A box opening robot structure

Abstract

This application belongs to the field of carton production equipment and provides a carton opening robot structure, including a movable base, side plates, a rotating shaft, an opening plate, and suction cups. The movable base is used for movement in space; the side plates are connected to the movable base; the rotating shaft is rotatably mounted on the movable base and parallel to the side plates; the opening plate is connected to the rotating shaft and parallel to the rotating shaft; several suction cups are respectively arranged on adjacent surfaces of the side plates and the opening plate for adsorbing target cartons.

Description

Technical Field

[0001] This application belongs to the field of carton production equipment, and in particular relates to a carton opening robot structure. Background Technology

[0002] In the current packaging industry, cardboard boxes are the most common packaging material, and their opening process often relies on manual operation. With the development of automated box-packing equipment, traditional manual box-opening methods are not only labor-intensive and inefficient, but also fail to fully utilize the performance of automated box-packing machines. Meanwhile, while existing mechanized box-opening equipment has reduced the burden on manpower to some extent, most suffer from complex structures, insufficient flexibility, and low opening efficiency. This is especially true when handling large quantities of cardboard boxes of different sizes, where the adaptability and opening efficiency of existing equipment are particularly inadequate. Therefore, it is necessary to solve these technical problems. Summary of the Invention

[0003] The purpose of this application is to provide a carton-opening robot structure to solve the technical problem of low efficiency in opening cartons in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a box-opening robot structure, comprising: A movable seat, used for moving around in space; Side plate, connected to the movable seat; A rotating shaft is rotatably mounted on the movable seat and parallel to the side plate; A box-opening panel is connected to and parallel to the rotating shaft. The box-opening panel rotates about the axis of the rotating shaft to flatten out or form a right angle relative to the side panel. Suction cups are provided on the adjacent surfaces of the side plate and the opening plate, respectively, and are used to adsorb the target carton.

[0005] Optionally, the unpacking robot structure also includes an unpacking motor connected to the movable base; The rotating shaft is coaxially connected to the output shaft of the unpacking motor and can be driven by the unpacking motor.

[0006] Optionally, the unpacking robot structure further includes a suction cup holder connected to the side plate and the unpacking plate; The suction cup is also connected to the suction cup holder and can be supported by the suction cup holder.

[0007] Optionally, the unpacking robot structure further includes a drive mechanism that is connected to the movable base and is used to drive the movable base to move in space in a set posture; The drive mechanism includes a base and a main servo motor mounted on the base, and also includes an active arm connected to the output shaft of the main servo motor, a first forearm hinged to the end of the active arm away from the main servo motor, a first swing arm movably mounted on the output shaft of the main servo motor, and a first connecting rod hinged to the end of the first swing arm away from the main servo motor. The first connecting rod is also hinged to the first forearm and parallel to the active arm. The rotation center axes of the first forearm and the first connecting rod are both parallel to the output shaft of the main servo motor. The movable seat is connected to the end of the first forearm away from the active arm.

[0008] Optionally, the drive mechanism further includes a secondary servo motor mounted on the base, a second swing arm connected to the output shaft of the secondary servo motor, and a second connecting rod with its two ends respectively hinged to the first swing arm and the second swing arm. The secondary servo motor is parallel to the output shaft of the main servo motor, and the rotation center axis of the second connecting rod is parallel to the output shaft of the secondary servo motor. The second connecting rod is set at an angle to the second swing arm.

[0009] Optionally, the drive mechanism further includes a triangular plate and a traction arm and a second forearm that are spaced apart and hinged to the triangular plate; The triangular plate is also hinged to the active arm, and the rotation center axis of the triangular plate relative to the active arm is coaxial with the rotation center axis of the first forearm relative to the active arm. The end of the traction arm away from the triangular plate is hinged to the base. The first forearm and the second forearm are both hinged to the movable seat and are parallel to each other. The rotation center axes of the traction arm and the second forearm are both parallel to the rotation center axis of the first forearm relative to the active arm.

