Manipulator box opening device

Abstract

The utility model discloses a mechanical arm unpacking device which comprises a full-automatic mechanical gripper, a full-automatic carton sealing machine, carton placing platforms and a rotary table, the full-automatic carton sealing machine and the rotary table are arranged on the two sides of the full-automatic mechanical gripper respectively, the carton placing platforms are arranged on the rotary table, and under the driving of the rotary table, the carton placing platforms are arranged on the rotary table. A plurality of carton containing platforms arranged on the rotating disc move to the grabbing position in sequence, a portal frame is arranged on the side, facing the full-automatic mechanical gripper, of the rotating disc, and a detection device is installed on the portal frame, arranged above the grabbing position and used for detecting the size, the stacking thickness, the material shortage condition and the like of cartons at the grabbing position of the full-automatic mechanical gripper. And the cartons can be conveyed to the preset grabbing positions in sequence under the driving of the rotating disc, so that the overall production efficiency and processing capacity are remarkably improved. Cartons on all the carton placing platforms are conveyed to the same grabbing position in turn through the rotating disc to be detected, and the number of needed cameras is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment technology, and in particular to a robotic arm box opening device. Background Technology

[0002] Corrugated cardboard boxes are a common packaging method on the market. Before use, the cardboard box is usually folded into a flat structure. When packing or placing goods, the cardboard box needs to be unfolded into a three-dimensional structure, then the edges are sealed with tape before packing or placing the goods.

[0003] With technological advancements and the emergence of robotic unpacking robots, unpacking can now be automated into a streamlined process. For example, CN2015201306902 discloses a "carton unpacking and packing robot," which includes a robot and its control device. Carton stacking sections are located on both sides of the robot, and detection devices, such as cameras or other types of devices, are used to monitor the stacking of cartons at these sections. A product conveyor belt is positioned in front of the robot, carrying products to be packed. The robot includes a robotic arm and a fixed base. The robotic arm can rotate relative to the fixed base along a vertical axis. The robotic arm can pick up a designated carton from the carton stacking section, unfold it, and pack the carton onto the products to be packed on the conveyor belt.

[0004] This patent requires a camera to be installed in each cardboard box stacking area to detect the stacking status of the cardboard boxes, and the cost of the entire set of equipment is relatively high. Utility Model Content

[0005] Therefore, it is necessary to provide a robotic arm unpacking device that can reduce the number of cameras used to address the above problems.

[0006] This application provides a robotic arm box opening device, including a fully automatic robotic gripper, a fully automatic box sealing machine, a carton placement platform, and a turntable. The fully automatic box sealing machine and the turntable are respectively arranged on both sides of the fully automatic robotic gripper. A plurality of the carton placement platforms are arranged on the turntable. Driven by the turntable, the plurality of carton placement platforms on the turntable are arranged to move sequentially to the gripping position. A gantry is provided on one side facing the fully automatic robotic gripper. A detection device is installed on the gantry and is arranged above the gripping position for detecting the status of the carton at the gripping position of the fully automatic robotic gripper.

[0007] Optionally, the carton placement platform includes a rectangular frame, a fixing platform, and an adjustment component, wherein the fixing platform and the adjustment component are respectively disposed on the frame;

[0008] When the carton placement platform moves to the gripping position, the axes of the gantry, the carton placement platform, and the fully automatic carton sealing machine are parallel.

[0009] Optionally, the frame is further provided with a carton corner fixing limit plate and a carton corner moving limit plate, which are arranged diagonally. The carton corner fixing limit plate is located on the corner of the frame on the side where the fixed platform is installed, and the carton corner moving limit plate is located on the adjustment component and is slidably connected to the frame through the adjustment component.

[0010] The carton corner moving limit plate has an adjustment state that slides along the direction of the two adjacent side edges of the frame, and a fixed limit state that is locked at any point within the movement range of the adjustment component.

[0011] Optionally, the adjustment component includes a length direction adjustment mechanism, which includes a pair of guide rails arranged along the length direction of the frame, and a pair of first sliders respectively arranged on the pair of guide rails. The pair of first sliders are also provided with a moving platform, and the moving platform is provided with a vertical support. The vertical support is parallel to the width direction of the frame and is used to connect the corner moving limit plate of the carton.

