A robotic box opener

Abstract

The utility model relates to a kind of robot unpacking machine, it is characterized by including material discharging station, robot material conveying station and sealing station;The robot material conveying station is located between material discharging station and sealing station, and robot material conveying station transports carton of material discharging station to sealing station to seal;The robot material conveying station and support mesa, arc plate, front flap folding hole and rear flap folding hole cooperate to fold the left flap, right flap, front flap and rear flap of box bottom;The sealing machine installation position is located in the right side of rear flap folding hole, and the sealing machine is set on sealing machine installation position to seal the left flap, right flap, front flap and rear flap after folding over.It is only needed to move and cooperate with sealing station for the robot material conveying station, and the front flap, rear flap, left flap and right flap of box bottom can be completely folded over, then sealed by sealing machine, relatively simple structure, relatively low cost.

Description

Technical Field

[0001] This utility model relates to a robotic box opener. Background Technology

[0002] Currently, existing robotic box-opening machines include a material feeding station, a robotic material handling station, and a box-sealing station. The box-sealing station is equipped with a front folding cover, a rear folding cover, a left folding cover, and a right folding cover. These front folding cover, rear folding cover, left folding cover, and right folding cover are driven by a drive device to fold up the front folding cover, rear folding cover, left folding cover, and right folding cover at the bottom of the box. After folding, the box is sealed by a box-sealing machine. The above-mentioned box-sealing station has a complex structure and high cost. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic box opener. It only requires the robot to move its material handling station and cooperate with the box sealing station to completely fold up the front, rear, left, and right flaps at the bottom of the box, and then seal the box with a box sealing machine. The structure is relatively simple and the cost is relatively low.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: it is a robotic box opener, comprising... The facility includes a material feeding station, a robot material handling station, and a box sealing station. The robot material handling station is located between the material feeding station and the box sealing station. The robot material handling station transports the cartons from the material feeding station to the box sealing station for sealing. The sealing station includes a frame and a sealing machine. The frame has a support platform, on which are respectively provided a side folding plate folding structure, a downward-facing front folding plate folding hole, a downward-facing rear folding plate folding hole, and a sealing machine mounting position. The side folding plate folding structure includes a mounting frame and an arc-shaped plate. The mounting frame is mounted on the support platform, the upper end of the arc-shaped plate is mounted on the mounting frame, and the lower end of the arc-shaped plate is mounted on the support platform. The front folding plate folding hole is located in front of the arc-shaped plate. The rear folding plate folding hole is located behind the arc-shaped plate, and the length of the rear folding plate folding hole is greater than that of the front folding plate folding hole. The robot material handling station, together with the support table, the arc-shaped plate, the front folding plate folding hole, and the rear folding plate folding hole, folds up the left, right, front, and rear folding plates at the bottom of the box. The box sealing machine installation position is located to the right of the rear folding plate folding hole, and the box sealing machine is installed at the box sealing machine installation position to seal the folded left, right, front, and rear folding plates.

[0005] In this technical solution, a first guide surface that slopes forward and downward is provided on the front side of the connection between the support platform and the folding hole of the front folding plate.

[0006] In this technical solution, a second guide surface that slopes backward and downward is provided on the rear side of the connection between the support platform and the folding hole of the rear folding plate.

[0007] In this technical solution, a third guide surface that slopes downwards and to the left is provided at the connection between the support platform and the right end of the folding hole of the front folding plate.

[0008] In this technical solution, a fourth guide surface that slopes downwards and to the left is provided at the connection between the support platform and the right end of the rear folding plate folding hole.

