Full-automatic servo manipulator case unpacking machine
The design of the fully automatic servo robotic case opener solves the problems of complex material storage device structure, low efficiency of manual feeding, and high cost of bottom sealing device in existing case openers. It realizes fully automated feeding, case opening and bottom sealing, improving efficiency and applicability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DONGGUAN BAIJIA INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-06-10
- Publication Date
- 2026-04-21
AI Technical Summary
Existing box opening devices suffer from problems such as complex material storage device structure and inability to adjust limit positions, low efficiency of manual feeding and box opening, and complex bottom sealing device structure that increases costs and reduces efficiency.
A fully automatic servo robotic case opener was designed, comprising a material storage device, a case opening device, and a bottom sealing device. It is automated by using a PLC controller, and achieves fully automatic material feeding by using a pushing mechanism and a limit mechanism. The robotic arm structure automatically opens the case, and the bottom sealing device automatically seals the tape and cuts the tape.
It achieves a fully automated feeding process, is suitable for cartons of different sizes, improves opening efficiency and automation, reduces operating costs, and enhances the applicability and economic benefits of the whole machine.
Smart Images
Figure CN224146364U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of box opening device technology, specifically a fully automatic servo robotic box opening machine. Background Technology
[0002] With the development of cardboard box technology, there are more and more cardboard box forms. In order to automate the processing of cardboard boxes, cardboard box opening devices have appeared on the market. A cardboard box opening device is a machine used to assist in completing the processes of opening, forming, folding the bottom and sealing the bottom of cardboard boxes.
[0003] Existing carton opening devices suffer from the following problems during use: 1. Carton loading is usually done manually, requiring workers to place stacked carts onto a trolley-like tool, which then transports the cart and all the carts to the receiving end of a storage device. This results in a complex and poorly designed structure for the existing storage device. Furthermore, the storage device requires a mechanism to limit the cartons' movement, but the existing limiting mechanism cannot be adjusted according to different carton sizes, thus limiting only one size and reducing its practicality. 2. During opening, workers must manually open each carton and then manually apply tape to seal it. However, this process is labor-intensive. 1. Employees will experience fatigue from prolonged box opening work, making manual box opening inefficient and uneconomical. Furthermore, manual opening of larger boxes is cumbersome, further reducing its practicality. 2. The bottom sealing device on the box opening machine typically requires four sets of pusher mechanisms to push four movable cardboard pieces at the bottom of the box to achieve sealing. This makes the structure complex and increases operating costs. After sealing, manual operation is required to apply adhesive tape and then manually cut the tape to output the box. However, using four sets of pusher mechanisms for bottom sealing significantly increases the number of parts in the machine, and manual sealing and tape cutting also lead to low efficiency. Utility Model Content
[0004] The purpose of this utility model is to provide a fully automatic servo robotic carton opening machine. This carton opening machine has a simple structure and reasonable design, can realize a fully automated feeding process, improves feeding efficiency, is suitable for limiting the size of cartons of different sizes, does not require manual operation for opening, and can realize fully automated opening, improving opening efficiency and being more economical. It can also conveniently and efficiently open larger cartons, reduce the number of parts of the whole machine, reduce operating costs, and can automatically seal glue and cut tape, improving the degree of automation and processing efficiency, thus solving the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a fully automatic servo robotic case opener, which includes a shelf and a storage device, a case opening device, a bottom sealing device, and a PLC controller mounted on the shelf. The case opening device is located between the storage device and the bottom sealing device. The PLC controller is fixed on the shelf and is connected to the storage device, the case opening device, and the bottom sealing device respectively, and controls the operation of the storage device, the case opening device, and the bottom sealing device.
[0006] The storage device includes a frame, a pushing mechanism, and a limiting mechanism. The frame includes a U-shaped outer frame, with a first crossbeam plate, a baffle plate, and a second crossbeam plate fixed inside the outer frame. The pushing mechanism includes a pushing motor and a first sprocket assembly disposed on one side of the pushing motor. The first sprocket assembly includes a first main sprocket, a first driven sprocket, and a first chain mounted on the first main sprocket and the first driven sprocket. The output end of the pushing motor is connected to the first main sprocket. Both the first main sprocket and the first driven sprocket are rotatably connected to the baffle plate. A slider is disposed on the first chain, and the first chain and the slider run synchronously. The slider is slidably mounted on a first slide rail, and a push plate is fixed on the slider. The first slide rail is horizontally disposed below the baffle plate, and both ends of the first slide rail are... The push plate is fixedly connected to the outer frame and is located above the outer frame. The push plate is vertically arranged. The limiting mechanism includes a limiting motor and a second sprocket assembly disposed on one side of the limiting motor. The second sprocket assembly includes a second main sprocket, a second driven sprocket, and a second chain mounted on the second main sprocket and the second driven sprocket. The output end of the limiting motor is connected to the second main sprocket. The second main sprocket and the second driven sprocket are rotatably connected to the second crossbeam plate. A sliding plate is provided on the second chain. The second chain runs synchronously with the sliding plate. The sliding plate is slidably mounted on the second slide rail, and a limiting plate is fixed on the sliding plate. The second slide rail is horizontally disposed below the second crossbeam plate, and both ends of the second slide rail are fixedly connected to the outer frame and the baffle, respectively. The limiting plate has an L-shaped design.
