421 for placing the entire stack of cardboard boxes. The paper-feeding adsorption surface 1421 has multiple air holes communicating with the inner cavity of the flipping strip suction cup 142. The paper-feeding adsorption surface 1421 is located within the clamping area of ​​the two grippers 143. The second lifting frame 141 is equipped with a flipping drive mechanism 146 that can drive the flipping strip suction cup 142 to rotate 180°, and the flipping strip suction cup 142 is equipped with an opening and closing drive mechanism 145 that can drive the two grippers 143 to open and close. According to customer needs, the cardboard box stack can be flipped 180° to adjust its orientation using the entire stack cardboard box flipping mechanism 14.

[0131] Before use, the paper-feeding platform 7 is first moved horizontally to directly below the second lifting frame 141 by the moving mechanism 6; then the second lifting frame 141 is moved upward by the fourth lifting mechanism 144, so that sufficient space is reserved between the flipping strip suction cup 142 and the paper-feeding platform 7 below to allow the flipping strip suction cup 142 to complete a 180° rotation, avoiding interference between the flipping strip suction cup 142, grippers 143 and the paper-feeding platform 7 during the flipping process; next, the flipping drive mechanism drives the flipping strip suction cup 142 to rotate, so that the paper-feeding adsorption surface 1421 on the flipping strip suction cup 142 faces upward, and the two grippers 143 are also set upward synchronously with the flipping strip suction cup 142, ready to receive the paper box stack; finally, the flipping strip suction cup 142 is connected to the external negative pressure supply device.

[0132] When it is necessary to flip the glued edge of a stack of cardboard boxes, the negative pressure supply device is first activated. The first paper-gripping robot 11 smoothly places a neat stack of cardboard boxes onto the paper-feeding suction surface 1421 of the flipping strip suction cup 142, which then holds the entire stack in place. Next, the opening and closing drive mechanism 145 drives the two grippers 143 at both ends of the flipping strip suction cup 142 to close synchronously, stably clamping the stack of cardboard boxes on the paper-feeding suction surface 1421 and fixing its position to prevent displacement or scattering during the flipping process. Then, the flipping drive mechanism drives the flipping strip suction cup 142 to rotate precisely 180°, causing the grippers 143 to flip synchronously with the held stack of cardboard boxes, adjusting the glued edge of the stack to a preset position. In either the upward or downward orientation, i.e., the paper-feeding suction surface 1421, the grippers 143, and the clamped stack of paper boxes are all facing downwards; after the flipping is completed, the second lifting frame 141 is driven downwards by the fourth lifting mechanism 144, so that the two grippers 143 on the flipping strip suction cup 142 approach the paper-feeding platform 7; finally, the two grippers 143 are driven to open synchronously by the opening and closing drive mechanism 145, releasing the grip on the stack of paper boxes, and at the same time the negative pressure supply device is turned off, so that the paper-feeding suction surface 1421 of the flipping strip suction cup 142 is released from negative pressure, releasing the suction on the entire stack of paper boxes, and the flipped stack of paper boxes is placed stably on the paper-feeding platform 7, and then the paper-feeding platform 7 is driven horizontally to another operating position by the moving mechanism 6, thus completing one round of paper box stack flipping and conveying operation.

[0133] The fourth lifting mechanism 144 includes a sixth linear guide rail 1441, a sixth slide groove 1442, a sixth gear 1443, a sixth rack 1444, and a sixth servo motor 1445. The sixth rack 1444 is mounted on the frame 1 and is arranged vertically. The sixth linear guide rail 1441 is mounted on the second lifting frame 141 and is arranged vertically. The sixth slide groove 1442 is mounted on the frame 1, and the sixth linear guide rail 1441 is located in the sixth slide groove 1442 and can move along the sixth slide groove 1442. The sixth servo motor 1445 is mounted on the frame 1, and the sixth gear 1443 is mounted on the power output shaft of the sixth servo motor 1445. The sixth gear 1443 meshes with the sixth rack 1444. The sixth servo motor 1445 drives the second lifting frame 141 to drive the flipping drive mechanism, the flipping strip suction cup, the opening and closing drive mechanism, and the two grippers to move up and down on the sixth linear guide rail 1441.