[0012] Optionally, the adjustment assembly further includes a width direction adjustment mechanism, which includes a pair of slide rails disposed on the side of the vertical support facing the fixed platform, and a pair of second sliders respectively disposed on the pair of slide rails. A vertical connecting plate is provided on the pair of second sliders, and the carton corner movement limiting plate is disposed on the vertical connecting plate.

[0013] The pair of slide rails are arranged vertically and parallel to the width direction of the frame.

[0014] Optionally, limiting posts are provided on the two adjacent sides of the corner where the corner fixing limiting plate of the carton is located, and the limiting posts are used to limit the two adjacent sides of the carton.

[0015] Optionally, the first slider and the second slider are respectively provided with locking mechanisms. The locking mechanisms pass through the first slider or the second slider and abut against the guide rail or slide rail to fix the first slider on the guide rail or the second slider on the slide rail.

[0016] Optionally, the carton placement platform also includes a warning button, which is located on the other corner of the frame and connected to the frame via a connecting rod. The warning button includes a stop button and a start button for controlling the operation of the fully automatic mechanical gripper.

[0017] Optionally, the carton corner fixing limit plate and the carton corner moving limit plate each have a pair of mutually perpendicular limiting surfaces.

[0018] Optionally, the detection device is a 3D camera.

[0019] Compared with the prior art, the technical solution provided in this application has the following advantages:

[0020] The aforementioned robotic box-opening device, employing a fully automatic robotic gripper, a fully automatic box-sealing machine, and a turntable automatic feeding system, constructs a highly automated box-opening operation process. The application of the fully automatic robotic gripper replaces traditional manual labor, enabling precise and rapid execution of gripping and subsequent box-opening actions, significantly reducing labor costs, minimizing errors and inconsistencies that may arise from manual operation, and ensuring the continuity and stability of operations. Several carton placement platforms on the turntable, driven by the turntable, sequentially transport cartons to preset gripping positions, achieving automatic and continuous carton supply. This avoids production interruptions caused by untimely manual loading, thereby significantly improving overall production efficiency and processing capacity.

[0021] Secondly, the detection device mounted on the gantry and positioned above the gripping position can detect the size, stacking thickness, and presence of missing materials of the cartons to be gripped in real time. Compared to equipping each individual carton stacking area or loading point with a separate camera to detect the stacking, this embodiment uses a turntable to send cartons from each platform to the same gripping position for detection in turn. This design allows for the detection of all cartons to be completed with only one detection device (such as a camera) positioned above a single, fixed gripping position. This significantly reduces the number of cameras required, thereby significantly reducing hardware procurement costs, system wiring, and data processing complexity. It also simplifies subsequent maintenance and calibration, resulting in a more economical, efficient, and concise system architecture. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a robotic arm box-opening device provided in one embodiment of this application;

[0023] Figure 2 This is a top view of a robotic arm box-opening device provided in an embodiment of this application;

[0024] Figure 3 A schematic diagram of the structure of a cardboard box placement platform provided in an embodiment of this application. Figure 1 ;

[0025] Figure 4 A schematic diagram of the structure of a cardboard box placement platform provided in an embodiment of this application. Figure 2 ;

[0026] Figure 5 A partially enlarged view of a cardboard box placement platform provided in an embodiment of this application;

[0027] Figure 6 This is a front view of a carton placement platform provided in an embodiment of this application.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Fully automatic mechanical gripper; 2. Fully automatic carton sealing machine; 3. Carton placement platform; 3.1 Frame; 3.2 Carton corner fixing limit plate; 3.3 Limiting post; 3.4 Fixed platform; 3.5 Guide rail; 3.6 First slider; 3.7 Moving platform; 3.8 Vertical support; 3.9 Slide rail; 3.10 Second slider; 3.11 Vertical connecting plate; 3.12 Carton corner moving limit plate; 3.13 Warning button; 3.14 Locking mechanism; 4. Turntable; 5. Gantry frame; 6. Detection device; 7. Gripping position. Detailed Implementation