[0007] The unpacking device includes a support mechanism, a drive mechanism, and a robotic arm structure. The support mechanism has a side support plate, on which a top plate is fixed. The drive mechanism has a first motor, on which a first support arm, a second motor, a second support arm, a fixed base, and a third motor are arranged sequentially from left to right. The output end of the first motor is connected to the first support arm. The second motor is fixed to the end of the first support arm away from the first motor, and its output end is connected to the second support arm. The fixed base is rotatably connected to the end of the second support arm away from the second motor. The third motor is fixed to the upper surface of the fixed base. The robotic arm structure has a rotating shaft and an attachment plate. The rotating shaft is connected to the output end of the third motor and is fixedly connected to the attachment plate. A support beam and an adsorption plate are fixed on the attachment plate. The length direction of the support beam is parallel to the length direction of the adsorption plate, and the support beam is fixed to the adsorption plate. An unpacking plate and a limiting beam are fixed to the end of the adsorption plate away from the attachment plate.
[0008] The bottom sealing device includes a base, a feeding assembly, a bottom sealing assembly, and a sealing assembly. The feeding assembly includes two parallel fixed platforms and feeding motors fixed to the lower surfaces of the two fixed platforms. Both fixed platforms are fixed to the upper surface of the base. The output ends of the two feeding motors are connected to conveyor belts. The two conveyor belts operate synchronously, and a receiving plate and a conveying plate fixedly connected to the receiving plate are provided between the two conveyor belts. The two conveyor belts are respectively located within the two fixed platforms. The bottom sealing assembly includes two mounting plates and second cylinders fixed to the two mounting plates. The two mounting plates are respectively fixed to the lower surfaces of the two fixed platforms. The two second cylinders... The output end is respectively provided with a first connecting plate, a second connecting plate and a positioning piece. The output ends of the two second cylinders are respectively movably connected to the two first connecting plates. The two first connecting plates are respectively movably connected to the two positioning pieces through the two second connecting plates. The upper end face of the two positioning pieces is respectively fixed with a sealing plate. The sealing assembly includes an extension seat and a cutter fixed to the top of the extension seat. An upper lifting plate is fixed to the end of the extension seat away from the cutter. The bottom of the extension seat is provided with a lower extension piece and a tape roll installed on the lower extension piece. The top of the extension seat is provided with two support pieces and sealing rolls respectively installed on the two support pieces. The lower extension piece and the support pieces are both fixed to the extension seat.
[0009] Preferably, the length direction of the first crossbeam plate is parallel to the length direction of the baffle, the length direction of the baffle is perpendicular to the length direction of the second crossbeam plate, the two ends of the second crossbeam plate are fixed to the outer frame and the baffle respectively, and a reinforcing plate is fixed between the outer frame and the baffle.
[0010] Preferably, the pusher motor is fixed to the baffle, and both the pusher motor and the first chain are horizontally arranged.
[0011] Preferably, the limiting motor is fixed to the second crossbeam plate, and both the limiting motor and the second chain are horizontally arranged.
[0012] Preferably, the first motor is fixed to the lower end face of the top plate, and a stabilizing plate is fixed to the upper end face of the top plate. The output end of the first motor passes through the top plate and is connected to the stabilizing plate.
[0013] Preferably, the output end of the second motor is also connected to an adapter plate, and the two ends of the adapter plate are respectively rotatably connected to a first extension rod and a second extension rod. The adapter plate is connected to the top plate through the first extension rod, and the adapter plate is connected to the fixed base through the second extension rod.
[0014] Preferably, the support beam is provided with a plurality of air outlets arranged in a straight line, and the adsorption plate is provided with a plurality of air inlets arranged in a straight line, with the plurality of air outlets communicating with the plurality of air inlets respectively.
[0015] Preferably, the feeding assembly further includes a receiving plate and a first cylinder fixed on the receiving plate. The receiving plate is fixed on the base, and the output end of the first cylinder is movably connected to a receiving plate. The conveying plate is fixed on the receiving plate.
[0016] Preferably, the base is further provided with an adjustment assembly, which includes an adjustment motor and a synchronous pulley assembly connected to the adjustment motor. The adjustment motor is fixed on the base, the synchronous pulley assembly is installed on the outside of the base, and a lead screw and a guide rod are provided on one side of the synchronous pulley assembly. The synchronous pulley assembly is connected to the lead screw, and two parallel lower support seats are provided on the lead screw.
[0017] Preferably, the two lower support seats are symmetrically arranged at both ends of the lead screw, and both lower support seats are arranged on the guide rod. The two fixed platforms are respectively fixed on the two lower support seats. The lead screw and the guide rod are arranged in parallel, and the threads at both ends of the lead screw are opposite in direction. Both ends of the guide rod are fixedly connected to the base.
[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0019] 1. This utility model provides a fully automatic servo robotic case opener. The case opener includes a frame and a storage device, a case opening device, a bottom sealing device, and a PLC controller mounted on the frame. The PLC controller is connected to the storage device, the case opening device, and the bottom sealing device respectively. The overall structure is simple and reasonably designed. The storage device has a frame, a pushing mechanism, and a limiting mechanism. The pushing mechanism includes a pushing motor and a first sprocket set mounted on one side of the pushing motor. The first sprocket set includes a first main sprocket, a first driven sprocket, and components mounted on the first main sprocket and the first driven sprocket. The first chain has its output end connected to the first main sprocket. Both the first main sprocket and the first driven sprocket are rotatably connected to the baffle. A slider is installed on the first chain, and the first chain and the slider run synchronously. The slider is slidably mounted on the first slide rail, and a push plate is fixed on the slider. The push plate is automatically pushed forward by the push motor in conjunction with the first sprocket assembly. Thus, the push plate automatically pushes multiple stacked cartons that are kept vertical forward, eliminating the trouble of manual feeding, realizing a fully automated feeding process, saving manpower, improving feeding efficiency, and making it highly practical.
