A sleeving device and a packaging line

Abstract

The application discloses a sleeving device and a packaging production line. The mechanical arm in the sleeving device can grab a carton in a folded state and fold the carton into a carton, and the operation is simple and fast. The mechanical arm grabs the top cover with a folded edge and moves to a pushing mechanism. The pushing mechanism pushes the side wall of the carton in a working state, facilitating the installation of the top cover or the bottom of the carton. The folded edge unfolding mechanism unfolds the folded edge of the top cover in the folded state. Then, the mechanical arm covers the top cover, without manual operation. The sleeving position is preset, the sleeving success rate is high, the sleeving process is integrated, the completion speed is fast, and the packaging production line can realize full-process automation from the unfolding of the carton, then the sleeving of the carton, then the capping, and finally the moving of the carton away, thereby improving the efficiency.

Description

Technical Field

[0001] This application relates to the field of automatic packing technology, and in particular to a packing device and packaging production line. Background Technology

[0002] After the silk spindles are stacked, the entire stack needs to be packaged to prevent contamination or damage to the product surface during handling and transportation. The main packaging methods for the entire stack of silk spindles are stretch film wrapping and whole-stack carton packaging. Since the products in the carton are relatively large, it is difficult for one person to complete the task; at least two people are needed to work together. After the products are placed in the carton, a top cover needs to be placed on top to secure the carton and complete the packaging.

[0003] Currently, cardboard packaging products in the chemical fiber industry are basically completed manually, requiring multiple people to work together. This is quite difficult, with low efficiency and high labor intensity. Semi-automated equipment has a low success rate in packing boxes, and the boxes are prone to deformation and jamming of yarn stacks. There is a lack of integrated processes, requiring segmented operations. Utility Model Content

[0004] To solve at least one of the above-mentioned technical problems, this application provides a kitting device and a packaging production line, and the technical solution adopted is as follows.

[0005] The kit provided in this application includes a robotic arm, a pushing mechanism, and a folding and unfolding mechanism. The end of the robotic arm is equipped with a clamp for gripping and transferring a cardboard box with openings at both ends and a top cover with folded edges. The clamp is capable of gripping the cardboard box in a folded state and folding the folded cardboard box into a working state. The pushing mechanism is used to push the side wall of the cardboard box in the working state, and the folding and unfolding mechanism is used to unfold the folded edges of the top cover in a folded state.

[0006] In some embodiments of this application, the pushing mechanism includes two sets of first pushing components, a first pushing part and a first driving structure arranged opposite to each other along a first direction. The first driving structure is used to drive the first pushing part to push the side wall of the carton in the working state along the first direction in the horizontal plane.

[0007] In some embodiments of this application, the pushing mechanism further includes two sets of second pushing components arranged opposite each other along a second direction perpendicular to the first direction. The second pushing component includes a second pushing part and a second driving structure. The second driving structure is used to drive the second pushing part to push the side wall of the carton in the working state along the second direction in the horizontal plane.

[0008] In some embodiments of this application, the areas of the first and second pressing portions used to press the sidewalls of the carton in a working state are flexible structures.

[0009] In some embodiments of this application, the first pressing part and the second pressing part have planar pressing surfaces for pressing the side wall of a carton in a working state.

[0010] In some embodiments of this application, the folding and unfolding mechanism includes two sets of first actuating components arranged opposite to each other along the first direction. Each first actuating component includes a first actuating part and a third driving structure. The third driving structure is used to drive the first actuating part to move in the first direction in the horizontal plane. The first actuating part is used to actuate the folded edge of the top cover from the folded state to the unfolded state. The folding and unfolding mechanism is configured with a fourth driving structure for driving the first actuating component to rise and fall.

