Carton folding apparatus

Abstract

The application relates to a carton folding device which comprises a rack, a mechanical arm arranged on the rack, a supporting plate arranged on the rack, two push plates arranged on the two sides of the supporting plate and the rack and a plurality of paperboard racks, the paperboard racks are used for stacking carton pieces, the mechanical arm is used for taking out the carton pieces from the paperboard racks and unfolding the carton pieces, one end of the supporting plate is provided with a guide plate, the angle between the supporting plate and the guide plate is designed as an included angle, the supporting plate is used for folding one short swing cover in cooperation with the mechanical arm, the guide plate is used for folding the other short swing cover, and the two push plates are used for folding two long swing covers. In the application, the short swing cover of the carton is folded through cooperation between the supporting plate, the guide plate and the mechanical arm, compared with a traditional carton forming machine, the carton with a width within the length range of the supporting plate can be folded, and the carton can be adapted to most logistics packaging cartons.

Description

Technical Field

[0001] This application relates to the technical field of fully automatic carton folding equipment, and in particular to a carton folding device. Background Technology

[0002] With the development of the logistics industry, modern logistics typically uses fully automatic carton forming machines to fold carton pieces, secure them with tape, and then transport them to fully automatic packing machines for packaging.

[0003] However, existing fully automatic carton forming machines typically fold two long flaps and two short flaps at one end of the carton using four push plates. Therefore, they are usually only suitable for packaging one type of carton. For different carton sizes, multiple fully automatic carton forming machines are usually required to fold and seal different sizes of cartons. This not only takes up a large area but also increases the operating costs of logistics stations. Utility Model Content

[0004] To address the problem that traditional fully automatic carton forming machines can only fold one type of carton, this application provides a carton folding device.

[0005] The cardboard box folding device provided in this application adopts the following technical solution: A carton folding device includes a frame, a robotic arm mounted on the frame, a support plate mounted on the frame, two push plates on both sides of the support plate, and several cardboard racks on one side of the frame. The cardboard racks are used to stack carton pieces of different sizes. The robotic arm is used to remove carton pieces from the cardboard racks and unfold them. One end of the support plate is provided with a guide plate. The angle between the support plate and the guide plate is designed as an included angle. The support plate is used to cooperate with the robotic arm to fold one of the short flaps at one end of the carton. The guide plate is used to fold the other short flap at one end of the carton. The two push plates are used to fold two long flaps at the same end of the carton.

[0006] Using the above technical solution, after the robotic arm takes the carton out of the cardboard rack and unfolds it, it first moves the unfolded carton above the support plate. Then, it rotates the carton and folds one of the short flaps at one end of the carton in conjunction with the support plate. Then, it moves the carton to the guide plate and folds the other short flap through the guide plate. Then, it rotates and moves the carton so that one end of the carton is pressed against the support plate. Then, the support plate completely folds both short flaps of the carton. Then, two push plates fold the two long flaps at the end of the carton that are pressed against the support plate. Finally, the folded carton is slid along the support plate to the tape application station for tape application and sealing. This completes the folding and forming of the carton. Since the short flaps of the carton are folded through the cooperation of the support plate, guide plate, and robotic arm, compared with traditional carton forming machines, cartons with a width within the length range of the support plate can be folded, which can be adapted to most logistics packaging cartons.

[0007] Optionally, the guide plate has an arc-shaped design, protruding in a direction away from the angle between it and the support plate, and the connection point between the guide plate and the support plate is tangent.

[0008] Optionally, the frame is equipped with a guide rod, which is connected to the automatic carton sealing machine. The guide rod is used to guide the two long flaps of the folded carton to slide onto the worktable of the automatic carton sealing machine for tape sealing and fixing.

[0009] Optionally, the support plate has a first connecting plate on the side opposite to the angle between it and the guide plate. The first connecting plate is perpendicular to the support plate and is located in the middle of the support plate. The first connecting plate is arranged along the length of the support plate. The frame has a second connecting plate. The first connecting plate is connected to the second connecting plate and the first connecting plate is in close contact with the second connecting plate.

[0010] Optionally, the frame is provided with mounting rods, which are parallel to the surface of the support plate. The two ends of the mounting rods are symmetrically distributed with the mounting plate as the center. Both ends of the mounting rods are slidably provided with brackets, and the brackets are fixed to the mounting rods with fixing parts. The two push plates are rotatably mounted on the two brackets respectively.

[0011] Optionally, the support plate is horizontal, and the guide plate extends in a direction away from the ground.

[0012] Optionally, one end of the push plate is bent, and the bent end of the push plate is rotatably connected to the bracket. In the initial state, the other end of the push plate is vertical.

[0013] Optionally, the pusher plate is driven by a first cylinder.

[0014] Optionally, the piston rod of the cylinder is rotatably connected to the push plate near the part where it is rotatably connected to the frame.

[0015] Optionally, a reinforcing plate is provided on the side of the guide plate opposite to the angle between it and the support plate, and the reinforcing plate is arranged along the arc direction of the guide plate.

[0016] In summary, this application features a robotic arm that removes and unfolds a cardboard box from the cardboard rack. First, the unfolded box is moved above a support plate. Then, the box is rotated, and one of the short flaps at one end is folded in conjunction with the support plate. Next, the box is moved to a guide plate, where the other short flap is folded. The box is then rotated and moved until one end is pressed against the support plate, allowing the support plate to fully fold both short flaps. Then, two push plates fold the two long flaps at the end of the box pressed against the support plate. Finally, the folded box is slid along the support plate to the tape application station for tape sealing, thus completing the box folding process. Because the short flaps are folded through the cooperation of the support plate, guide plate, and robotic arm, compared to traditional cardboard box forming machines, boxes with widths within the support plate's length range can be folded, making it suitable for most logistics packaging boxes. Meanwhile, because the guide plate is arc-shaped and tangent to the support plate, the short flap of the carton folds more smoothly, and the short flap of the carton is less likely to be damaged when folding. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the relevant technology of this application.