[0020] 2. The limiting mechanism in this utility model includes a limiting motor and a second sprocket assembly disposed on one side of the limiting motor. The second sprocket assembly includes a second main sprocket, a second driven sprocket, and a second chain mounted on the second main sprocket and the second driven sprocket. The output end of the limiting motor is connected to the second main sprocket. A sliding plate is disposed on the second chain, and a limiting plate is fixed on the sliding plate. The limiting plate is used to abut and limit the end of the carton away from the push plate. Through the operation of the limiting motor and the second sprocket assembly, the limiting plate can be moved horizontally, thereby adjusting the distance between the limiting plate and the fixed plate. It is suitable for limiting the feeding of cartons of different sizes and keeping the carton balanced and stable during the feeding process. Therefore, the storage device can stably feed cartons of various sizes and is suitable for widespread use.
[0021] 3. The box-opening device of this utility model has a support mechanism, a drive mechanism, and a robotic arm structure. The robotic arm structure has a rotating shaft and an attachment plate. The rotating shaft is connected to the output end of a third motor and is fixedly connected to the attachment plate. A support beam and an adsorption plate are fixed on the attachment plate. An opening plate is fixed at the end of the adsorption plate away from the attachment plate. The opening plate is horizontally set and is used to push the movable cardboard at the bottom of the carton, changing it from a vertical state to a horizontal state and fitting it against the bottom of the carton. The robotic arm structure is simple in structure and reasonable in design. During the process of the movable cardboard changing from a vertical state to a horizontal state, the carton body also changes from a folded state to an unfolded state, realizing the automatic opening of the carton. This eliminates the trouble of manual operation for opening the carton, improves the degree of automation and opening efficiency, is more economical, and has higher practicality.
[0022] 4. The driving mechanism of this utility model has a first motor. From left to right, a first support arm, a second motor, a second support arm, a fixed base, and a third motor are arranged on the first motor. The output end of the first motor is connected to the first support arm. The second motor is fixed to the end of the first support arm away from the first motor, and the output end of the second motor is connected to the second support arm. The fixed base is rotatably connected to the end of the second support arm away from the second motor. The third motor is fixed to the upper surface of the fixed base. Through the combined action of the first motor, the second motor, and the third motor, the robotic arm structure can be driven to achieve various complex positional movements, enabling the adsorption plate to adsorb cartons of different sizes, and the opening plate to open some larger cartons, thus improving the applicability of the opening device.
[0023] 5. The bottom sealing device of this utility model includes a base, a feeding assembly, a bottom sealing assembly, a sealing assembly, and an adjusting assembly. The feeding assembly includes two fixed platforms and feeding motors respectively fixed to the lower surfaces of the two fixed platforms. The output ends of the two feeding motors are respectively connected to conveyor belts. A receiving plate and a conveying plate fixedly connected to the receiving plate are arranged between the two conveyor belts. The two conveyor belts are respectively arranged within the two fixed platforms. The feeding assembly also includes a receiving plate and a first cylinder fixed to the receiving plate. The output end of the first cylinder is movably connected to the receiving plate. The conveying plate is fixed to... On the receiving plate, the first cylinder can cause the end of the receiving plate away from the conveyor plate to bend to a certain extent when it runs. The bottom sealing device is reasonably designed and has a simple structure. The first cylinder can cause the receiving plate to bend to a certain extent. During the process of the carton being sent from the previous mechanism to this mechanism, the bent receiving plate automatically pushes the movable cardboard on one side of the bottom of the carton, so that the movable cardboard is attached to the bottom of the carton, thus achieving the effect of automatic bottom sealing. Therefore, one bottom sealing operation is reduced, which helps to reduce the number of parts of the whole machine and reduce operating costs, which is economical.
[0024] 6. The sealing assembly of this utility model includes an extension base and a cutter fixed to the top of the extension base. A lower extension plate and a tape roll mounted on the lower extension plate are provided at the bottom of the extension base. Two support plates and sealing rolls respectively mounted on the two support plates are provided at the top of the extension base. The tape is output upward from the tape roll, then passes through the two sealing rolls and is cut near the cutter. After the carton is fed onto the two sealing rolls by the lifting plate, it is conveyed forward by the two sealing rolls and automatically glued to the tape conveyed on the two sealing rolls to achieve automatic sealing. Then the carton passes over the cutter. The weight of the carton itself causes the tape to press on the cutter, automatically cutting the tape. Therefore, the bottom sealing device can automatically seal and cut the tape, eliminating the trouble of manual operation and improving the degree of automation and processing efficiency.