[0011] In some embodiments of this application, the folding and unfolding mechanism further includes two sets of second actuating components arranged opposite each other along a second direction perpendicular to the first direction. The second actuating component includes a second actuating part and a fifth driving structure. The fifth driving structure is used to drive the second actuating part to move in the horizontal plane along the second direction. The second actuating part is used to actuate the folded edge of the top cover from the folded state to the unfolded state. The fourth driving structure can also drive the second actuating component to rise and fall simultaneously. Alternatively, the folding and unfolding mechanism is configured with a sixth driving structure for driving the second actuating component to rise and fall.

[0012] In some embodiments of this application, the clamp includes a mounting plate, on which a first suction cup and a seventh driving structure are provided. The first suction cup is used to pick up a carton or top cover. At least one end of the mounting plate is hinged with a gripper, the hinged position of which corresponds to the crease of the carton. The seventh driving structure is used to drive the gripper to rotate toward the carton adsorbed by the first suction cup, so as to fold the folded carton into a working carton.

[0013] In some embodiments of this application, the kit further includes an adsorption mechanism, which includes a second suction cup and an eighth driving structure. The eighth driving structure is used to drive the second suction cup to move in a horizontal plane, and the second suction cup is used to adsorb the unfolded folded edge of the top cover.

[0014] This application also provides a packaging production line, including a conveying assembly and a packaging device as described above. The conveying assembly is provided with a plurality of drive rollers for conveying target products.

[0015] This application has at least the following beneficial effects: the robotic arm can fold a folded carton into a working carton, with simple and quick operation. The robotic arm grasps the top cover with folded edges and moves it to the pushing mechanism. The pushing mechanism pushes the side wall of the working carton, which is easy to install. The folding edge unfolding mechanism unfolds the folded edges of the top cover, and then the robotic arm closes the top cover. No manual operation is required. The set position is preset, the set success rate is high, the set process is integrated, and the completion speed is fast. The packaging production line can realize the full automation of the process from unfolding the carton, then setting the carton, then adding the lid, and finally transferring the carton away, thus improving efficiency.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The present application will be further illustrated below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments illustrated in the following drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

[0018] Figure 1 Diagram of the packaging production line;

[0019] Figure 2 This is a diagram of the folding and unfolding mechanism;

[0020] Figure 3 This is a diagram showing the transformation of a cardboard box from its folded state to its working state.

[0021] Figure 4 A diagram showing the bottom cover of a cardboard box in its working state;

[0022] Figure 5 The diagram shows the change from the folded-over top cover to the folded-over open top cover.

[0023] Figure 6 This is a picture of the finished product of the set.

[0024] Reference numerals: Robotic arm 100; Gripper 110; Mounting plate 111; Gripper 112;

[0025] 200 cardboard boxes;

[0026] Top cover 300; main body 310; first folded edge 320; second folded edge 330;

[0027] Pushing mechanism 400; first pushing assembly 410; first bracket 411; crossbeam 4111; extension frame 4112; first pushing part 412; fourth drive structure 413; ninth drive structure 414; guide rail 415; second pushing assembly 420;

[0028] Folding and unfolding mechanism 500; first actuating assembly 510; first actuating part 511; second actuating assembly 520; second actuating part 521;

[0029] Second suction cup 600;

[0030] Conveyor assembly 700; Drive roller 710;

[0031] Bottom cover 800. Detailed Implementation

[0032] The following is combined Figures 1 to 2 The embodiments of this application are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0033] In the description of this application, it should be understood that the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and 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 application.

[0034] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0035] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] This application provides a kit device and packaging production line, and the kit device is described below.

[0038] Combination Figure 1 and Figure 2 As shown, the kit of this application includes a robotic arm 100, a pushing mechanism 400, and a folding and unfolding mechanism 500.

[0039] Combination Figure 1 and Figure 3 As shown, the robotic arm 100 has a gripper 110 at its end for gripping and transferring a cardboard box with openings at both ends and a top cover 300 with folded edges. The gripper 110 is capable of gripping the cardboard box 200 in a folded state and folding the folded cardboard box 200 into a working state.