[0030] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0031] See Figure 1 and Figure 2 This utility model provides a robotic arm box opening device, including a fully automatic robotic gripper 1, a fully automatic box sealing machine 2, a carton placement platform 3, and a turntable 4. The fully automatic box sealing machine 2 and the turntable 4 are respectively arranged on both sides of the fully automatic robotic gripper 1. Several carton placement platforms 3 are arranged on the turntable 4. Driven by the turntable 4, the several carton placement platforms 3 on the turntable 4 move sequentially to the gripping position 7. A gantry frame 5 is provided on one side facing the fully automatic robotic gripper 1. A detection device 6 is installed on the gantry frame 5. The detection device 6 is arranged above the gripping position 7 and is used to detect the status of the carton at the gripping position 7 of the fully automatic robotic gripper 1. The status of the carton includes the size of the carton, the stacking thickness, the shortage of material, etc.

[0032] In this embodiment, a highly automated carton opening process is constructed by employing a fully automatic mechanical gripper 1, a fully automatic carton sealing machine 2, and an automatic feeding system on a turntable 4. The application of the fully automatic mechanical gripper 1 replaces traditional manual labor, enabling precise and rapid gripping and subsequent carton opening actions, significantly reducing labor costs, minimizing errors and inconsistencies that may arise from manual operation, and ensuring the continuity and stability of the operation. Several carton placement platforms 3 on the turntable 4, driven by the turntable 4, sequentially transport cartons to preset gripping positions 7, achieving automatic and continuous carton supply. This avoids production interruptions caused by untimely manual loading, thereby significantly improving overall production efficiency and processing capacity.

[0033] Secondly, the detection device 6, mounted on the gantry 5 and located above the gripping position 7, can detect in real time the size, stacking thickness, and whether there is a shortage of material in the cartons to be gripped. Compared to equipping each independent carton stacking area or loading point with a camera to detect the stacking of cartons separately, this embodiment uses a turntable 4 to send cartons from each carton placement platform 3 to the same gripping position 7 for detection in turn. This design allows for the detection of all cartons to be completed by configuring only one detection device 6 (such as a camera) above a single, fixed gripping position 7. This greatly reduces the number of cameras required, thereby significantly reducing the hardware procurement cost, system wiring, and data processing complexity. It also simplifies subsequent maintenance and calibration work, achieving a more economical, efficient, and concise system construction scheme.

[0034] See Figures 1 to 3 In one embodiment, the carton placement platform 3 includes a rectangular frame 3.1, a fixing platform 3.4, and an adjustment assembly, which are respectively disposed on the frame 3.1;

[0035] When the carton placement platform 3 moves to the gripping position 7, the axes of the gantry frame 5, the carton placement platform 3, and the fully automatic carton sealing machine 2 are parallel.

[0036] In this embodiment, when the carton placement platform 3 moves to the gripping position 7, the side with the fixed platform 3.4 on it faces the line connecting the center of the base of the fully automatic mechanical gripper 1 and the center of the turntable 4, ensuring that the carton is always in a standard and uniform orientation when gripped. This arrangement helps improve the accuracy of the gripping action, reduces deviations or gripping failures caused by inconsistent carton placement orientations, and thus enhances the stability and reliability of the system operation.

[0037] Furthermore, in this specific orientation of the gripping position 7, the axes of the gantry 5, the carton placement platform 3, and the fully automatic carton sealing machine 2 remain parallel, contributing to the symmetry and rational layout of the overall machine structure and facilitating linear movement and operation of the robotic gripper between gripping and placement. This not only reduces the complexity of the mechanical structure and the control difficulty required for multi-axis coordinated motion, but also improves the overall response speed and operational efficiency of the system. Therefore, this embodiment, by optimizing the structural design and layout orientation of the carton placement platform 3, achieves higher precision and efficiency in carton gripping and processing, thereby enhancing the overall performance of the robotic carton opening device.

[0038] In this embodiment, the main structure of the platform is constructed by setting up a rectangular frame 3.1, a fixed platform 3.4 and an adjustment component, so that the carton placement platform 3 has both the function of fixing and loading cartons and the function of adjusting the size, thereby adapting to the placement needs of cartons of different specifications.