[0025] 7. The pitch adjustment component of this utility model includes a pitch adjustment motor and a synchronous pulley assembly connected to the pitch adjustment motor. The synchronous pulley assembly is installed on the outside of the base, and a lead screw and a guide rod are provided on one side of the synchronous pulley assembly. The synchronous pulley assembly is connected to the lead screw, and the threads at both ends of the lead screw have opposite directions. Two parallel lower support seats are provided on the lead screw, and the two lower support seats are symmetrically arranged at both ends of the lead screw. Both lower support seats are set on the guide rod, and two fixed platforms are fixed on the two lower support seats respectively. Both ends of the guide rod are fixedly connected to the base. The pitch adjustment motor, in conjunction with the synchronous pulley assembly, drives the lead screw to rotate, thereby adjusting the distance between the two lower support seats and the two fixed platforms above them, so as to seal the bottom of cartons of different widths, thereby improving the applicability of the bottom sealing device. Attached Figure Description
[0026] Figure 1 This is an overall structural diagram of the present invention;
[0027] Figure 2 This is one of the schematic diagrams of the material storage device of this utility model;
[0028] Figure 3 This is the second schematic diagram of the material storage device of this utility model;
[0029] Figure 4 This is the third schematic diagram of the material storage device of this utility model;
[0030] Figure 5 This utility model Figure 4 Enlarged view of A in the middle;
[0031] Figure 6 This is the fourth schematic diagram of the material storage device of this utility model;
[0032] Figure 7 For the storage of this utility model Figure 6 Enlarged view of B in the middle;
[0033] Figure 8 This is one of the schematic diagrams of the unpacking device of this utility model;
[0034] Figure 9 This is the second schematic diagram of the unpacking device of this utility model;
[0035] Figure 10 This is the third schematic diagram of the unpacking device of this utility model;
[0036] Figure 11 This is one of the schematic diagrams of the bottom sealing device of this utility model;
[0037] Figure 12 This is the second schematic diagram of the bottom sealing device of this utility model;
[0038] Figure 13This is the third schematic diagram of the bottom sealing device of this utility model;
[0039] Figure 14 This utility model Figure 13 Enlarged view of C in the middle;
[0040] Figure 15 This is the fourth schematic diagram of the bottom sealing device of this utility model;
[0041] Figure 16 This is the fifth schematic diagram of the bottom sealing device of this utility model.
[0042] The reference numerals and names in the figures are as follows: 1. Shelf; 2. Storage device; 21. Frame; 211. Outer frame; 212. First crossbeam plate; 213. Baffle; 214. Second crossbeam plate; 215. Reinforcing plate; 22. Pushing mechanism; 221. Pushing motor; 222. First main sprocket; 223. First driven sprocket; 224. First chain; 225. Slider; 226. First slide rail; 227. Push plate; 228. Fixing plate; 23. Limiting mechanism; 231. Limiting motor; 2 32. Second main sprocket; 233. Second driven sprocket; 234. Second chain; 235. Slide plate; 236. Second slide rail; 237. Limiting plate; 3. Unpacking device; 31. Support mechanism; 311. Side support plate; 312. Top plate; 313. Stabilizing plate; 32. Drive mechanism; 321. First motor; 322. First support arm; 323. Second motor; 324. Second support arm; 325. Fixed base; 326. Third motor; 327. Adapter plate; 328. First extension rod 329. Second extension rod; 33. Robotic arm structure; 331. Rotating shaft; 332. Attachment plate; 333. Support beam; 3331. Air outlet; 334. Adsorption plate; 3341. Air inlet; 335. Opening plate; 336. Limiting beam; 4. Bottom sealing device; 41. Base; 42. Feeding assembly; 421. Fixed platform; 422. Feeding motor; 423. Conveyor belt; 424. Receiving plate; 425. First cylinder; 426. Receiving plate; 427. Conveying plate; 43. Bottom sealing assembly Components; 431. Mounting plate; 432. Second cylinder; 433. First connecting plate; 434. Second connecting plate; 435. Positioning piece; 436. Bottom sealing plate; 44. Sealing assembly; 441. Extension seat; 442. Cutter; 443. Lower extension piece; 444. Tape roll; 445. Support piece; 446. Sealing roll; 447. Upper lifting plate; 45. Adjustment assembly; 451. Adjustment motor; 452. Lead screw; 453. Guide rod; 454. Lower support seat; 5. PLC controller. Detailed Implementation
[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0044] In the description of the embodiments of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments of this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this utility model, "multiple" means two or more, unless otherwise explicitly specified.
[0045] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.
[0046] Please see Figure 1 This utility model provides an embodiment of a fully automatic servo robotic case opener. The case opener includes a shelf 1 and a storage device 2, a case opening device 3, a bottom sealing device 4, and a PLC controller 5 disposed on the shelf 1. The case opening device 3 is located between the storage device 2 and the bottom sealing device 4. The PLC controller 5 is fixed on the shelf 1 and is connected to the storage device 2, the case opening device 3, and the bottom sealing device 4 respectively, and controls the operation of the storage device 2, the case opening device 3, and the bottom sealing device 4. In this embodiment, the PLC controller 5 is an S7-1200 model.