[0040] The working carton 200 is a box structure with open ends and only four side walls. There are creases at the joints of two adjacent side walls of the carton 200. The folded carton 200 is formed by flattening the working carton 200 along the creases.

[0041] Combination Figure 4 and Figure 5 As shown, the top cover 300 is used to tightly fit onto one of the open ends of the cardboard box 200 in the working state. The top cover 300 includes a rectangular main body 310. Each of the four edges of the main body 310 is provided with a folded edge. First, two pairs of folded edges are folded towards the lower end face of the main body 310, which are called the first folded edge 320. Then, another two pairs of folded edges are folded towards the lower end face of the main body 310, which are called the second folded edge 330. The angle between the first folded edge 320 and the lower end face of the top cover 300 is greater than or equal to 0°. The second folded edge 330 and the lower end face of the main body 310 sandwich a part of the first folded edge 320. That is, the first folded edge 320 has a part that is not sandwiched between the second folded edge 330 and the lower end face of the main body 310. The lower end face of the top cover 300 is placed downwards, and multiple top covers 300 are stacked.

[0042] The assembly device assembles the product stacks, with the product stack already placed on the bottom cover 800. The bottom cover 800 and the product stack are positioned in the working position of the pushing mechanism 400. The robot arm 100 controls the gripper 110 to move above the folded carton 200. The gripper 110 picks up the folded carton 200 and folds it. After folding the carton 200 into its working state, the robot arm 100 controls the gripper 110 to move above the bottom cover 800 and the product stack, and assembles the working carton 200 into the product stack, embedding it into the bottom cover 800. The working state of the embedded carton 200 is as follows. Figure 4 As shown.

[0043] The pushing mechanism 400 is used to push the side wall of the carton 200 in the working state. The robot arm 100 controls the clamp 110 to move to the bottom cover 800 and above the product stack. Before the carton 200 in the working state is placed into the product stack, the pushing mechanism 400 pushes the side wall of the carton 200 in the working state, so that the side wall of the carton 200 in the working state is concave from the outside to the inside, making it easier to insert into the bottom cover 800. The working state of the carton 200 after insertion is as follows. Figure 4 As shown.

[0044] The folding and unfolding mechanism 500 unfolds the folded edge of the top cover 300 when it is in a folded state. The robot arm 100 controls the gripper 110 to move above the folded top cover 300 and grip it. The gripper 110 then grasps the folded top cover 300. The robot arm 100 controls the gripper 110 to move above the embedded cardboard box 200 in its working state. The folding and unfolding mechanism 500 unfolds the folded edge of the top cover 300. Then, the robot arm 100 controls the gripper 110 to place the unfolded top cover 300 on top of the cardboard box 200 in its working state. The unfolded top cover 300 is then lowered as follows: Figure 6 As shown, the set is now complete.

[0045] The robotic arm 100 can fold the cardboard box 200 from its folded state into its working state. The action is simple and quick. The robotic arm 100 grabs the top cover 300 with the folded edge and moves it to the pushing mechanism 400. The pushing mechanism 400 pushes the side wall of the cardboard box 200 in its working state, making it easy to install the cardboard box 200 in its working state onto the bottom cover 800. The folding edge unfolding mechanism 500 unfolds the folded edge of the top cover 300. Then the robotic arm 100 closes the top cover 300. No manual operation is required. The set position is preset, the set success rate is high, the set process is integrated, and the completion speed is fast.

[0046] In some other embodiments, a mechanical gripper replaces the clamp 110. For cartons or top covers 300 with rough surfaces or poor air permeability, a mechanical gripper can be used to grasp the folded cartons 200 and fold them. The opening and closing of the mechanical gripper enables the folding of the folded cartons 200 into the working state and the grasping of the top cover 300.