[0009] In this technical solution, the robot material handling station includes a base, a lower rotating seat, a lower drive motor, a swing arm drive motor, a swing arm, an upper rotating seat, an upper drive motor, a connecting arm, a movable arm structure, and a robotic arm structure. The base is located between the material placement station and the robot material handling station. The lower rotating seat is mounted on the base and can rotate. The upper drive motor is mounted on the lower rotating seat and cooperates with the base to drive the lower rotating seat to rotate and position. The swing arm is mounted on the lower rotating seat and can swing. The swing arm drive motor is mounted on the lower rotating seat and cooperates with the swing arm to drive the swing arm to swing and position. The upper drive motor is mounted on the upper rotating seat and cooperates with the swing arm to drive the upper rotating seat to rotate and position. The connecting arm is mounted on the upper rotating seat. The movable arm structure is mounted on the connecting arm. The robotic arm structure is mounted on the movable arm structure and is used to pick up cartons from the material placement station.

[0010] In this technical solution, the movable arm structure includes a movable swing arm, a turntable, a movable arm mounting frame, a movable swing arm drive device, and a turntable drive device. The movable swing arm is mounted on the connecting arm and can swing, the turntable is mounted on the movable swing arm and can rotate, the movable arm mounting frame is mounted on the turntable, and the robotic arm structure is mounted on the movable arm mounting frame. The movable swing arm drive device and the turntable drive device are respectively mounted on the upper rotating seat. The movable swing arm drive device drives the movable swing arm to swing and position, and the turntable drive device drives the turntable to rotate and position.

[0011] In this technical solution, the robotic arm structure includes a first arm, a first suction cup assembly, a second arm, a second suction cup assembly, and a second arm drive structure; the first arm is mounted on a movable arm mounting frame, the first suction cup assembly is mounted on the first arm, the second arm is mounted on the first arm and is rotatable, the second arm drive structure is mounted on the first arm and connected to the second arm to drive the second arm to rotate and position; the second suction cup assembly is mounted on the second arm.

[0012] In this technical solution, the second arm drive structure includes a cylinder and a connecting member. The cylinder is mounted on the first arm, and the output end of the cylinder is connected to the second arm through the connecting member to drive the second arm to rotate and position.

[0013] The advantages of this invention compared to existing technologies are: it only requires the robot to move and cooperate with the sealing station to completely fold up the front, rear, left, and right flaps at the bottom of the box, and then seal the box with a sealing machine. The structure is relatively simple and the cost is relatively low. Attached Figure Description

[0014] Figure 1 This is a perspective view of the present invention; Figure 2 This is a three-dimensional view of the box sealing station of this utility model; Figure 3 This is a perspective view of the rear view of the box sealing station of this utility model. Figure 4 This is a schematic diagram showing the cooperation between the left and right folding covers of the box body and the side folding plate folding structure of this utility model; Figure 5 This is a schematic diagram showing the fit between the left and right folding covers at the bottom of the box body of this utility model and the supporting platform after they are fully folded up. Figure 6 yes Figure 5 A stereoscopic view from the right perspective; Figure 7 This is a schematic diagram showing the cooperation between the folded front cover and the supporting platform of this utility model; Figure 8 This is a schematic diagram showing the cooperation between the rear folding cover and the supporting platform of this utility model; Figure 9 This is a three-dimensional view of the robot material handling station of this utility model; Figure 10 This is a three-dimensional view of the rear view of the material handling station of the robot of this utility model; Figure 11 This is a top-view perspective of the material handling station of the robot of this utility model. Detailed Implementation

[0015] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that... The descriptions of these embodiments are provided to aid in understanding the invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

[0016] In the description of this invention, the terms "upper," "lower," "right," "inner," and "left," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and do not require that this invention be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0017] In this invention, unless otherwise explicitly specified and limited, the terms "set" and "suite," 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, 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 invention according to the specific circumstances.