[0134] The flipping drive mechanism 146 includes a seventh servo motor 1461, a hollow rotating platform 1462, and a bearing 1463. Both the seventh servo motor 1461 and the hollow rotating platform 1462 are mounted on the second lifting frame 141. The power output shaft of the seventh servo motor 1461 is connected to the hollow rotating platform 1462. One end of the flipping strip suction cup 142 is connected to the hollow rotating platform 1462, and the other end of the flipping strip suction cup 142 is rotatably mounted on the second lifting frame 141 via the bearing 1463. The hollow rotating platform 1462 is a high-precision indexing rotating structure. Driven by the seventh servo motor 1461, the hollow rotating platform 1462 rotates, thereby driving the flipping strip suction cup 142 to rotate precisely 180°.

[0135] 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. An automatic counting stacking case packer, comprising a frame and two endless conveying belts, each of the two endless conveying belts having a forward run section running from front to back and a return run section running from back to front, the forward run sections of the two endless conveying belts correspondingly matching and forming a vertical paper conveying channel capable of vertically standing conveying of paper boxes; characterized in that: The device also comprises a hierarchical carton feeding and counting mechanism, an ejection and turning mechanism, a carton stacking mechanism, a paper feeding platform, a pre-bottom paper wrapping mechanism, a stable opening mechanism, a carton conveying mechanism, and a moving mechanism capable of driving the paper feeding platform to move horizontally, as well as a first paper clamping mechanical arm and a second paper clamping mechanical arm capable of lifting, rotating and translating; the hierarchical carton feeding and counting mechanism, the vertical paper feeding channel, the ejection and turning mechanism, the carton stacking mechanism, the moving mechanism, the pre-bottom paper wrapping mechanism, the stable opening mechanism and the carton conveying mechanism are sequentially connected along the carton conveying process and are all installed on the frame; the first paper clamping mechanical arm and the second paper clamping mechanical arm are both installed on the frame. The hierarchical carton feeding and counting mechanism is used for single paper feeding and counting of each carton. The ejection and turning mechanism is used for vertical turning of each vertically standing carton and conveying the carton to the carton stacking mechanism. The carton stacking mechanism is used for stacking each vertically standing carton into a neat carton stack. The paper feeding platform is used for moving the neat carton stack back and forth between the carton stacking mechanism and the pre-bottom paper wrapping mechanism. The pre-bottom paper wrapping mechanism is used for placing a strip-shaped bottom paper on the paper feeding platform and folding the two ends of the strip-shaped bottom paper to adhere to the two sides of the neat carton stack. The stable opening mechanism is used for simultaneously opening two pairs of cover plates of the carton opening to keep the carton opening in a fully open state. The carton conveying mechanism is used for conveying the carton to the lower side of the stable opening mechanism to make the carton opening correspond to the stable opening mechanism. The first paper clamping mechanical arm is used for clamping and carrying the carton stack from the carton stacking mechanism to the paper feeding platform. The second paper clamping mechanical arm is used for clamping and carrying the carton stack from the paper feeding platform to the carton.

2. The automatic counting and stacking machine of claim 1, wherein: The hierarchical carton feeding and counting mechanism comprises a paper feeding belt, a paper scraping knife, a pressure roller, a visual counter and an elastic adjusting mechanism capable of adjusting the pressure of the pressure roller, the paper feeding belt is arranged on the frame and corresponds to the front end of the vertical paper feeding channel, the paper feeding belt has a forward section running from front to back and a return section running from back to front, the forward section of the paper feeding belt is above the return section; the paper scraping knife and the elastic adjusting mechanism are sequentially arranged on the frame from front to back; the lower side edge of the paper scraping knife is a paper scraping edge, the paper scraping edge is above the forward section of the paper feeding belt, and a paper passing gap only allowing single carton to pass is arranged between the paper scraping edge and the forward section of the paper feeding belt; the pressure roller is rotatably installed on the power output end of the elastic adjusting mechanism, and the pressure roller is in contact with the forward section of the paper feeding belt; the visual counter is installed on the frame and is located on the side of the front end of the vertical paper feeding channel, and the visual counter faces the front end of the vertical paper feeding channel.

3. The automatic counting and stacking machine of claim 2, wherein: The elastic adjusting mechanism comprises an adjusting seat, a wheel seat and a compression spring, the adjusting seat is installed on the frame, the front end of the wheel seat is hinged to the front end of the adjusting seat through a pin shaft, the compression spring is arranged between the rear end of the adjusting seat and the rear end of the wheel seat, the upper end of the compression spring is connected to the rear end of the adjusting seat, and the lower end of the compression spring is connected to the rear end of the wheel seat, and the pressure roller is rotatably installed on the rear end of the wheel seat.