[0047] In some embodiments, combined with Figure 2 As shown, the pressing mechanism 400 includes two sets of first pressing assemblies 410 arranged opposite each other along a first direction. Each first pressing assembly 410 includes a first support 411, a first pressing part 412, and a first driving structure. The first pressing part 412 is movably mounted on the first support 411. The first driving structure drives the first pressing part 412 to press the side wall of the cardboard box 200 in its working state along the first direction in the horizontal plane. The first direction is... Figure 2 In the X direction shown, the pushing mechanism 400 includes two sets of first pushing components 410 arranged opposite each other in the X direction. The distance between the positions of the two sets of first brackets 411 is greater than the width of any side of the carton 200 in the working state. The first driving structure is used to drive the first pushing part 412 to push the side wall of the carton 200 in the working state in the first direction in the horizontal plane, so that the side wall of the carton 200 in the working state forms a temporary indentation in the carton in the first direction, which facilitates the widening of the gap between the carton 200 in the working state and the bottom cover 800, so that the carton 200 in the working state can be fully embedded in the bottom cover 800, reducing the risk of interference between the edge of the bottom cover 800 and the outer wall of the carton 200 in the working state.

[0048] Specifically, such as Figure 2 As shown, two first pressing parts 412 are arranged side by side on the first bracket 411. The first driving structure is used to drive the first pressing parts 412 to push the side wall of the carton 200 in the working state in the first direction in the horizontal plane. This is beneficial to the side wall of the carton 200 in the working state being subjected to more uniform force, and the carton 200 in the working state is less likely to be severely deformed.

[0049] In some embodiments, the pressing mechanism 400 further includes two sets of second pressing assemblies 420 disposed opposite each other along a second direction perpendicular to the first direction. Each second pressing assembly 420 includes a second pressing part and a second driving structure. The second driving structure is used to drive the second pressing part to press the side wall of the cardboard box 200 in its working state along the second direction in a horizontal plane. The second direction is... Figure 2 The Y direction shown is perpendicular to the first direction. The second pushing assembly 420 can be mounted on a second bracket independent of the first bracket 411, or it can be mounted on the first bracket 411. If mounted on the second bracket, the second pushing part is movably mounted on the second bracket, and the second driving structure is used to drive the second pushing part to push the side wall of the carton 200 in the working state along the second direction in the horizontal plane.

[0050] Combination Figure 2 As shown, the second pressing assembly 420 is mounted on the first support 411. Specifically, the first support 411 has a crossbeam 4111 along the second direction, and the first pressing part 412 is mounted on the crossbeam 4111. Extension frames 4112 extend from both ends of the crossbeam 4111 in the first direction. The second pressing assembly 420 is mounted on the extension frames 4112, and the second pressing part is movably mounted on the extension frames 4112. The second driving structure is used to drive the second pressing part to push the side wall of the carton 200 in the working state along the second direction in the horizontal plane. Specifically, the pressing mechanism 400 includes four extension frames 4112 for mounting the second pressing assembly 420. When pushing the side wall of the carton 200 in the working state along the second direction, the carton is subjected to uniform force, and the carton is less likely to be severely deformed.

[0051] Specifically, at most four extension frames 4112 for mounting the second pushing assembly 420 are provided at both ends of the two sets of first brackets 411. The extension frame 4112 may not be equipped with the second pushing assembly 420 or may be equipped with at least one second pushing assembly 420. When it is possible to achieve at least one second pushing assembly 420 in the first direction at either end of the first bracket 411, two or three extension frames 4112 may be selectively provided for mounting the second pushing assembly 420. The case of providing two extension frames 4112 includes providing two extension frames 4112 opposite to each other at both ends of one of the first brackets 411 in the second direction, or providing two extension frames 4112 in a centrally symmetrical arrangement with the center of symmetry of the two first brackets 4111 as the center of symmetry. The case of providing three extension frames 4112 includes arbitrarily removing one of the four extension frames 4112 in the case of providing at most four extension frames 4112 for mounting the second pushing assembly 420, or not providing the second pushing assembly 420 in any one of the four extension frames 4112.