[0039] See Figures 3 to 5 In one embodiment, the frame 3.1 is further provided with a carton corner fixing limit plate 3.2 and a carton corner moving limit plate 3.12. The carton corner fixing limit plate 3.2 and the carton corner moving limit plate 3.12 are arranged diagonally. The carton corner fixing limit plate 3.2 is provided on the corner of the frame 3.1 on the side where the fixing platform 3.4 is installed, and the carton corner moving limit plate 3.12 is provided on the adjustment component and is slidably connected to the frame 3.1 through the adjustment component.

[0040] The carton corner movement limit plate 3.12 has an adjustment state that slides along the direction of the two adjacent side frames of the frame 3.1, and a fixed limit state that is locked at any point within the movement range of the adjustment component.

[0041] In this embodiment, by setting a cardboard box corner fixing limit plate 3.2 and a cardboard box corner moving limit plate 3.12 on the frame 3.1 and arranging them diagonally, the two opposite corners of the cardboard box can contact and be positioned with the limit plates respectively, thereby effectively achieving diagonal positioning of the cardboard box. The cardboard box corner fixing limit plate 3.2 is set on the corner of one side of the fixed platform 3.4, providing a stable and initial positioning reference point for the cardboard box, ensuring that at least one corner of the cardboard box can be accurately constrained when it is placed.

[0042] Specifically, the corner moving limit plate 3.12, through its cooperation with the adjustment component and its sliding connection with the frame 3.1, possesses the ability to slide along the two adjacent sidewalls of the frame 3.1, i.e., the conventional length and width directions. Operators can flexibly adjust the position of the corner moving limit plate 3.12 according to the actual dimensions of the carton to be placed, thereby precisely matching the other opposite corner of the carton. Furthermore, the corner moving limit plate 3.12 can be locked at any point within its adjustment plane, ensuring that the limit plate is firmly fixed after the carton size is determined, preventing displacement of the carton during placement or subsequent operations, thus guaranteeing wide adaptability to different carton sizes and the stability and accuracy of placement. This design significantly improves the platform's versatility and ease of operation.

[0043] See Figures 3 to 5 In one embodiment, the adjustment component includes a length direction adjustment mechanism, which includes a pair of guide rails 3.5 arranged along the length direction of the frame 3.1, and a pair of first sliders 3.6 respectively arranged on the pair of guide rails 3.5. The pair of first sliders 3.6 are also provided with a moving platform 3.7, and the moving platform 3.7 is provided with a vertical support 3.8. The vertical support 3.8 is parallel to the width direction of the frame 3.1 and is used to connect the carton corner moving limit plate 3.12.

[0044] In this embodiment, the adjustment assembly significantly enhances the accuracy and stability of the adjustment of the carton corner movement limit plate 3.12 along the length of the frame 3.1. Specifically, a pair of guide rails 3.5 arranged along the length of the frame 3.1 provide a clear guiding path for the entire adjustment action, ensuring the linearity and directional accuracy of the movement. The pair of first sliders 3.6 arranged on the guide rails 3.5 ensure smooth and stable movement, reducing the possibility of friction and jamming. Furthermore, because the two sliders share the load, the support stability and anti-eccentric load capacity of the moving platform 3.7 and its upper components are improved.

[0045] The moving platform 3.7, acting as an intermediary connecting the slider and subsequent structures such as the vertical bracket 3.8, precisely transmits the linear motion from the guide rail 3.5 and the slider, and provides a stable mounting base. The vertical bracket 3.8, mounted on this moving platform 3.7, is oriented parallel to the width direction of the frame 3.1. When the length adjustment mechanism is activated, i.e., when the first slider 3.6 moves along the guide rail 3.5, the entire vertical bracket 3.8, along with the fixed carton corner movement limit plate 3.12, moves as a whole along the length direction of the frame 3.1.