[0047] Please see Figures 2 to 7The storage device 2 includes a frame 21, a pushing mechanism 22, and a limiting mechanism 23. The frame 21 includes a U-shaped outer frame 211. A first crossbeam plate 212, a baffle 213, and a second crossbeam plate 214 are fixed inside the outer frame 211. The length direction of the first crossbeam plate 212 is parallel to the length direction of the baffle 213, and the length direction of the baffle 213 is perpendicular to the length direction of the second crossbeam plate 214. The two ends of the second crossbeam plate 214 are fixed to the outer frame 211 and the baffle 213, respectively. A reinforcing plate 215 is fixed between the outer frame 211 and the baffle 213. The pushing mechanism 22 includes a pushing motor 221 and a first sprocket assembly disposed on one side of the pushing motor 221. The first sprocket assembly includes a first main sprocket 222 and a first slave sprocket 223. The system includes a sprocket 223 and a first chain 224 mounted on a first master sprocket 222 and a first slave sprocket 223. A pusher motor 221 is fixed to a baffle 213, and both the pusher motor 221 and the first chain 224 are horizontally arranged. The output end of the pusher motor 221 is connected to the first master sprocket 222. Both the first master sprocket 222 and the first slave sprocket 223 are rotatably connected to the baffle 213. A slider 225 is provided on the first chain 224, and the first chain 224 and the slider 225 run synchronously. The slider 225 is slidably mounted on a first slide rail 226, and a pusher plate 227 is fixed on the slider 225. The first slide rail 226 is horizontally arranged below the baffle 213, and both ends of the first slide rail 226 are fixedly connected to the outer frame 211. The pusher plate 227... Located above the outer frame 211, and with the push plate 227 vertically positioned, the movement of the push plate 227 can push multiple stacked cartons, which are kept vertical, forward. The limiting mechanism 23 includes a limiting motor 231 and a second sprocket assembly located on one side of the limiting motor 231. The second sprocket assembly includes a second main sprocket 232, a second driven sprocket 233, and a second chain 234 mounted on the second main sprocket 232 and the second driven sprocket 233. The limiting motor 231 is fixed to the second crossbeam plate 214, and both the limiting motor 231 and the second chain 234 are horizontally positioned. The output end of the limiting motor 231 is connected to the second main sprocket 232. Both the second main sprocket 232 and the second driven sprocket 233 are rotatably connected to the second crossbeam plate 214. A sliding plate 235 is provided on the strip 234. The second chain 234 runs synchronously with the sliding plate 235. The sliding plate 235 is slidably mounted on the second slide rail 236, and a limit plate 237 is fixed on the sliding plate 235. The second slide rail 236 is horizontally set below the second crossbeam plate 214, and both ends of the second slide rail 236 are fixedly connected to the outer frame 211 and the baffle 213, respectively. The limit plate 237 has an L-shaped design and is used to abut and limit the end of the carton away from the push plate 227. The length direction of the limit plate 237 is parallel to the length direction of the fixed plate 228, and is used to limit the two sides of the carton. If different sizes of cartons need to be fed, the limit motor 231 needs to be driven in advance to drive the second main sprocket 232 to rotate.The second chain 234 drives the second driven sprocket 233, causing the slide plate 235 to move horizontally on the second slide rail 236. This causes the slide plate 235 to move the limiting plate 237 horizontally, changing the distance between the limiting plate 237 and the fixed plate 228. This adapts to the limiting position of cartons of different sizes, ensuring stability during loading.
[0048] Please see Figures 8 to 10The unpacking device 3 includes a support mechanism 31, a drive mechanism 32, and a robotic arm structure 33. The support mechanism 31 has a side support plate 311, a top plate 312 fixed on the side support plate 311, and a stabilizing plate 313 fixed on the upper end face of the top plate 312. The drive mechanism 32 has a first motor 321, which is fixed to the lower end face of the top plate 312. The output end of the first motor 321 passes through the top plate 312 and is connected to the stabilizing plate 313. From left to right, the first motor 321 is equipped with a first support arm 322, a second motor 323, a second support arm 324, a fixing base 325, and a third motor 326. The output end of the first motor 321 is connected to the first support arm 322, and the second motor 323 is fixed to the first support arm 322. One end of the first motor 321 and the output end of the second motor 323 are connected to the second support arm 324. A fixed base 325 is rotatably connected to the end of the second support arm 324 away from the second motor 323. A third motor 326 is fixed to the upper surface of the fixed base 325. The output end of the second motor 323 is also connected to an adapter plate 327. The two ends of the adapter plate 327 are respectively rotatably connected to a first extension rod 328 and a second extension rod 329. The adapter plate 327 is connected to the top plate 312 through the first extension rod 328 and to the fixed base 325 through the second extension rod 329. Therefore, the adapter plate 327 and the first extension rod 328 work together to support the second motor 323 and the second support arm 324. 27 and the second extension rod 329 work together to support the fixed base 325 and the third motor 326. The manipulator structure 33 has a rotating shaft 331 and an attachment plate 332. The rotating shaft 331 is connected to the output end of the third motor 326 and is fixedly connected to the attachment plate 332. A support beam 333 and an adsorption plate 334 are fixed on the attachment plate 332. The length direction of the support beam 333 is parallel to the length direction of the adsorption plate 334, and the support beam 333 is fixed to the adsorption plate 334. The support beam 333 has multiple air outlets 3331 arranged in a straight line, and the adsorption plate 334 has multiple air inlets 3341 arranged in a straight line. The multiple air outlets 3331 communicate with the multiple air inlets 3341 respectively. An air outlet 3331 is connected to the air intake path, and an air inlet 3341 is used for air intake, thus facilitating the adsorption of the carton onto the surface of the adsorption plate 334. By using an external air extraction device, air is extracted with the aid of the support beam 333 and the adsorption plate 334, allowing the carton dragging on the opening plate 335 to be adsorbed onto the surface of the adsorption plate 334. The structure of the air extraction device is existing technology and will not be described in detail here. The pipes of the air extraction device are connected to the support beam 333, so that the air path of the air extraction device is connected to the air outlet 3331. The end of the adsorption plate 334 away from the attachment plate 332 is fixed with the opening plate 335 and the limiting beam 336. The opening plate 335 is used to push the movable cardboard at the bottom of the carton, changing it from a vertical state to a horizontal state and fitting it against the bottom of the carton.The limiting beam 336 is vertically positioned on one side of the opening plate 335. Therefore, during the movement of the opening plate 335, it can push one side of the movable cardboard at the bottom of the carton, causing the movable cardboard to change from a vertical to a horizontal state and adhere to the bottom surface of the carton. The limiting beam 336 contacts one side of the carton, limiting its movement and ensuring smooth transport to the next processing equipment.