[0052] In some embodiments, the areas of the first pressing part 412 and the second pressing part used to press the side wall of the carton 200 in the working state are flexible structures or made of flexible materials, including rubber, silicone, etc., which have a protective effect on the carton and reduce damage to the carton.

[0053] Furthermore, the flexible structure provided on the contact surface between the first pressing part 412 and the second pressing part and the carton is detachably connected to the pressing part, which facilitates maintenance and replacement.

[0054] In some embodiments, the first pressing part 412 and the second pressing part have planar pressing surfaces for contacting the carton. The planar pressing surfaces increase the area of ​​force application to the sidewalls of the carton. The planar pressing surfaces are vertically positioned, parallel to the outer wall of the carton, and the uniform internal pushing force avoids localized stress concentration, preventing the carton from being crushed or scratched. Avoiding stress concentration protects the carton and reduces damage.

[0055] In some embodiments, the folding unfolding mechanism 500 includes two sets of first actuating components 510 arranged opposite to each other along a first direction. Each first actuating component 510 includes a first actuating part 511 and a third driving structure. The third driving structure is used to drive the first actuating part 511 to move in the first direction in the horizontal plane. The first actuating part 511 is used to unfold the folded edge of the top cover 300 when it is in a folded state.

[0056] The pushing mechanism 400 also includes a fourth driving structure 413, which drives the first support 411 to rise and fall, and the first actuating part 511 is movably disposed on the first support 411.

[0057] Combination Figure 2 As shown, the pushing mechanism 400 also includes a fourth driving structure 413, which drives the first support 411 to rise and fall. The first actuating part 511 is movably disposed on the first support 411. The third driving structure drives the first actuating part 511 to move in the horizontal plane along the first direction. The robot arm 100 controls the gripper 110 to move above the top cover 300 in the folded state. The gripper 110 grasps the folded top cover 300. The robot arm 100 controls the gripper 110 to move above the carton 200 in the embedded working state. When the top cover 300 moves above the carton, the first folded edge 320 is in the state along the second direction, and the second folded edge 330 is in the state along the first direction. The fourth drive structure 413 drives the first support 411 to descend, the third drive structure drives the first actuating part 511 to extend along the first direction to exceed the width of the first folded edge 320, the fourth drive structure 413 drives the first support 411 to rise until the upper end of the first actuating part 511 contacts the top cover 300, the third drive structure drives the first actuating part 511 to retract along the first direction at least beyond the width of the first folded edge 320, pulling the first folded edge 320 open until the angle between the first folded edge 320 and the lower end face of the top cover 300 is greater than or equal to 90 degrees. Because the second folded edge 330 and the lower end face of the top cover 300 press against a part of the first folded edge 320, the angle between the second folded edge 330 and the lower end face of the top cover 300 can be greater than or equal to 90 degrees. Then the robot arm 100 controls the gripper 110 to place the top cover 300 in the unfolded state above the working carton 200, and the state of the unfolded top cover 300 is as follows. Figure 6 As shown, the set is complete.

[0058] Alternatively, the first actuating assembly 510 may also include a third bracket independent of the first bracket 411. The fourth driving structure 413 is used to drive the third bracket to lift and lower. The first actuating part 511 is movably mounted on the third bracket. The first actuating part 511 opens the folded edge of the top cover 300. Then, the robotic arm 100 controls the clamp 110 to place the top cover 300 in the unfolded state above the cardboard box 200 in the working state, and then lowers the top cover 300 in the unfolded state to complete the assembly.