[0010] The beneficial effects of the carton-opening robot structure provided in this application are as follows: Compared with the prior art, in the carton-opening robot structure provided in this application, the side plate, rotating shaft, and opening plate connected to the moving base can move flexibly in space along with the moving base. Since several suction cups for adsorbing the target carton are respectively arranged on the adjacent surfaces of the side plate and the opening plate, when the rotating shaft drives the opening plate to rotate until it is flush with the side plate (i.e., the opening plate is flattened relative to the side plate), it can cooperate with the side plate to pick up the target carton to be unfolded from the hopper. When the opening plate is driven by the rotating shaft and rotated to be perpendicular to the side plate (i.e., the opening plate forms a right angle with the side plate), it can open the target carton into a preset shape. Therefore, the carton-opening robot structure provided in this application can quickly and stably open the target carton through the stable adsorption of the suction cups and the flexible rotation of the opening plate relative to the side plate, which significantly improves the carton opening efficiency and is far superior to the prior art. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the working state of the unpacking robot structure in the embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the working state of the unpacking robot structure in the embodiments of this application. Figure 2 ; Figure 3 This is a schematic diagram of the front view of the unpacking robot structure in the embodiments of this application; Figure 4 This is a top view of the unpacking robot structure in an embodiment of this application.

[0013] In the figure, the following labels are used: 100, base; 101, movable seat; 102, side plate; 103, rotating shaft; 104, opening plate; 105, suction cup; 106, opening motor; 107, suction cup frame; 108, main servo motor; 109, active arm; 110, first forearm; 111, first swing arm; 112, first connecting rod; 113, auxiliary servo motor; 114, second swing arm; 115, second connecting rod; 116, triangular plate; 117, traction arm; 118, second forearm; 200, target carton. Detailed Implementation

[0014] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0015] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0016] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", 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 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. Therefore, they should not be construed as limitations on this application.

[0017] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0018] Please refer to the following: Figures 1 to 4 The following describes a box-opening robot structure provided in an embodiment of this application. This box-opening robot structure includes a movable base 101, a side plate 102, a rotating shaft 103, an opening plate 104, and a suction cup 105. Wherein: The movable seat 101 is used to move in space; the side plate 102 is connected to the movable seat 101; the rotating shaft 103 is rotatably mounted on the movable seat 101 and parallel to the side plate 102; the opening plate 104 is connected to the rotating shaft 103 and parallel to the rotating shaft 103, and the opening plate 104 rotates around the axis of the rotating shaft 103 to flatten out or form a right angle relative to the side plate 102; a plurality of suction cups 105 are respectively provided on the adjacent surfaces of the side plate 102 and the opening plate 104 and are used to adsorb the target carton 200.

[0019] According to the structure provided in this embodiment, the carton-opening robot structure provided in this embodiment is installed at the carton-opening station of the carton packing machine and connected to the hopper outlet of the target carton 200. In the carton-opening robot structure provided in this embodiment, the side plate 102, the rotating shaft 103, and the opening plate 104 connected to the moving base 101 can move flexibly in space with the moving base 101, that is, move between the hopper and the carton-opening station. Since several suction cups 105 for adsorbing the target carton 200 are respectively provided on the adjacent surfaces of the side plate 102 and the opening plate 104, the rotating shaft 103 drives the opening plate 104 to rotate until it is flush with the side plate 102, so that it can cooperate with the side plate 102 to pick up the target carton to be unfolded from the hopper. When the opening plate 104 is driven by the rotating shaft 103 and rotates to be perpendicular to the side plate 102, it can open the target carton into a preset shape. Therefore, the unpacking robot structure provided in this embodiment can quickly and stably open the target box through the stable adsorption of the suction cup 105 and the flexible rotation of the unpacking plate 104 relative to the side plate 102, which is beneficial to significantly improve the box opening efficiency and is far superior to the prior art.

[0020] In another embodiment of this application, please refer to [the relevant document / reference]. Figures 1 to 4 The carton-opening robot structure also includes a carton-opening motor 106 connected to the movable base 101; the rotating shaft 103 is coaxially connected to the output shaft of the carton-opening motor 106 and can be driven by the carton-opening motor 106. According to the structure provided in this embodiment, the carton-opening motor 106, coaxially connected to the rotating shaft 103, can drive the opening plate 104 connected to the rotating shaft 103 to rotate more quickly and stably, that is, it can quickly drive the opening plate 104 to rotate with the rotating shaft 103 to flatten or form a right angle relative to the side plate 102, and complete the suction and opening of the target carton 200. This is beneficial to further improve the carton-opening efficiency of the carton-opening robot structure in this embodiment.

[0021] In another embodiment of this application, please refer to [the relevant document / reference]. Figures 1 to 4 The unpacking robot structure also includes a suction cup frame 107 connected to the side plate 102 and the unpacking plate 104; the suction cup 105 is also connected to the suction cup frame 107 and can be supported by the suction cup frame 107. According to the structure provided in this embodiment, the suction cup 105 connected to the suction cup frame 107 can form better installation stability, which is conducive to the suction cup 105 adsorbing the target carton 200 more stably and further improving the unpacking efficiency of the unpacking robot structure in this embodiment.