[0046] This embodiment achieves linear adjustment of the carton corner movement limiting plate 3.12 along the length dimension of the carton placement platform 3. Simultaneously, the design of the vertical support 3.8 parallel to the width direction of the frame 3.1 provides an orthogonal reference, already precisely positioned in the length direction, for the adjustment of the carton corner movement limiting plate 3.12 in the width direction. This facilitates precise positioning of the entire adjustment assembly for the carton corner in both the length and width directions within a two-dimensional plane.

[0047] See Figures 3 to 5 In one embodiment, the adjustment assembly further includes a width direction adjustment mechanism, which includes a pair of slide rails 3.9 disposed on the side of the vertical support 3.8 facing the fixed platform 3.4, and a pair of second sliders 3.10 respectively disposed on the pair of slide rails 3.9. A vertical connecting plate 3.11 is provided on the pair of second sliders 3.10, and a carton corner movement limiting plate 3.12 is disposed on the vertical connecting plate 3.11. The pair of slide rails 3.9 are arranged vertically and are parallel to the width direction of the frame 3.1.

[0048] In this embodiment, by providing a pair of vertically aligned slide rails 3.9 on the side of the vertical support 3.8 facing the fixed platform 3.4, which are parallel to the width direction of the frame 3.1, and by providing a pair of second sliders 3.10 on these slide rails 3.9 and a vertical connecting plate 3.11 that ultimately supports the carton corner movement limiting plate 3.12, the precise and stable movement and positioning of the carton corner movement limiting plate 3.12 in the width direction of the frame 3.1 is achieved.

[0049] First, the parallel orientation of the slide rail 3.9 to the width direction of the frame 3.1 clarifies the adjustment freedom of this mechanism, namely, the adjustment in the width direction. The slide rail 3.9 is vertically positioned, either above or below another, providing structural stability and guiding accuracy for the second slider 3.10 and the vertical connecting plate 3.11 that slide on it. This effectively resists the overturning moment that may occur during width adjustment or carton positioning, ensuring smooth movement and accurate positioning of the vertical connecting plate 3.11 in the width direction.

[0050] Secondly, since the corner moving limit plate 3.12 of the carton is directly set on the vertical connecting plate 3.11, the position of the corner moving limit plate 3.12 of the carton in the width direction of the frame 3.1 can be directly and accurately adjusted by controlling the position of the second slider 3.10.

[0051] In summary, the width adjustment mechanism works in conjunction with the aforementioned length adjustment mechanism to form an orthogonal, two-dimensional adjustment system. The operator can first use the length adjustment mechanism to set the position of the carton corner movement limit plate 3.12 in the length direction, and then use this width adjustment mechanism to precisely set its position in the width direction (or vice versa). The adjustments in the two directions are independent and do not interfere with each other. This allows the entire carton placement platform 3 to adapt extremely flexibly to cartons of various lengths and widths, ensuring precise positioning and subsequent secure limiting of the carton corners, thereby greatly improving the platform's versatility, operational accuracy, and ease of adjustment.

[0052] See Figures 3 to 5 In one embodiment, limiting posts 3.3 are provided on the two adjacent sides of the corner where the corner fixing limiting plate 3.2 of the carton is located. The limiting posts 3.3 are used to limit the two adjacent sides of the carton.

[0053] In this embodiment, by setting limiting posts 3.3 on the two adjacent sides of the corner where the corner fixing limiting plate 3.2 is located, the three-dimensional stability of the carton during placement is effectively improved. The limiting posts 3.3 are respectively set on the two adjacent sides of the corner, and together with the corner fixing limiting plate 3.2, they form a clamping and limiting structure for the two adjacent sides of one side of the carton. This arrangement can not only position one corner of the carton, but also simultaneously constrain the two sides corresponding to the corner, further preventing the carton from undergoing horizontal displacement or rotational shift during placement.

[0054] This structure simplifies the precise calibration process for carton position. Users only need to push the carton into the limiting area formed by the limiting post 3.3 and the limiting plate to quickly and accurately control the carton's position. Compared to a single-point limiting structure, this double-sided limiting method has significant advantages in positioning accuracy and anti-interference capability, making it particularly suitable for automated or semi-automated operation scenarios requiring rapid, batch placement of cartons.