[0018] like Figure 1 and Figure 11 The present invention is a robotic carton unpacking machine, characterized by including a feeding station 1, a robotic material handling station 2, and a carton sealing station 3; the robotic material handling station 2 is located between the feeding station 1 and the carton sealing station 3, and the robotic material handling station 2 transports the carton from the feeding station 1 to the carton sealing station 3 for sealing. The sealing station 3 includes a frame and a sealing machine 37. The frame has a support platform 31, on which a side folding plate folding structure 32, a downward-opening front folding plate folding hole 33, a downward-opening rear folding plate folding hole 34, and a sealing machine mounting position 35 are respectively provided. The side folding plate folding structure 32 includes a mounting frame 321 and an arc-shaped plate 322. The mounting frame 321 is located on the support platform 31, the upper end of the arc-shaped plate 322 is located on the mounting frame 321, and the lower end of the arc-shaped plate 322 is located on the support platform 31. The front folding plate folding hole 33 is located at... The front of the arc-shaped plate 322, the rear folding hole 34 is located behind the arc-shaped plate 322, and the length of the rear folding hole 34 is greater than that of the front folding hole 33; the robot material handling station 2, together with the support table 31, the arc-shaped plate 322, the front folding hole 33 and the rear folding hole 34, fold up the left folding plate, right folding plate, front folding plate and rear folding plate at the bottom of the box; the box sealing machine mounting position 35 is located to the right of the rear folding hole 34, and the box sealing machine 37 is set on the box sealing machine mounting position 35 to seal the folded left folding plate, right folding plate, front folding plate and rear folding plate.

[0019] During operation, robot material handling station 2 picks up the box from material unloading station 1, Step 1: Robot material handling station 2 transports the box to the top of the arc plate 322 of the side folding structure 32; Step 2: Robot material handling station 2 rotates the box and moves it downwards (e.g., ...). Figure 4 As shown), the left and right folding covers at the bottom of the box contact the arc-shaped plate 322 and fold up; Step 3: The robot material handling station 2 rotates the box along the arc plate 322 and moves it to the right and downwards, so that the left and right folding covers of the box are fully supported on the support platform 31; the front folding cover is located in the folding hole 33 of the front folding plate, and the rear folding cover is located in the folding hole 34 of the rear folding plate (e.g., Figure 5 and Figure 6 (as shown) Step 4: The robot at material handling station 2 moves the box forward. After moving, the front cover of the box rests on the support platform 31 and folds up. (e.g.) Figure 7 (As shown) Step 5: Robot material handling station 2 moves the box to the right, dislodging the front folding cover from the folding hole 33 of the front folding plate. Then, robot material handling station 2 moves the box backward, so that the rear folding cover rests on the support platform 31 and folds up. (e.g.) Figure 8 (As shown) Step 6: Robot material handling station 2 moves the box to the right, and the rear folding cover of the box is lifted off the rear folding plate opening 33. The bottom of the box is supported on the support platform 31, and the front folding cover, rear folding cover, left folding cover and right folding cover of the bottom of the box are completely sealed. Step 7: Robot material handling station 2 transports the box to the box sealing machine 37 for bottom sealing.

[0020] In this embodiment, a first guide surface 311 that is inclined forward and downward is provided on the front side of the connection between the support platform 31 and the front folding hole 33.

[0021] In the fifth step above: the robot material handling station 2 moves the box to the right, and the front folding cover of the box is lifted away from the front folding hole 33. Then the robot material handling station 2 moves the box backward. During the above process, it is ensured that the front folding cover of the box will not flip up due to touching the support table 31.

[0022] In this embodiment, a second guide surface 312 that slopes backward and downward is provided on the rear side of the connection between the support platform 31 and the rear folding hole 34.

[0023] To prevent the bottom folded-up rear cover of the box from contacting the support platform 31 and flipping up when the robot material handling station 2 transports the box.

[0024] In this embodiment, a third guide surface 313 inclined to the left and downward is provided at the connection between the support platform 31 and the right end of the front folding hole 33.

[0025] To prevent the front flap at the bottom of the box from contacting the support platform 31 and flipping up when the robot material handling station 2 transports the box.

[0026] In this embodiment, a fourth guide surface 314 inclined to the left and downward is provided at the connection between the support platform 31 and the right end of the rear folding plate folding hole 34.

[0027] To prevent the bottom folded-up rear cover of the box from contacting the support platform 31 and flipping up when the robot material handling station 2 transports the box.