4. The automatic counting and stacking machine of claim 1, wherein: The ejection turning mechanism comprises a paper receiving conveying mechanism and an ejection guide roller, the paper receiving conveying mechanism is installed on the frame and has a front end opposite to the rear end of the vertical paper conveying channel, the ejection guide roller is rotatably installed on the frame and located at the rear side of the rear end of the vertical paper conveying channel, the roller surface tangent direction of the ejection guide roller towards the front end of the paper receiving conveying mechanism is located outside the rear end of the vertical paper conveying channel, and the ejection guide roller is used for pushing the paper box at the rear end of the vertical paper conveying channel to the front end of the paper receiving conveying mechanism.

5. The automatic counting and stacking machine of claim 4, wherein: The paper box stacking mechanism comprises a front baffle, a middle pushing plate, a rear baffle, a first position adjusting mechanism capable of driving the front baffle to translate and lift, a second position adjusting mechanism capable of driving the middle pushing plate to translate and lift, and a third position adjusting mechanism capable of driving the rear baffle to translate, the first position adjusting mechanism, the second position adjusting mechanism and the third position adjusting mechanism are sequentially installed on the frame along the conveying direction of the paper receiving conveying mechanism from front to rear, the front baffle is installed on the power output end of the first position adjusting mechanism, the middle pushing plate is installed on the power output end of the second position adjusting mechanism, and the rear baffle is installed on the power output end of the third position adjusting mechanism, the front baffle, the middle pushing plate and the rear baffle are all located above the paper receiving conveying mechanism, and when the middle pushing plate is at the highest position of lifting, the lower edge of the middle pushing plate is higher than the upper edge of the rear baffle, and when the front baffle is at the highest position of lifting, the lower edge of the front baffle is higher than the upper edge of the paper box.

6. The automatic counting and stacking machine of claim 5, wherein: The first position adjusting mechanism and the second position adjusting mechanism both comprise a first transverse translation mechanism and a first lifting mechanism, the first transverse translation mechanism is installed on the frame and located above the paper receiving conveying mechanism, and the first lifting mechanism is installed on the power output end of the first transverse translation mechanism, the front baffle and the middle pushing plate are respectively installed on the power output end of the corresponding first lifting mechanism; The first transverse translation mechanism comprises a first sliding block, a first translation seat, a first servo motor and a first gear, the frame is provided with a first linear guide rail and a first gear rack, the first linear guide rail and the first gear rack are installed on the frame and arranged in the horizontal direction, two first sliding blocks are sequentially installed on the first linear guide rail from front to rear and can move on the first linear guide rail, two first translation seats are respectively installed on the corresponding first sliding blocks, and two first lifting mechanisms are respectively installed on the corresponding first translation seats, two first servo motors are respectively installed on the corresponding first translation seats, two first gears are respectively installed on the power output shafts of the corresponding first servo motors, and the two first gears are engaged with the first gear rack. The first lifting mechanism comprises a guide rail mounting seat, a first lifting cylinder, a first lifting guide rail, a first lifting sliding block and a first lifting seat, the guide rail mounting seat is mounted on the first translation seat, the first lifting cylinder is mounted on the guide rail mounting seat, the piston rod of the first lifting cylinder is arranged downward, the first lifting guide rail is mounted on the guide rail mounting seat and is parallel to the first lifting cylinder, the first lifting sliding block is mounted on the first lifting guide rail and can move on the first lifting guide rail, the first lifting seat is mounted on the first lifting sliding block, and the first lifting seat is connected with the end of the piston rod of the first lifting cylinder, the front baffle and the middle pushing plate are respectively mounted on the corresponding first lifting seat; The third position adjusting mechanism comprises a second sliding block, a second translation seat, a second servo motor and a second gear, the rack is provided with a second linear guide rail and a second rack, the second linear guide rail and the second rack are mounted on the rack and are arranged in the horizontal direction, the second sliding block is mounted on the second linear guide rail and can move on the second linear guide rail, the second translation seat is mounted on the second sliding block, and the rear baffle is mounted on the second translation seat; the second servo motor is mounted on the second translation seat, and the second gear is mounted on the power output shaft of the second servo motor and is engaged with the second rack.