[0059] In some embodiments, the folding and unfolding mechanism 500 further includes two sets of second actuating components 520 arranged opposite each other along a second direction perpendicular to the first direction. Each second actuating component 520 includes a second actuating part 521 and a fifth driving structure. The fifth driving structure drives the second actuating part 521 to move in the horizontal plane along the second direction. The second actuating part 521 actuates the folded edge of the top cover 300 from a folded state to an unfolded state. With the fifth driving structure driving the second actuating part 521 to move in the horizontal plane along the second direction, the folded edge of the top cover 300 does not require the second folded edge 330 to press against a portion of the first folded edge 320, or the first folded edge 320 to be fixed along the second direction. The clamp 110 can simply grip the top cover 300 above the carton, resulting in a more stable unfolding effect. After unfolding, the folded edge is limited by the first actuating part 511 and the second actuating part 521, making it less prone to retraction and increasing the success rate of fitting it onto the carton.

[0060] Specifically, the second toggle assembly 520 is mounted on the extension frame 4112, and the fourth drive structure 413 can also drive the second toggle assembly 520 to rise and fall simultaneously.

[0061] With the second actuating component 520 mounted on the extension frame 4112, the fourth drive structure 413 can simultaneously drive the second actuating component 520 to rise and fall. The second actuating component 520 can be mounted on up to four extension frames 4112. The extension frame 4112 may or may not have the second actuating component 520 mounted, or it may have at least one second actuating component 520 mounted. When at least one second actuating component 520 is located in the first direction at either end of the first bracket 411, two or three extension brackets 4112 may be selectively provided for mounting the second actuating component 520. The case of providing two extension brackets 4112 includes providing two extension brackets 4112 opposite to each other in the second direction at only one end of the first bracket 411, or providing two extension brackets 4112 in a centrally symmetrical arrangement with the center of symmetry of the two first brackets 411 as the center of symmetry. The case of providing three extension brackets 4112 includes arbitrarily removing one of the four extension brackets 4112 in the case of providing up to four extension brackets 4112 for mounting the second actuating component 520, or not providing the second actuating component 520 in any one of the four extension brackets 4112.

[0062] Alternatively, the second actuating part 521 is movably mounted on the second bracket, and the folding and unfolding mechanism 500 is equipped with a sixth driving structure for driving the second actuating assembly 520 to rise and fall. The sixth driving structure is mounted on the second bracket and is used to drive the second bracket to rise and fall.

[0063] Alternatively, the second toggle assembly 520 may include a fourth bracket, with the second toggle part 521 movably mounted on the fourth bracket, and the folding and unfolding mechanism 500 may be equipped with a sixth drive structure for driving the second toggle assembly 520 to rise and fall, the sixth drive structure being mounted on the fourth bracket.

[0064] In some embodiments, the first actuating part 511 and the second actuating part 521 are vertical sheet-like structures. During the movement of the first actuating part 511 and the second actuating part 521, the vertical sheet-like structure makes it easier to unfold the folded edge.

[0065] Furthermore, the first actuating part 511 and the second actuating part 521 are vertical sheet-like structures. The upper end of the vertical sheet-like structure extends into a horizontal sheet-like structure in the horizontal plane along the first direction towards the extension direction. The horizontal sheet-like structure is conducive to extending into the gap between the folded edge and the top cover 300, making it easier to unfold the folded edge.

[0066] In some embodiments, the clamp 110 includes a mounting plate 111, on which a first suction cup and a seventh driving structure are provided. The first suction cup is used to pick up a carton or top cover 300. At least one end of the mounting plate 111 is hinged with a gripper 112, the hinge position of which corresponds to the crease of the carton. The seventh driving structure is used to drive the gripper 112 to rotate toward the carton held by the first suction cup, so as to fold the folded carton 200 into a working carton 200. The first suction cup is used for vacuum suction. A vacuum generator is used to create a negative pressure inside the first suction cup before attaching the first suction cup to the carton, resulting in more stable suction and preventing damage to the carton.

[0067] Furthermore, the first suction cup is designed as a flexible structure. By creating negative pressure inside the first suction cup, the flexible first suction cup adheres to the cardboard box or top cover 300, reducing impact and providing better protection.