[0028] In this embodiment, the robot material handling station 2 includes a base 21, a lower rotating seat 22, a lower drive motor 23, a swing arm drive motor 24, a swing arm 25, an upper rotating seat 26, an upper drive motor 27, a connecting arm 28, a movable arm structure 29, and a robotic arm structure 30. The base 21 is located between the unloading station 1 and the robot material handling station 2. The lower rotating seat 22 is mounted on the base 21 and is rotatable. The upper drive motor 27 is mounted on the lower rotating seat 22 and cooperates with the base 21 to drive the lower rotating seat 22 to rotate. The swing arm 25 is mounted on the lower rotating seat 22 and can swing. The swing arm drive motor 24 is mounted on the lower rotating seat 22 and cooperates with the swing arm 25 to drive the swing arm 25 to swing and position. The upper drive motor 27 is mounted on the upper rotating seat 26 and cooperates with the swing arm 25 to drive the upper rotating seat 26 to rotate and position. The connecting arm 28 is mounted on the upper rotating seat 26. The movable arm structure 29 is mounted on the connecting arm 28. The robotic arm structure 30 is mounted on the movable arm structure 29 for picking up cartons on the material feeding station 1.

[0029] The robotic arm at the aforementioned material handling station 2 is flexible; after picking up the box, it can drive the box to swing, move forward, backward, left, and right, and rotate.

[0030] In this embodiment, the movable arm structure 29 includes a movable swing arm 291, a turntable 292, a movable arm mounting frame 293, a movable swing arm drive device 294, and a turntable drive device 295. The movable swing arm 291 is mounted on the connecting arm 28 and can swing, the turntable 292 is mounted on the movable swing arm 291 and can rotate, the movable arm mounting frame 293 is mounted on the turntable 292, and the robotic arm structure 30 is mounted on the movable arm mounting frame 293. The movable swing arm drive device 294 and the turntable drive device 295 are respectively mounted on the upper rotating seat 26. The movable swing arm drive device 294 drives the movable swing arm 291 to swing and position, and the turntable drive device 295 drives the turntable 292 to rotate and position.

[0031] In this embodiment, the robotic arm structure 30 includes a first arm 301, a first suction cup assembly 302, a second arm 303, a second suction cup assembly 304, and a second arm drive structure 305. The first arm 301 is mounted on the movable arm mounting bracket 293, the first suction cup assembly 302 is mounted on the first arm 301, the second arm 303 is mounted on the first arm 301 and is rotatable, and the second arm drive structure 305 is mounted on the first arm 301 and connected to the second arm 303 to drive the second arm 303 to rotate and be positioned. The second suction cup assembly 304 is mounted on the second arm 303.

[0032] In this embodiment, the second arm drive structure 305 includes a cylinder 3051 and a connector 3052. The cylinder 3051 is mounted on the first arm 301, and the output end of the cylinder 3051 is connected to the second arm 303 through the connector 3052 to drive the second arm to rotate and be positioned.

[0033] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations of these embodiments without departing from the principles and spirit of the present invention still fall within the protection scope of the present invention.

Claims

1. A robotic box opener, characterized in that... It includes a material feeding station (1), a robot material handling station (2), and a box sealing station (3); the robot material handling station (2) is located between the material feeding station (1) and the box sealing station (3), and the robot material handling station (2) transports the carton from the material feeding station (1) to the box sealing station (3) for sealing. The sealing station (3) includes a frame and a sealing machine (37). The frame is provided with a support platform (31). On the support platform (31), there are a side folding plate folding structure (32), a front folding plate folding hole (33) with a downward opening, a rear folding plate folding hole (34) with a downward opening, and a sealing machine mounting position (35). The side folding plate folding structure (32) includes a mounting frame (321) and an arc plate (322). The mounting frame (321) is located on the support platform (31). The upper end of the arc plate (322) is located on the mounting frame (321), and the lower end of the arc plate (322) is located on the support platform (31). The front folding plate folding hole (34) is located on the front folding plate folding hole (35). 3) Located in front of the arc plate (322), the rear folding hole (34) is located behind the arc plate (322), and the length of the rear folding hole (34) is greater than that of the front folding hole (33); the robot material handling station (2) works together with the support table (31), the arc plate (322), the front folding hole (33) and the rear folding hole (34) to fold up the left folding plate, right folding plate, front folding plate and rear folding plate at the bottom of the box; the box sealing machine installation position (35) is located to the right of the rear folding hole (34), and the box sealing machine (37) is installed on the box sealing machine installation position (35) to seal the folded left folding plate, right folding plate, front folding plate and rear folding plate.

