Paper box transferring manipulator
By designing a paper box transfer robot, which utilizes the combined action of a suction nozzle and a clamping block, the problem of manual dependence in the paper box supply process of the cartoning machine is solved, realizing automated supply and reducing labor intensity and customization costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG HOPING MACHINERY
- Filing Date
- 2025-07-31
- Publication Date
- 2026-04-17
AI Technical Summary
Existing cartoning machines rely on manual operation in the paper box supply process, which is labor-intensive, difficult to match with machine speed, and requires the design of special trays for different paper boxes, resulting in high customization costs.
Design a paper box transfer robot, including a robot body and a paper box clamp. The clamp consists of a suction nozzle, a suction nozzle lifting power source, a left clamping block, a right clamping block, and a clamping power source. The robot automatically transfers the paper box by suctioning the cable ties with the suction nozzle and clamping them with the clamping blocks.
It has enabled automated supply of cardboard boxes, reduced labor intensity, improved supply efficiency, and reduced customization costs.
Smart Images
Figure CN224131547U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a cartoning machine, specifically to a carton transfer robot used in a cartoning machine. Background Technology
[0002] A cartoning machine is a device that inserts items to be packaged (such as medicine) along with their instructions (such as medicine instructions) into cardboard boxes. With the increasing demand for automation in the packaging industry, the operating speed of cartoning machines has increased from 200 boxes / minute of traditional equipment to over 600 boxes / minute. However, the cardboard box supply process still relies on manual operation, requiring continuous high-speed stacking of boxes, which is labor-intensive, fatigue-prone, and inefficient in matching machine speeds. Existing technologies also require the design of dedicated trays for different cardboard boxes, resulting in high customization costs. Therefore, the applicant has developed a cardboard box supply system based on paper tape bundling, such as… Figure 1 As shown, this cardboard box supply system moves cardboard boxes H, which are bundled with paper tape, to a tape removal device 3 to remove the tape (the cardboard boxes are flat, and multiple boxes are bundled together with tape). Then, the removed cardboard boxes H are moved to a cardboard box storage 4, where they are conveyed forward and automatically opened by a suction robot for packaging. The paper-tape-bundled cardboard boxes H are stacked together, requiring the robot to first move them to the tape removal device 3. After the tape removal device 3 removes the tape, the robot still needs to move the cardboard boxes H to the cardboard box storage 4. Therefore, a new type of robot is urgently needed. Summary of the Invention
[0003] In view of the shortcomings of the existing technology, this utility model innovatively provides a new type of paper box transfer robot.
[0004] This cardboard box transfer robot includes a robot body and a cardboard box clamp, which is mounted on the robot body. The cardboard box clamp includes a mounting base, a suction nozzle, a suction nozzle lifting power source, a left clamping block, a right clamping block, and a clamping power source. The mounting base is connected to the robot body. The suction nozzle lifting power source and the clamping power source are both mounted on the mounting base. The suction nozzle is driven by the suction nozzle lifting power source, which drives the suction nozzle to move up and down. The left clamping block is driven by the clamping power source, which drives the left clamping block to move towards or away from the right clamping block. The suction nozzle is located between the left and right clamping blocks.
[0005] The mounting base is equipped with a pressing power source, which is connected to the pressing plate. The pressing power source can drive the pressing plate to move up and down. The pressing plate is located on the side where the right clamp is located.
[0006] The suction belt nozzle and the nozzle lifting power source are provided in two sets.
[0007] The right clamp has two parts, left and right, and the left clamp has one part. A space is provided on one side of the left clamp.
[0008] The mounting base is equipped with a distance detection photoelectric sensor, which is connected to the control system. The control system can control the lifting and lowering power source of the suction nozzle.
[0009] The suction nozzle lifting power source and clamping power source are cylinders.
[0010] The paper box transfer robot provided by this utility model can transfer paper boxes with cable ties or paper boxes without cable ties. Attached Figure Description
[0011] Figure 1 A schematic diagram of a paper box supply system based on paper tape bundling;
[0012] Figure 2 A diagram of a cardboard box clamp. Figure 1 (Absorbent band status);
[0013] Figure 3 A diagram of a cardboard box clamp. Figure 2 (Absorbent band status);
[0014] Figure 4 A diagram of a cardboard box clamp. Figure 3 (Cardboard box in the clamping state). Detailed Implementation
[0015] like Figure 1 As shown, this cardboard box transfer robot includes a robot body 1 and a cardboard box clamp 2. The cardboard box clamp 2 is installed on the robot body 1. The cardboard box clamp 2 can both hold the cable ties H1 that bind the cardboard boxes H and transfer the cardboard boxes one by one from the stacking area to the cable tie removal device 3. After the cable tie removal device 3 removes the cable ties H1, the cardboard boxes H are then transferred to the cardboard box compartment 4.
[0016] like Figure 2 and Figure 3 As shown, the cardboard box clamp 2 includes a mounting base 20, a suction nozzle 21, a suction nozzle lifting power source 22, a left clamping block 23, a right clamping block 24, and a clamping power source 25. The mounting base 20 is connected to the main body 1 of the robot arm. The suction nozzle lifting power source 22 and the clamping power source 25 are both mounted on the mounting base 20. The suction nozzle 21 is driven by the suction nozzle lifting power source 22, which can drive the suction nozzle 21 to move up and down. The left clamping block 23 is driven by the clamping power source 25, which can drive the left clamping block 23 to move closer to or away from the right clamping block 24. The suction nozzle 21 is located between the left clamping block 23 and the right clamping block 24.