[0055] See Figure 5 In one embodiment, the first slider 3.6 and the second slider 3.10 are respectively provided with locking mechanisms 3.14. The locking mechanisms 3.14 pass through the first slider 3.6 or the second slider 3.10 and abut against the guide rail 3.5 or the slide rail 3.9 to fix the first slider 3.6 on the guide rail 3.5 or fix the second slider 3.10 on the slide rail 3.9.

[0056] In this embodiment, by providing locking mechanisms 3.14 on the first slider 3.6 and the second slider 3.10 respectively, the stability and safety of the adjustment assembly are effectively improved. Specifically, the locking mechanism 3.14 passes through the first slider 3.6 or the second slider 3.10 and can abut against its corresponding guide rail 3.5 or slide rail 3.9, thereby reliably locking the slider in a predetermined position after adjustment.

[0057] The introduction of this structural design allows users to quickly fix the slider using the locking mechanism 3.14 after adjusting the position of the carton limit plate (whether in the length or width direction), preventing accidental movement of the slider under equipment operation, vibration, or external force. Especially in scenarios with frequent adjustments or continuous operation, the locking mechanism 3.14 provides the necessary structural rigidity to ensure the long-term stability of the limit plate position and the accuracy of the limit.

[0058] Furthermore, the locking mechanism 3.14 has a relatively simple structure and can adopt common forms such as rotating screws, eccentric wheels, or elastic pins, which facilitates manufacturing and maintenance without increasing the complexity of the system, while improving the convenience and reliability of operation. The first slider 3.6 and the second slider 3.10 correspond to the adjustment mechanisms in the length and width directions, respectively. Therefore, the locking mechanism 3.14 is also designed to act on the sliding units in these two directions, ensuring the accurate positioning and secure fixation of the entire moving limit system after multi-directional adjustment.

[0059] In summary, this embodiment, by equipping the slider with a locking mechanism 3.14, achieves rapid locking and long-term stability of the position adjustment of the limit plate, further improving the operational reliability, positioning accuracy, and adaptability of the carton placement platform 3 to various carton specifications.

[0060] See Figure 3 and Figure 4 In one embodiment, a warning button 3.13 is also included. The warning button 3.13 is located on the other corner of the frame 3.1 and connected to the frame 3.1 via a connecting rod. The warning button 3.13 includes a stop button and a start button, used to control the operation of the fully automatic mechanical gripper 1. In this embodiment, the warning button 3.13 component includes a stop button and a start button, respectively used to control the start and stop operation of the mechanical gripper. After the carton is placed in place, the user can instruct the gripper to perform the gripping operation via the start button. In case of an abnormality or when the operation needs to be interrupted, the user can quickly cut off the mechanical gripper's action command via the stop button, thereby achieving an emergency stop. This design greatly enhances the safety and initiative of the operation process, and is especially suitable for scenarios such as automated production lines or packaging lines.

[0061] Furthermore, the warning button 3.13 is positioned at the other corner of frame 3.1 and fixed by a connecting rod. This arrangement allows for quick access by personnel during operation without interfering with the normal use of the carton placement area. This layout considers ergonomic principles, optimizing the accessibility and visibility of the button, and improving overall operational convenience and responsiveness. Each carton placement platform 3 is equipped with a warning button 3.13, which controls the operation of the fully automatic mechanical gripper 1 on each platform 3. This ensures that adding a carton to one platform 3 does not affect the gripping operations of other tasks.

[0062] See Figures 3 to 5 In one embodiment, the carton corner fixing limiting plate 3.2 and the carton corner moving limiting plate 3.12 each have a pair of mutually perpendicular limiting surfaces. Specifically, in this embodiment, the cross-section of the carton corner fixing limiting plate 3.2 and the carton corner moving limiting plate 3.12 is "┌" shaped, that is, forming a corner structure with an inward opening and two vertical sides, so that it can simultaneously limit the carton corner from two orthogonal directions.