[0049] Please see Figures 11 to 16The bottom sealing device 4 includes a base 41, a feeding assembly 42, a bottom sealing assembly 43, and a sealing assembly 44. The feeding assembly 42 includes two parallel fixed platforms 421 and feeding motors 422 fixed to the lower surfaces of the two fixed platforms 421. Both fixed platforms 421 are fixed to the upper surfaces of the base 41. The output ends of the two feeding motors 422 are connected to conveyor belts 423, which operate synchronously. The two conveyor belts 423 are used to limit the sides of the carton and push it forward. A receiving plate 426 and a conveying plate 427 fixedly connected to the receiving plate 426 are arranged between the two conveyor belts 423. The two conveyor belts 423 are respectively located within the two fixed platforms 421. 2 also includes a receiving plate 424 and a first cylinder 425 fixed on the receiving plate 424. The receiving plate 424 is fixed on the base 41. The output end of the first cylinder 425 is movably connected to a receiving plate 426. The conveying plate 427 is fixed on the receiving plate 424. Therefore, when the first cylinder 425 is running, it can drive the end of the receiving plate 426 away from the conveying plate 427 to bend to a certain extent, so as to better receive the carton. However, the bending of the receiving plate 426 will not affect the structural stability of the receiving plate 426 and the conveying plate 427. The bottom sealing assembly 43 includes two mounting plates 431 and second cylinders 432 respectively fixed on the two mounting plates 431. The two mounting plates 431 are respectively fixed to the lower end face of the two fixed platforms 421. The two second cylinders 432 are fixed on the two mounting plates 431 respectively. The output ends of cylinder 2 are respectively provided with a first connecting plate 433, a second connecting plate 434, and a positioning piece 435. The output ends of the two second cylinders 432 are movably connected to the two first connecting plates 433, and the two first connecting plates 433 are movably connected to the two positioning pieces 435 through the two second connecting plates 434. The upper end surfaces of the two positioning pieces 435 are respectively fixed with bottom sealing plates 436, so that when the two second cylinders 432 are running, they can drive the two positioning pieces 435 to move horizontally, thereby causing the two bottom sealing plates 436 to move horizontally as well, pushing the movable cardboard on both sides of the bottom of the carton closer to each other and fitting against the carton body to seal the bottom of the carton. The two bottom sealing plates 436 can move towards each other to push the movable cardboard on both sides of the bottom of the carton, thereby sealing the bottom of the carton. The sealing assembly 44 includes an extension base 441 and a cutter 442 fixed to the top of the extension base 441. An upper lifting plate 447 is fixed to the end of the extension base 441 away from the cutter 442. A lower extension piece 443 and a tape roll 444 mounted on the lower extension piece 443 are provided at the bottom of the extension base 441. The tape roll 444 is used to hold the tape roll. Two support pieces 445 and sealing rolls 446 are respectively mounted on the top of the extension base 441. The lower extension piece 443 and the support pieces 445 are both fixed to the extension base 441. The upper lifting plate 447 is fixed to the base 41, and the end of the upper lifting plate 447 away from the cutter 442 is bent downwards, thus guiding the carton upwards.The bottom of the carton passes through two sealing rolls 446. During this process, the tape conveyed on the two sealing rolls 446 adheres to the movable cardboard at the bottom of the carton, achieving automatic sealing. In addition, an adjustment assembly 45 is provided on the base 41. The adjustment assembly 45 includes an adjustment motor 451 and a synchronous pulley set connected to the adjustment motor 451. The adjustment motor 451 is fixed on the base 41, and the synchronous pulley set is installed on the outside of the base 41. A housing is provided on the outside of the synchronous pulley set, and the housing is also fixed on the base 41. A lead screw 452 and a guide rod 453 are provided on one side of the synchronous pulley set. The synchronous pulley set is connected to the lead screw 452. The upper part has two parallel lower support seats 454, which are symmetrically arranged at both ends of the lead screw 452. Both lower support seats 454 are mounted on the guide rod 453. Two fixed platforms 421 are respectively fixed to the two lower support seats 454. The lead screw 452 and the guide rod 453 are parallel, and the threads at both ends of the lead screw 452 rotate in opposite directions. Both ends of the guide rod 453 are fixedly connected to the base 41. When the lead screw 452 rotates, the symmetrically arranged lower support seats 454 at both ends will translate in opposite directions, thereby adjusting the distance between the two fixed platforms 421 to accommodate cartons of different sizes.
[0050] Please refer to the following: Figures 1 to 16 In the operation of this utility model, several vertically arranged and pressed together cardboard boxes are first placed on one side of the push plate 227. The position of the push plate 227 can be referred to at this time. Figure 2 The carton is positioned between the push plate 227 and the push motor 221. One end of the carton is restricted by the fixed plate 228, and the other end is restricted by the push plate 227. Therefore, the carton can maintain a stable state. The push motor 221 drives the first main sprocket 222 to rotate, which in turn drives the first chain 224 to drive the first slave sprocket 223. This causes the slider 225 to move horizontally on the first slide rail 226, which in turn pushes the push plate 227 to move all the cartons toward the side where the push motor 221 is located, thus achieving automatic feeding. Finally, all the cartons are sent to the position of the carton opening device 3.