[0017] During operation, the robotic arm 1, carrying the cardboard box clamp 2, arrives at the cardboard box stacking area. First, the suction nozzle lifting power source 22 drives the suction belt and suction nozzle 21 to move downwards. Figure 3 As shown, the suction nozzle 21 picks up the cable tie H1 binding the cardboard box H, transferring the box from the stacking area to the cable tie removal device 3. After the cable tie removal device 3 removes the cable tie H1, the suction nozzle lifting power source 22 drives the suction nozzle 21 to move upward, creating space between the left clamping block 23 and the right clamping block 24. Then, the clamping power source 25 drives the left clamping block 23 to move closer to the right clamping block 24, so that the left clamping block 23 and the right clamping block 24 can clamp the cardboard box H. Figure 4 As shown, the cardboard box H is transferred to the cardboard box compartment 4. It is worth mentioning that at the cardboard box stacking area, all the cardboard boxes are stacked together with almost no gaps between each bundle. The clamping blocks are not easy to clamp, so the suction nozzle 21 can only suck up the cable tie H1 binding the cardboard box H from directly above, so that the cardboard box H can be sent to the cable tie receiving device 3.
[0018] When the left clamping block 23 and the right clamping block 24 clamp the paper box H and transfer it to the paper box compartment 4, the newly placed paper box H and the already placed paper boxes H on the paper box compartment 4 will be close together. This means the right clamping block 24 will be sandwiched between the paper boxes H. When the paper box clamp 2 places the paper box H and lifts it upwards, the right clamping block 24 may lift the paper box H closest to it due to friction, affecting the placement of the paper box. To solve this problem, a pressing power source 27 is installed on the mounting base 20. This pressing power source 27 is connected to a pressing plate 28, which is located on the side where the right clamping block 24 is located. When the paper box clamp 2 is lifted, the pressing power source 27 drives the pressing plate 28 to move downwards, pressing the paper box H downwards. This prevents the paper box H from being lifted upwards when the left clamping block 23 and the right clamping block 24 are lifted upwards, ensuring the paper box H is placed stably.
[0019] like Figure 3 As shown, there are two sets of suction nozzles 21 and suction nozzle lifting power source 22. The two sets of suction nozzles 21 can improve the stability of suction and prevent the paper box H from falling.
[0020] like Figure 2 As shown, the right clamping block 24 has two on the left and right sides, and the left clamping block 23 has one. The three clamping blocks 2 can stably clamp the paper box H. A space is provided on one side of the left clamping block 23 for the paper box support rod on the paper box compartment 4 to extend in and block the paper box H to prevent the paper box H from tipping over after it is placed.
[0021] like Figure 3As shown, a distance detection photoelectric sensor 26 is installed on the mounting base 20. The distance detection photoelectric sensor 26 is connected to the control system, which can control the suction nozzle lifting power source 22 to operate. When the cardboard box clamp 2 moves to the work position above the cardboard box stack, the distance detection photoelectric sensor 26 confirms the distance, and then the control system controls the suction nozzle lifting power source 22 to operate. The lifting power source 22 drives the suction nozzle 21 to move down and suck up the cable tie H1 that is binding the cardboard box H.
[0022] Finally, it is worth mentioning that both the nozzle lifting power source 22 and the clamping power source 25 are cylinders, or they could be motors.
Claims
1. A paper box transfer robot, comprising a robot body (1) and a paper box clamp (2), wherein the paper box clamp (2) is mounted on the robot body (1), characterized in that: The paper box clamp (2) includes a mounting base (20), a suction nozzle (21), a suction nozzle lifting power source (22), a left clamping block (23), a right clamping block (24), and a clamping power source (25). The mounting base (20) is connected to the main body (1) of the robot arm. The suction nozzle lifting power source (22) and the clamping power source (25) are both mounted on the mounting base (20). The suction nozzle (21) is connected to the suction nozzle lifting power source (22). The suction nozzle lifting power source (22) can drive the suction nozzle (21) to move up and down. The left clamping block (23) is connected to the clamping power source (25). The clamping power source (25) can drive the left clamping block (23) to move towards or away from the right clamping block (24). The suction nozzle (21) is located between the left clamping block (23) and the right clamping block (24).
2. A carton transfer robot as claimed in claim 1, wherein: A pressing power source (27) is installed on the mounting base (20). The pressing power source (27) is connected to the pressing plate (28) in a transmission manner. The pressing power source (27) can drive the pressing plate (28) to move up and down. The pressing plate (28) is located on the side where the right clamping block (24) is located.
3. A carton transfer robot as claimed in claim 1, wherein: The suction nozzle (21) and the suction nozzle lifting power source (22) are provided in two sets.
4. A carton transfer robot as claimed in claim 1, 2 or 3, wherein: The right clamp (24) has two parts, left and right, and the left clamp (23) has one part. The left clamp (23) has a space on one side.
5. The carton transfer robot of claim 1 wherein: The mounting base (20) is equipped with a distance detection photoelectric sensor (26), which is connected to the control system. The control system can control the movement of the nozzle lifting power source (22).
6. A carton transfer robot as claimed in claim 1, wherein: The suction nozzle lifting power source (22) and clamping power source (25) are cylinders.