2. The robotic box opener according to claim 1, characterized in that... A first guide surface (311) that is inclined forward and downward is provided on the front side of the connection between the support platform (31) and the front folding hole (33).

3. The robotic box opener according to claim 1, characterized in that... A second guide surface (312) that slopes backward and downward is provided on the rear side of the connection between the support platform (31) and the rear folding hole (34).

4. The robotic box opener according to claim 1, characterized in that... A third guide surface (313) inclined to the left and downward is provided at the connection between the support platform (31) and the right end of the front folding hole (33).

5. The robotic box opener according to claim 1, characterized in that... A fourth guide surface (314) inclined to the left and downward is provided at the connection between the support platform (31) and the right end of the rear folding hole (34).

6. The robotic box opener according to claim 1, characterized in that... The robot material handling station (2) includes a base (21), a lower rotating seat (22), a lower drive motor (23), a swing arm drive motor (24), a swing arm (25), an upper rotating seat (26), an upper drive motor (27), a connecting arm (28), a movable arm structure (29), and a robotic arm structure (30). The base (21) is located between the unloading station (1) and the robot material handling station (2). The lower rotating seat (22) is mounted on the base (21) and can rotate. The upper drive motor (27) is mounted on the lower rotating seat (22) and cooperates with the base (21) to drive the lower rotating seat (22) to rotate. The swing arm (25) is mounted on the lower rotating seat (22) and can swing. The swing arm drive motor (24) is mounted on the lower rotating seat (22) and works with the swing arm (25) to drive the swing arm (25) to swing and position. The upper drive motor (27) is mounted on the upper rotating seat (26) and works with the swing arm (25) to drive the upper rotating seat (26) to rotate and position. The connecting arm (28) is mounted on the upper rotating seat (26). The movable arm structure (29) is mounted on the connecting arm (28). The robotic arm structure (30) is mounted on the movable arm structure (29) and is used to pick up cartons on the material placement station (1).

7. The robotic box opener according to claim 6, characterized in that... The movable arm structure (29) includes a movable swing arm (291), a turntable (292), a movable arm mounting frame (293), a movable swing arm drive device (294), and a turntable drive device (295). The movable swing arm (291) is mounted on the connecting arm (28) and can swing. The turntable (292) is mounted on the movable swing arm (291) and can rotate. The movable arm mounting frame (293) is mounted on the turntable (292). The robotic arm structure (30) is mounted on the movable arm mounting frame (293). The movable swing arm drive device (294) and the turntable drive device (295) are respectively mounted on the upper rotating seat (26). The movable swing arm drive device (294) drives the movable swing arm (291) to swing and position. The turntable drive device (295) drives the turntable (292) to rotate and position.

8. The robotic box opener according to claim 7, characterized in that... The robotic arm structure (30) includes a first arm (301), a first suction cup assembly (302), a second arm (303), a second suction cup assembly (304), and a second arm drive structure (305); the first arm (301) is mounted on a movable arm mounting frame (293), the first suction cup assembly (302) is mounted on the first arm (301), the second arm (303) is mounted on the first arm (301) and is rotatable, the second arm drive structure (305) is mounted on the first arm (301) and connected to the second arm (303) to drive the second arm (303) to rotate and be positioned; the second suction cup assembly (304) is mounted on the second arm (303).

9. The robotic box opener according to claim 8, characterized in that... The second arm drive structure (305) includes a cylinder (3051) and a connector (3052). The cylinder (3051) is mounted on the first arm (301). The output end of the cylinder (3051) is connected to the second arm (303) through the connector (3052) to drive the second arm to rotate and be positioned.

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