[0068] In some embodiments, the kit further includes an adsorption mechanism comprising a second suction cup 600 and an eighth driving structure. The eighth driving structure drives the second suction cup 600 to move horizontally. The second suction cup 600 adsorbs the unfolded fold of the top cover 300. The second suction cup 600 is movably mounted on a first support 411, a second support, a third support, or a fourth support, or on a fifth support independent of the first, second, third, and fourth supports. The second suction cup 600 adsorbs the unfolded fold to prevent retraction and counteract the fold's rebound force. The top view projection of the second suction cup 600 is outside the top view projection of the carton, preventing the angle between the top cover 300 and its fold from being less than or equal to 90°. The eighth driving structure allows the second suction cup 600 to be adjustable in distance, adapting to deviations in the carton's position and maintaining its top view projection outside the carton's top view projection. Furthermore, it works with the actuating part to open the fold of the top cover 300, improving the efficiency of unfolding the fold.

[0069] Furthermore, the second suction cup 600 is disposed on one side of the first actuating part 511 along the first direction, or on one side of the second actuating part 521 along the second direction, for adsorbing the folded edge of the top cover 300 after the actuating part unfolds the folded edge. The second suction cup 600 is provided to adsorb the opened folded edge to prevent the folded edge from retracting and to counteract the elastic force of the folded edge. The top view projection of the second suction cup 600 is outside the top view projection of the carton to prevent the angle between the top cover 300 and its folded edge from being less than or equal to 90°.

[0070] Furthermore, the second suction cup 600 is configured as a flexible structure. By creating negative pressure inside the second suction cup 600, the flexible second suction cup adheres to the folded edge of the top cover 300, reducing impact and providing better protection for the unfolded folded edge. This prevents excessive pulling force when the actuating part retracts and avoids the second suction cup 600 from damaging the folded edge.

[0071] Furthermore, the contact surface between the pusher head and the carton is made of a flexible material, or the pusher head has a planar structure with that planar surface used to contact the carton. Using a flexible material for the contact surface protects the carton, preventing damage to its outer wall and reducing impact on the carton's structure. Alternatively, the pusher head has a planar structure with its plane vertically aligned and parallel to the carton's outer wall; this uniform internal pushing force avoids localized stress concentration, preventing the carton from being crushed or scratched.

[0072] In some embodiments, the drive structure described above employs either a cylinder or an electric actuator. Cylinders or electric actuators are simple in structure and low in cost. When a cylinder encounters resistance, it can be buffered by air pressure, protecting the mechanical structure. Electric actuators offer more precise control of stroke and speed, operate quietly, and are energy-efficient and environmentally friendly.

[0073] In some embodiments, combined with Figure 1 and Figure 2 As shown, the pushing mechanism 400 also includes a horizontal moving component, which includes a guide rail 415 and a ninth drive structure 414. The ninth drive structure 414 moves horizontally on the guide rail 415, and the first bracket 411 is mounted on the ninth drive structure 414. The ninth drive structure 414, carrying the first bracket 411, moves horizontally on the guide rail 415 to adapt to the distance of the carton placement, accommodating cartons of different sizes. After determining the size of the carton, the ninth drive structure 414 is driven to bring the first bracket 411 closer to the carton, shortening the idle travel time of the first pushing part 412 or the first actuating part 511 and improving work efficiency. The moving speed can be designed to be controlled, so that even if the first pushing part 412 or the first actuating part 511 cannot move due to a malfunction, the folded edge of the top cover 300 can still be unfolded through the horizontal moving component.

[0074] Furthermore, the horizontal movement component is a servo module. The servo module has precise positioning, enabling high-precision movement of the horizontal movement component. It ensures accurate adjustment of the position 300 mm away from the carton or top cover. The movement speed can be controlled, and closed-loop control reduces errors. It is not easily worn out during long-term use and has low maintenance costs.