7. The automatic counting and stacking machine of claim 1, wherein: The pre-bottomed paper mechanism comprises a first suction mechanism, two edge folding clamps and two second lifting mechanisms, the rack is provided with a paper supply station, the paper placing platform is provided with a paper placing station, the rack is provided with a position switching mechanism capable of driving the first suction mechanism to switch positions between the paper supply station and the paper placing station, the first suction mechanism is mounted on the power output end of the position switching mechanism, and the suction direction of the first suction mechanism is arranged downward; the paper placing platform is provided with two through insertion holes, the two insertion holes are on the same straight line and constitute the paper placing station, the two second lifting mechanisms are both mounted on the bottom of the paper placing platform, the power output end of the second lifting mechanism is arranged upward, the two edge folding clamps are respectively mounted on the power output end of the corresponding second lifting mechanism, and the two edge folding clamps are below the two insertion holes and can move up and down in the corresponding insertion hole.

8. The automatic counting and stacking case packer of claim 7, wherein: The first suction mechanism comprises a suction nozzle mounting seat and two vacuum suction nozzles, the suction nozzle mounting seat is mounted on the power output end of the position switching mechanism, the two vacuum suction nozzles are respectively mounted on the two ends of the suction nozzle mounting seat, and the two vacuum suction nozzles are arranged downward; The paper placing platform is further provided with at least one first through hole between the two insertion holes, the second suction mechanism is mounted in the first through hole, and the suction direction of the second suction mechanism is arranged upward; The second lifting mechanism comprises an edge folding cylinder and an edge folding block, the cylinder body of the edge folding cylinder is mounted on the bottom of the paper placing platform, the piston rod of the edge folding cylinder is arranged upward, the edge folding block is mounted on the end of the piston rod of the edge folding cylinder, and the edge folding clamp is mounted on the edge folding block. The position switching mechanism comprises a second transverse translation mechanism and a third lifting mechanism, the second transverse translation mechanism is installed on the rack, and the third lifting mechanism is installed on the power output end of the second transverse translation mechanism.

9. The automatic counting and stacking machine of claim 1, wherein: The expansion stabilizing mechanism comprises a first lifting frame, four baffles, two opening and closing adjusting mechanisms and a lifting driving mechanism capable of driving the first lifting frame to move up and down, the lifting driving mechanism is installed on the rack, the first lifting frame is movably installed on the rack, the first lifting frame is a rectangular frame, the two opening and closing adjusting mechanisms are both installed on the rectangular frame, two of the baffles are arranged side by side on the rectangular frame along the length direction of the rectangular frame, and the two baffles are simultaneously driven by one of the opening and closing adjusting mechanisms to move relatively close to or away from each other; the other two baffles are arranged side by side on the rectangular frame along the width direction of the rectangular frame, and the two baffles are simultaneously driven by the other opening and closing adjusting mechanism to move relatively close to or away from each other; the four baffles are all arranged vertically and are all below the first lifting frame, and an expansion operation area adapted to the opening of the carton is formed between the four baffles.

10. The automatic counting and stacking cartoning machine of claim 1, wherein: The carton conveying mechanism comprises 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 successively 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, and the expansion stabilizing mechanism is above the connecting conveying section and corresponds to the rear end of the connecting conveying section; Further comprising a whole stack of cartons overturning mechanism, the whole stack of cartons overturning mechanism comprises a second lifting frame, an overturning strip-shaped suction disc, two clamping jaws and a fourth lifting mechanism capable of driving the second lifting frame to move up and down, the second lifting frame is movably installed on the rack, the paper placing platform is below the second lifting frame and can move horizontally below the second lifting frame, the overturning strip-shaped suction disc is rotatably installed on the second lifting frame, the overturning strip-shaped suction disc is above the paper placing platform, the two clamping jaws are movably installed at the two ends of the overturning strip-shaped suction disc, the overturning strip-shaped suction disc is provided with a paper placing and suction surface for placing the whole stack of cartons, the paper placing and suction surface is provided with a plurality of air holes communicating with the inner cavity of the overturning strip-shaped suction disc, and the paper placing and suction surface is in the clamping region of the two clamping jaws; the second lifting frame is provided with an overturning driving mechanism capable of driving the overturning strip-shaped suction disc to rotate by 180°, and the overturning strip-shaped suction disc is provided with an opening and closing driving mechanism capable of driving the two clamping jaws to open and close.

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