[0051] When the carton approaches the opening device 3, the first motor 321, the second motor 323, and the third motor 326 operate to open the first carton. The three motors drive the opening plate 335 to gradually approach the carton, and the movement of the opening plate 335 pushes the movable cardboard on one side of the bottom of the carton, flattening it from a vertical position. The opening plate 335 and the receiving plate 426 are located on opposite sides of the carton. The movable cardboard on the other side of the bottom of the carton is flattened by the receiving plate 426. In this way, two movable cardboards at the bottom of the carton can be quickly flattened and made to fit together. At the bottom of the carton, multiple air inlets 3341 will then be close to the sides of the carton. At this time, a designated external air extraction device will be used to extract the surrounding air through the multiple air inlets 3341 and multiple air outlets 3331, so that the carton can be attached to the surface of the air inlets 3341. Then, the first motor 321, the second motor 323 and the third motor 326 continue to run, driving the opening plate 335 to continue to push the carton forward, and push the carton to the conveyor plate 427 with the help of the bent receiving plate 426. The limiting beam 336 can limit the carton in the moving state, so that it moves in a straight line.
[0052] After a carton is fed onto the conveyor plate 427, the two feeding motors 422 drive the two conveyor belts 423 to move forward, conveying the carton between the two bottom sealing plates 436. When the carton reaches the bottom sealing plates 436, the two second cylinders 432 are driven to move, bringing the two bottom sealing plates 436 closer together. This pushes the other two opposing movable cardboard pieces at the bottom of the carton to adhere to the bottom of the carton. At this point, all four movable cardboard pieces are adhered to the bottom of the carton. Afterward, the carton moves slightly upward under the action of the lifting plate 447, passes through the two sealing rolls 446, and automatically adheres to the tape conveyed on the two sealing rolls 446, achieving automatic sealing. Finally, the carton is output from above the cutter 442, and the weight of the carton itself presses down on the cutter 442, cutting the tape.
[0053] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. A fully automatic servo-mechanical hand unpacking machine, characterized in that: The device includes a shelf (1) and a storage device (2), a box opening device (3), a bottom sealing device (4) and a PLC controller (5) installed on the shelf (1). The box opening device (3) is located between the storage device (2) and the bottom sealing device (4). The PLC controller (5) is fixed on the shelf (1) and is connected to the storage device (2), the box opening device (3) and the bottom sealing device (4) respectively, and controls the operation of the storage device (2), the box opening device (3) and the bottom sealing device (4). The storage device (2) includes a frame (21), a pushing mechanism (22), and a limiting mechanism (23). The frame (21) includes a U-shaped outer frame (211). A first crossbeam plate (212), a baffle plate (213), and a second crossbeam plate (214) are fixed inside the outer frame (211). The pushing mechanism (22) includes a pushing motor (221) and a first sprocket assembly disposed on one side of the pushing motor (221). The first sprocket assembly includes a first main sprocket (222), a first driven sprocket (223), and sprockets mounted on the first main sprocket (222) and the first driven sprocket (223). The first chain (224) is connected to the first main sprocket (222) via the output end of the pusher motor (221). Both the first main sprocket (222) and the first driven sprocket (223) are rotatably connected to the baffle (213). A slider (225) is provided on the first chain (224). The first chain (224) and the slider (225) run synchronously. The slider (225) is slidably mounted on the first slide rail (226), and a pusher plate (227) is fixed on the slider (225). The first slide rail (226) is horizontally positioned below the baffle (213). Both ends of the push plate (227) are fixedly connected to the outer frame (211). The push plate (227) is located above the outer frame (211) and is vertically arranged. The limiting mechanism (23) includes a limiting motor (231) and a second sprocket assembly disposed on one side of the limiting motor (231). The second sprocket assembly includes a second main sprocket (232), a second driven sprocket (233), and a second chain (234) mounted on the second main sprocket (232) and the second driven sprocket (233). The output end of the limiting motor (231) is connected to the second main sprocket (232). Both the second sprocket (233) and the second sprocket (234) are rotatably connected to the second crossbeam plate (214). The second chain (234) is provided with a sliding plate (235). The second chain (234) and the sliding plate (235) run synchronously. The sliding plate (235) is slidably installed on the second slide rail (236), and a limiting plate (237) is fixed on the sliding plate (235). The second slide rail (236) is horizontally set below the second crossbeam plate (214), and the two ends of the second slide rail (236) are fixedly connected to the outer frame (211) and the baffle (213) respectively. The limiting plate (237) is L-shaped. The unpacking device (3) includes a support mechanism (31), a drive mechanism (32), and a robotic arm structure (33). The support mechanism (31) has a side support plate (311) with a top plate (312) fixed on it. The drive mechanism (32) has a first motor (321) with a first support arm (322), a second motor (323), a second support arm (324), a fixed base (325), and a third motor (326) arranged sequentially from left to right on the first motor (321). The output end of the first motor (321) is connected to the first support arm (322). The second motor (323) is fixed to the end of the first support arm (322) away from the first motor (321), and the output end of the second motor (323) is connected to the second support arm (324). The fixed base (325) is rotatably connected to the end of the second support arm (324) away from the second motor (323). The third motor (326) is fixed to the upper end face of the fixed base (325). The manipulator structure (33) has a rotating shaft (331) and an attachment plate (332). The rotating shaft (331) is connected to the