[0075] This application also provides a packaging production line, combined with Figure 1 and Figure 2As shown, the assembly includes the aforementioned packaging device and a conveying component 700. The conveying component 700 is equipped with several drive rollers 710, and two first actuating components 510 are disposed on both sides of the conveying component 700. In one embodiment, the product stack is placed on the bottom cover 800, which is then placed on the conveying component 700. The drive rollers 710 rotate to transport the bottom cover 800 containing the product stack. After packaging is completed, the drive rollers 710 drive the packaged finished product away, simultaneously transporting the next bottom cover 800 containing the product stack, and repeating the above actions. The packaging production line requires no manual operation, the packaging position is preset, the packaging success rate is high, the packaging process is integrated, and the completion speed is fast. It can realize the full automation of the process from unfolding the carton, then packaging, then adding the lid, and finally transferring the carton away, thus improving efficiency.

[0076] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A kit-like device, characterized in that: include The robotic arm has a gripper at its end for gripping and transferring a cardboard box with openings at both ends and a top cover with folded edges. The gripper is capable of gripping a folded cardboard box and folding the folded cardboard box into a working state. A pressing mechanism is used to press the side walls of a carton in its working state; The folding unfolding mechanism is used to unfold the folded edge of the top cover when it is in a folded state.

2. The kit according to claim 1, characterized in that: The pushing mechanism includes two sets of first pushing components arranged opposite each other along a first direction. Each first pushing component includes a first pushing part and a first driving structure. The first driving structure is used to drive the first pushing part to push the side wall of the carton in the working state along the first direction in the horizontal plane.

3. The kit according to claim 2, characterized in that: The pushing mechanism further includes two sets of second pushing components arranged opposite each other along a second direction perpendicular to the first direction. The second pushing component includes a second pushing part and a second driving structure. The second driving structure is used to drive the second pushing part to push the side wall of the carton in the working state along the second direction in the horizontal plane.

4. The kit according to claim 3, characterized in that: The areas of the first and second pressing parts used to press the side wall of the carton in the working state are flexible structures.

5. The kit according to claim 3, characterized in that: The first pressing part and the second pressing part have planar pressing surfaces, which are used to press the side wall of the carton in the working state.

6. The kit according to any one of claims 2 to 5, characterized in that: The folding and unfolding mechanism includes two sets of first actuating components arranged opposite each other along the first direction. Each first actuating component includes a first actuating part and a third driving structure. The third driving structure is used to drive the first actuating part to move in the horizontal plane along the first direction. The first actuating part is used to actuate the folded edge of the top cover from the folded state to the unfolded state. The folding and unfolding mechanism is equipped with a fourth driving structure for driving the first actuating component to rise and fall.

7. The kit according to claim 6, characterized in that: The folding and unfolding mechanism further includes two sets of second actuating components arranged opposite each other along a second direction perpendicular to the first direction. Each second actuating component includes a second actuating part and a fifth driving structure. The fifth driving structure drives the second actuating part to move along the second direction in a horizontal plane. The second actuating part is used to move the folded edge of the top cover from a folded state to an unfolded state. The fourth drive structure can also simultaneously drive the second actuating component to move up and down; or... The folding and unfolding mechanism is equipped with a sixth drive structure for driving the second actuating component to rise and fall.

8. The kit according to claim 1, characterized in that: The fixture includes a mounting plate, on which a first suction cup and a seventh driving structure are provided. The first suction cup is used to pick up a carton or top cover. At least one end of the mounting plate is hinged with a gripper. The gripper is hinged at a position corresponding to the crease of the carton. The seventh driving structure is used to drive the gripper to rotate toward the carton held by the first suction cup, so as to fold the folded carton into a working carton.

9. The kit according to claim 1, characterized in that: The kit also includes an adsorption mechanism, which includes a second suction cup and an eighth driving structure. The eighth driving structure is used to drive the second suction cup to move in a horizontal plane, and the second suction cup is used to adsorb the unfolded folded edge of the top cover.

10. A packaging production line, characterized in that: include The kit as described in any one of claims 1 to 9; The conveying assembly is equipped with several active rollers, which are used to convey the target product.

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