[0063] Compared to single-plane limiting, this structural design provides stronger anti-slip and anti-rotation capabilities. During the placement of the carton, once a sharp corner enters the "┌" shaped limiting structure, its two adjacent sides will be constrained by the two vertical limiting surfaces of the structure, thereby achieving precise clamping and stable positioning of the carton corner and significantly reducing the risk of displacement or deflection of the carton due to inertia, vibration, or external forces.

[0064] Furthermore, both the fixed and movable limiting plates adopt this "┌" shaped design, which helps to symmetrically limit the two sharp corners of the carton at diagonal positions, thus forming a reliable double-corner support structure and further improving the overall placement stability of the carton. Combined with the adjustable structure, the movable limiting plate can also adapt to cartons of different sizes, always maintaining an effective limiting effect.

[0065] See Figure 6 In one embodiment, the detection device 6 is a 3D camera. In this embodiment, the detection device 6 uses a 3D camera as the core sensor component. Compared with traditional 2D vision systems, the 3D camera can acquire the depth information and three-dimensional contour data of objects, enabling more accurate detection of carton size, stacking thickness, and material shortage. By setting a 3D camera above the gripping position 7, the system can collect spatial data of the carton before it enters the gripping area, thereby determining whether the carton is placed flat, whether the stacking is compliant, and whether there are any abnormalities such as material shortage or tilting.

[0066] The main technical benefit of this feature is a significant improvement in the accuracy and reliability of detection, providing more comprehensive and precise perception information for the fully automated robotic gripper 1. This optimizes the planning and execution of the gripping path, avoiding missed grips, mis-grip grasps, or gripping failures caused by misjudgments. Furthermore, the 3D vision system exhibits excellent environmental adaptability, maintaining stable recognition performance even under complex lighting conditions or when the cardboard surface reflects light, further enhancing the system's robustness in practical applications. Therefore, this embodiment, by introducing a 3D camera, achieves a technological breakthrough in the intelligent perception layer of the robotic arm opening device, significantly enhancing the intelligence level and operational stability of automated operations.

[0067] The specific operation process of the robotic arm box opening device provided by this utility model is as follows: First, the turntable 4 rotates the carton required by the system to the gripping position 7 (this step can be that the detection device 6 detects in real time whether the carton at the gripping position 7 is the carton required by the system, and if so, the turntable 4 stops; or the control system can pre-set the carton information for each position when placing the carton, and the control system can monitor the position of each carton placement platform 3 on the turntable 4 in real time, and then the turntable 4 rotates at a certain angle calculated by the control system to accurately rotate the required carton to the gripping position 7).

[0068] Then, the fully automatic robotic arm rotates to the gripping position 7 and grips the carton according to the information fed back by the detection device 6 (carton size, stacking thickness, creases, etc.); and unfolds it once.

[0069] Finally, the carton is rotated above the fully automatic carton sealing machine 2. The fully automatic robotic arm performs a second fold on the bottom and places the carton on the fully automatic carton sealing machine 2. The fully automatic carton sealing machine 2 seals the bottom of the carton with tape. After sealing, the fully automatic robotic arm moves away from the fully automatic carton sealing machine 2, and the carton is sent out by the conveyor belt on the fully automatic carton sealing machine 2.

[0070] When a carton placement platform 3 needs to be added, the operator presses the stop button in the warning button 3.13 of that platform. The fully automatic mechanical gripper 1 pauses its carton-grabbing operation on that platform, without affecting the operation of other carton placement platforms 3. The locking mechanism 3.14 is then opened, and the length and width adjustment mechanisms are moved outwards to a position where a carton can be placed. The carton is then placed, with one corner aligned with the corner limiting plate. Once full, the length and width adjustment mechanisms are moved so that the corner limiting plate 3.12 locks the other opposite corner of the carton. The locking mechanism 3.14 is then locked, and the start button in the warning button 3.13 is pressed to begin the carton-grabbing operation.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robotic arm box-opening device, characterized in that, The system includes a fully automatic mechanical gripper (1), a fully automatic carton sealing machine (2), a carton placement platform (3), and a turntable (4). The fully automatic carton sealing machine (2) and the turntable (4) are respectively located on both sides of the fully automatic mechanical gripper (1). Several carton placement platforms (3) are located on the turntable (4). Driven by the turntable (4), several carton placement platforms (3) on the turntable (4) move sequentially to the gripping position (7). A gantry frame (5) is provided on the side of the turntable (4) facing the fully automatic mechanical gripper (1). A detection device (6) is installed on the gantry frame (5). The detection device (6) is located above the gripping position (7) and is used to detect the status of the carton gripped by the fully automatic mechanical gripper (1) at the gripping position (7).