output end of the third motor (326), and the rotating shaft (331) is fixedly connected to the attachment plate (332). A support beam (333) and an adsorption plate (334) are fixed on the attachment plate (332). The length direction of the support beam (333) is parallel to the length direction of the adsorption plate (334), and the support beam (333) is fixed on the adsorption plate (334). An opening plate (335) and a limiting beam (336) are fixed on the end of the adsorption plate (334) away from the attachment plate (332). The bottom sealing device (4) includes a base (41), a feeding assembly (42), a bottom sealing assembly (43), and a sealing assembly (44). The feeding assembly (42) includes two parallel fixed platforms (421) and feeding motors (422) fixed to the lower surfaces of the two fixed platforms (421). The two fixed platforms (421) are fixed to the upper surfaces of the base (41). The output ends of the two feeding motors (422) are connected to conveyor belts (423). The two conveyor belts (423) run synchronously. A receiving plate (426) and a conveying plate (427) fixedly connected to the receiving plate (426) are provided between the two conveyor belts (423). The two conveyor belts (423) are respectively set in two fixed platforms (421). The bottom sealing assembly (43) includes two mounting plates (431) and second cylinders (432) respectively fixed on the two mounting plates (431). The two mounting plates (431) are respectively fixed to the lower end face of the two fixed platforms (421). The output ends of the two second cylinders (432) are respectively provided with The assembly includes a first connecting plate (433), a second connecting plate (434), and a positioning piece (435). The output ends of the two second cylinders (432) are movably connected to the two first connecting plates (433), and the two first connecting plates (433) are movably connected to the two positioning pieces (435) through the two second connecting plates (434). The upper surfaces of the two positioning pieces (435) are respectively fixed with a bottom sealing plate (436). The sealing assembly (44) includes an extension seat (441) and a base fixed to the top of the extension seat (441). The cutter (442) is provided with an extension base (441) with an upper lifting plate (447) fixed at one end away from the cutter (442). The bottom of the extension base (441) is provided with a lower extension piece (443) and a tape roll (444) mounted on the lower extension piece (443). The top of the extension base (441) is provided with two support pieces (445) and a sealing roll (446) mounted on the two support pieces (445). The lower extension piece (443) and the support pieces (445) are both fixed on the extension base (441).
2. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The length direction of the first crossbeam plate (212) is parallel to the length direction of the baffle (213), and the length direction of the baffle (213) is perpendicular to the length direction of the second crossbeam plate (214). The two ends of the second crossbeam plate (214) are fixed to the outer frame (211) and the baffle (213) respectively. A reinforcing plate (215) is fixed between the outer frame (211) and the baffle (213).
3. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The pusher motor (221) is fixed on the baffle (213), and both the pusher motor (221) and the first chain (224) are horizontally arranged.
4. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The limiting motor (231) is fixed on the second crossbeam plate (214), and both the limiting motor (231) and the second chain (234) are horizontally arranged.
5. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The first motor (321) is fixed to the lower end face of the top plate (312), and a stabilizing plate (313) is fixed to the upper end face of the top plate (312). The output end of the first motor (321) passes through the top plate (312) and is connected to the stabilizing plate (313).
6. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The output end of the second motor (323) is also connected to an adapter plate (327). The two ends of the adapter plate (327) are respectively rotatably connected to a first extension rod (328) and a second extension rod (329). The adapter plate (327) is connected to the top plate (312) through the first extension rod (328), and the adapter plate (327) is connected to the fixed base (325) through the second extension rod (329).
7. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The support beam (333) is provided with a plurality of air outlets (3331) arranged in a straight line, and the adsorption plate (334) is provided with a plurality of air inlets (3341) arranged in a straight line. The plurality of air outlets (3331) are respectively connected to the plurality of air inlets (3341).
8. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The feeding assembly (42) also includes a receiving plate (424) and a first cylinder (425) fixed on the receiving plate (424). The receiving plate (424) is fixed on the base (41). The output end of the first cylinder (425) is movably connected to a receiving plate (426). The conveying plate (427) is fixed on the receiving plate (424).
9. The fully automatic servo-mechanical hand unpacking machine according to claim 1, characterized in that: The base (41) is also provided with a pitch adjustment assembly (45). The pitch adjustment assembly (45) includes a pitch adjustment motor (451) and a synchronous pulley assembly connected to the pitch adjustment motor (451). The pitch adjustment motor (451) is fixed on the base (41). The synchronous pulley assembly is installed on the outside of the base (41). A lead screw (452) and a guide rod (453) are provided on one side of the synchronous pulley assembly. The synchronous pulley assembly is connected to the lead screw (452). Two parallel lower support seats (454) are provided on the lead screw (452).
10. The fully automatic servo manipulator case unpacking machine according to claim 9, characterized in that: Two lower support seats (454) are symmetrically arranged at both ends of the lead screw (452), and both lower support seats (454) are arranged on the guide rod (453). Two fixed platforms (421) are respectively fixed on the two lower support seats (454). The lead screw (452) and the guide rod (453) are arranged in parallel, and the threads at both ends of the lead screw (452) are opposite. Both ends of the guide rod (453) are fixedly connected to the base (41).