[0022] In another embodiment of this application, please refer to [the relevant document / reference]. Figures 1 to 4The unpacking robot structure also includes a drive mechanism that is connected to the movable base 101 and is used to drive the movable base 101 to move in space in a set posture. The drive mechanism includes a base 100 and a main servo motor 108 mounted on the base 100. It also includes an active arm 109 connected to the output shaft of the main servo motor 108, a first forearm 110 hinged to the end of the active arm 109 away from the main servo motor 108, a first swing arm 111 movably mounted on the output shaft of the main servo motor 108, and a first connecting rod 112 hinged to the end of the first swing arm 111 away from the main servo motor 108. The first connecting rod 112 is also hinged to the first forearm 110 and parallel to the active arm 109. The rotation center axes of the first forearm 110 and the first connecting rod 112 are both parallel to the output shaft of the main servo motor 108. The movable base 101 is connected to the end of the first forearm 110 away from the active arm 109.

[0023] According to the structure provided in this embodiment, the main servo motor 108 can drive the movable seat 101 connected to the first forearm 110 to move around the main servo motor 108 in space via the active arm 109 connected to the output shaft of the main servo motor 108 and the first forearm 110 hinged to the active arm 109. Since the first swing arm 111 is movably mounted on the output shaft of the main servo motor 108 and a first connecting rod 112 parallel to the active arm 109 is hinged between the first swing arm 111 and the first forearm 110, when the first swing arm 111 rotates relative to the output shaft of the main servo motor 108, the first forearm 110 can be driven to rotate relative to the active arm 109 via the first connecting rod 112. This allows the movable seat 101 connected to the first forearm 110 to rotate around the rotation center axis of the first forearm 110 relative to the active arm 109. Thus, the unpacking robot structure provided in this embodiment... The aforementioned drive mechanism enables the movable seat 101 to move more flexibly in space, and the stroke and posture of the movable seat 101 are flexibly controllable through the cooperative action of the auxiliary servo motor 113 (see below) to adapt to target cartons 200 of different specifications. That is, when opening target cartons 200 of different specifications, it is only necessary to input the specification dimensions of the target carton 200 into the control system of the carton packer, and the main servo motor 108 and the auxiliary servo motor 113 can automatically and collaboratively control the stroke and posture of the movable seat 101 according to the set program. This is beneficial to further improve the opening efficiency of the carton opening robot structure in this embodiment.

[0024] In another embodiment of this application, please refer to [the relevant document / reference]. Figures 1 to 4The drive mechanism also includes a secondary servo motor 113 mounted on the base 100, a second swing arm 114 connected to the output shaft of the secondary servo motor 113, and a second connecting rod 115 with its two ends respectively hinged to the first swing arm 111 and the second swing arm 114. The output shaft of the secondary servo motor 113 is parallel to that of the main servo motor 108, and the rotation center axis of the second connecting rod 115 is parallel to the output shaft of the secondary servo motor 113. The second connecting rod 115 and the second swing arm 114 are set at an angle.

[0025] According to the structure provided in this embodiment, since the second connecting rod 115 and the second swing arm 114 are set at an angle, the second swing arm 114 connected to the output shaft of the auxiliary servo motor 113 can be driven by the auxiliary servo motor 113 to swing around the output shaft of the auxiliary servo motor 113 and can drive the first swing arm 111 to swing stably through the second connecting rod 115 and control the angle between the first forearm 110 and the active arm 109 through the first connecting rod 112. In this way, the stroke, position and attitude of the moving seat 101 are controlled in coordination with the main servo motor 108, that is, the side plate 102 is stably oriented towards the surface of the target carton 200 in the folded state in the hopper and the suction cup 105 on the side plate 102 is placed in a suitable position on the target carton 200. This is beneficial to further improve the opening efficiency of the carton opening robot structure in this embodiment.

[0026] In another embodiment of this application, please refer to [the relevant document / reference]. Figures 1 to 4 The drive mechanism also includes a triangular plate 116 and a traction arm 117 and a second forearm 118 that are hinged to the triangular plate 116 at intervals. The triangular plate 116 is also hinged to the active arm 109, and the rotation center axis of the triangular plate 116 relative to the active arm 109 is coaxial with the rotation center axis of the first forearm 110 relative to the active arm 109. The end of the traction arm 117 away from the triangular plate 116 is hinged to the base 100. The first forearm 110 and the second forearm 118 are both hinged to the movable seat 101 and are parallel to each other. The rotation center axes of the traction arm 117 and the second forearm 118 are both parallel to the rotation center axis of the first forearm 110 relative to the active arm 109.