2. The robotic arm box-opening device according to claim 1, characterized in that, The carton placement platform (3) includes a rectangular frame (3.1), a fixed platform (3.4), and an adjustment component, wherein the fixed platform (3.4) and the adjustment component are respectively disposed on the frame (3.1); When the carton placement platform (3) moves to the gripping position (7), the axes of the gantry (5), the carton placement platform (3), and the fully automatic carton sealing machine (2) are parallel.

3. The robotic arm box-opening device according to claim 2, characterized in that, The frame (3.1) is also provided with a carton corner fixing limit plate (3.2) and a carton corner moving limit plate (3.12). The carton corner fixing limit plate (3.2) and the carton corner moving limit plate (3.12) are arranged diagonally. The carton corner fixing limit plate (3.2) is located on the corner of the frame (3.1) on the side where the fixed platform (3.4) is installed. The carton corner moving limit plate (3.12) is located on the adjustment component and is slidably connected to the frame (3.1) through the adjustment component. The carton corner moving limit plate (3.12) has an adjustment state that slides along the direction of the two adjacent sidewalls of the frame (3.1), and a fixed limit state that is locked at any point within the movement range of the adjustment component.

4. The robotic arm box-opening device according to claim 3, characterized in that, The adjustment assembly includes a length direction adjustment mechanism, which includes a pair of guide rails (3.5) arranged along the length direction of the frame (3.1) and a pair of first sliders (3.6) respectively arranged on the pair of guide rails (3.5). The pair of first sliders (3.6) are also provided with a moving platform (3.7). The moving platform (3.7) is provided with a vertical support (3.8). The vertical support (3.8) is parallel to the width direction of the frame (3.1). The vertical support (3.8) is used to connect the carton corner moving limit plate (3.12).

5. The robotic arm box-opening device according to claim 4, characterized in that, The adjustment assembly further includes a width adjustment mechanism, which includes a pair of slide rails (3.9) disposed on the side of the vertical support (3.8) facing the fixed platform (3.4), and a pair of second sliders (3.10) respectively disposed on the pair of slide rails (3.9). A vertical connecting plate (3.11) is provided on the pair of second sliders (3.10), and the carton corner movement limiting plate (3.12) is disposed on the vertical connecting plate (3.11). The pair of slide rails (3.9) are arranged vertically and parallel to the width direction of the frame (3.1).

6. The robotic arm box-opening device according to claim 3, characterized in that, Limiting posts (3.3) are provided on the two adjacent sides of the corner where the corner fixing limiting plate (3.2) of the carton is located. The limiting posts (3.3) are used to limit the two adjacent sides of the carton.

7. The robotic arm box-opening device according to claim 5, characterized in that, The first slider (3.6) and the second slider (3.10) are also provided with locking mechanisms (3.14), which pass through the first slider (3.6) or the second slider (3.10) and abut against the guide rail (3.5) or the slide rail (3.9) to fix the first slider (3.6) on the guide rail (3.5) or fix the second slider (3.10) on the slide rail (3.9).

8. The robotic arm box-opening device according to claim 2, characterized in that, The carton placement platform (3) also includes a warning button (3.13), which is located on the other corner of the frame (3.1) and connected to the frame (3.1) via a connecting rod. The warning button (3.13) includes a stop button and a start button, which are used to control the operation of the fully automatic mechanical gripper (1).

9. The robotic arm box-opening device according to claim 3, characterized in that, The fixed limiting plate (3.2) and the movable limiting plate (3.12) of the carton corner each have a pair of limiting surfaces that are perpendicular to each other.

10. The robotic arm box-opening device according to claim 1, characterized in that, The detection device (6) is a 3D camera.

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