[0027] According to the structure provided in this embodiment, since the two ends of the traction arm 117 are respectively hinged to the triangular plate 116 and the base 100, and the length of the traction arm 117 is constant, and since the first forearm 110 and the second forearm 118 are both hinged to the movable seat 101 and are parallel to each other, when the main servo motor 108 drives the movable seat 101 to rotate around its own output shaft, the auxiliary servo motor 113 drives the movable seat 101 to rotate around its own output shaft through the first swing arm 111, the second swing arm 114, the first connecting rod 112, the second connecting rod 115, and the first forearm 110. When the first forearm 110 rotates relative to the rotation center axis of the active arm 109, the traction arm 117 of constant length can drive the movable seat 101 to rotate around the rotation center axis of the first forearm 110 relative to the movable seat 101 through the triangular plate 116 and the second forearm 118. This allows for flexible adjustment of the posture of the movable seat 101 and makes the positions of the side plate 102, the opening plate 104 and the suction cup 105 connected to the movable seat 101 more suitable for the target carton 200. This is beneficial to further improve the opening efficiency of the carton opening robot structure in this embodiment.

[0028] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A box-opening robot structure, characterized in that, include: A movable seat (101) for moving in space; Side plate (102) is connected to the movable seat (101); A rotating shaft (103) is rotatably mounted on the movable seat (101) and parallel to the side plate (102). An opening plate (104) is connected to and parallel to the rotating shaft (103). The opening plate (104) rotates about the axis of the rotating shaft (103) to flatten out or form a right angle relative to the side plate (102). Suction cups (105) are provided on the adjacent surfaces of the side plate (102) and the opening plate (104) respectively, and are used to adsorb the target carton (200).

2. The unpacking robot structure as described in claim 1, characterized in that: The unpacking robot structure also includes an unpacking motor (106) connected to the movable base (101). The rotating shaft (103) is coaxially connected to the output shaft of the box-opening motor (106) and can be driven by the box-opening motor (106).

3. The unpacking robot structure as described in claim 1, characterized in that: The unpacking robot structure also includes a suction cup frame (107) connected to the side plate (102) and the unpacking plate (104). The suction cup (105) is also connected to the suction cup holder (107) and can be supported by the suction cup holder (107).

4. The unpacking robot structure as described in claim 1, characterized in that: The unpacking robot structure also includes a drive mechanism that is connected to the movable seat (101) and is used to drive the movable seat (101) to move in space in a set posture; The drive mechanism includes a base (100) and a main servo motor (108) mounted on the base (100). It also includes an active arm (109) connected to the output shaft of the main servo motor (108), a first forearm (110) hinged to the end of the active arm (109) away from the main servo motor (108), a first swing arm (111) movably mounted on the output shaft of the main servo motor (108), and a first connecting rod (112) hinged to the end of the first swing arm (111) away from the main servo motor (108). The first connecting rod (112) is also hinged to the first forearm (110) and parallel to the active arm (109). The rotation center axes of the first forearm (110) and the first connecting rod (112) are both parallel to the output shaft of the main servo motor (108). The movable seat (101) is connected to the end of the first forearm (110) away from the active arm (109).

5. The unpacking robot structure as described in claim 4, characterized in that: The drive mechanism also includes a secondary servo motor (113) mounted on the base (100), a second swing arm (114) connected to the output shaft of the secondary servo motor (113), and a second connecting rod (115) with its two ends respectively hinged to the first swing arm (111) and the second swing arm (114). The secondary servo motor (113) is parallel to the output shaft of the main servo motor (108), and the rotation center axis of the second connecting rod (115) is parallel to the output shaft of the secondary servo motor (113). The second connecting rod (115) is set at an angle to the second swing arm (114).

6. The unpacking robot structure as described in claim 5, characterized in that: The drive mechanism also includes a triangular plate (116) and a traction arm (117) and a second forearm (118) that are hinged at intervals on the triangular plate (116). The triangular plate (116) is also hinged to the active arm (109), and the rotation center axis of the triangular plate (116) relative to the active arm (109) is coaxial with the rotation center axis of the first forearm (110) relative to the active arm (109). The end of the traction arm (117) away from the triangular plate (116) is hinged to the base (100). The first forearm (110) and the second forearm (118) are both hinged to the moving seat (101) and parallel to each other. The rotation center axes of the traction arm (117) and the second forearm (118) are both parallel to the rotation center axis of the first forearm (110) relative to the active arm (109).

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