[0018] Figure 2 This is a three-dimensional structural diagram of the support plate in this application.

[0019] Figure 3 yes Figure 1 Enlarged schematic diagram of part A in the middle.

[0020] Figure 4 This is a three-dimensional structural diagram of the mounting plate in this application.

[0021] Figure 5 This is a schematic diagram of the three-dimensional structure of the cardboard box.

[0022] Those skilled in the art will understand that the elements in the accompanying drawings are shown for simplicity and clarity and are not necessarily drawn to scale. For example, the size and position of some elements in the drawings may be enlarged relative to other elements to aid in understanding the embodiments of the invention.

[0023] Reference numerals: 1. Frame; 11. Robotic arm; 111. Mounting plate; 112. Mounting bracket; 113. Second cylinder; 114. First vacuum suction cup; 115. Second vacuum suction cup; 116. Vacuum generator; 12. Guide rod; 13. Automatic carton sealing machine; 14. Second connecting plate; 15. Mounting rod; 2. Support plate; 21. Guide plate; 22. First connecting plate; 23. Reinforcing plate; 3. Push plate; 31. Connecting part; 32. Pushing part; 4. Cardboard frame; 5. Bracket; 51. First cylinder; 52. Fixing plate; 53. Fixing bolt; 54. Fixing nut; 6. Carton piece; 61. Groove; 7. Carton; 71. Short flap; 72. Long flap. Implementation

[0024] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0025] This application discloses a carton folding device, referring to... Figure 1 and Figure 2 It includes a frame 1, a six-axis robotic arm 11 fixedly installed on the frame 1, a support plate 2 fixedly installed on the frame 1, and two push plates 3 of the frame 1 located on both sides of the support plate 2.

[0026] Reference Figure 1 , Figure 3 and Figure 4 A rectangular mounting plate 111 is fixedly installed at the end of the robotic arm 11. Several first vacuum suction cups 114 are fixedly installed on the mounting plate 111. In this embodiment, four are used. The four first vacuum suction cups 114 are fixedly installed at the four top corners of the mounting plate 111. A mounting frame 112 is rotatably installed on one end of the mounting plate 111. A second cylinder 113 for driving the mounting frame 112 to rotate is fixedly installed on the mounting plate 111.

[0027] Reference Figure 3 and Figure 4 The mounting bracket 112 is fixedly mounted with a second vacuum suction cup 115. The mounting bracket 112 can be rotated to be perpendicular to the mounting plate 111. The suction ends of the first vacuum suction cup 114 and the second vacuum suction cup 115 both face the same side. The mounting plate 111 is fixedly mounted with a vacuum generator 116. The first vacuum suction cup 114 and the second vacuum suction cup 115 are both connected to the vacuum generator 116 through air pipes. The second cylinder 113 is connected to the compressor through an air pipe.

[0028] Reference Figure 1 and Figure 2Several cardboard racks 4 are placed on one side of the frame 1. Different cardboard racks 4 are used to stack different types of cardboard pieces 6. When it is necessary to fold the cardboard 7, the mounting plate 111 is first moved to the top of the cardboard piece 6 by the robotic arm 11. At this time, the mounting frame 112 corresponds to the long side wall of the cardboard piece 6 and the short side wall of the cardboard piece 6. Then the robotic arm 11 lowers the mounting plate 111 to the first vacuum suction cup 114 and the second vacuum suction cup 115 respectively to be attracted to the long side wall and the short side wall of the cardboard piece 6. At this time, the rotating connection of the mounting plate 111 and the mounting frame 112 is located at the bend of the long side wall and the short side wall of the cardboard piece 6.

[0029] Reference Figure 1 and Figure 2 The cardboard frame 4 is placed around the frame 1, and the position of the cardboard frame 4 is fixed, so that the control program of the robotic arm 11 can be designed according to the fixed adsorption position, which simplifies the design of the robotic arm 11 program. At the same time, the robotic arm 11 is equipped with a laser rangefinder, which measures the distance between the mounting plate 111 and the cardboard piece 6. Then, the robotic arm 11 moves the mounting plate 111 to the cardboard piece 6 and attaches it to the topmost cardboard piece 6 according to the fixed program based on the measurement result of the laser rangefinder.

[0030] Reference Figure 1 and Figure 2 The first vacuum suction cup 114 and the second vacuum suction cup 115 are activated simultaneously to adsorb the long side wall and the short side wall of the cardboard box 6 onto the mounting plate 111 and the mounting frame 112 respectively. At this time, the robotic arm 11 rises vertically, and the mounting frame 112 rotates under the drive of the second cylinder 113. With the help of the cardboard box 6's own weight, the cardboard box 6 is gradually unfolded into a rectangle. When the cardboard box 6 is fully unfolded into a rectangular cardboard box 7, the mounting frame 112 stops rotating, and the cardboard box 7 is fixed in a rectangular state by the mounting frame 112 and the mounting plate 111.

[0031] Reference Figure 1 and Figure 2 The support plate 2 is horizontal, and one end of the support plate 2 is inclined towards the direction away from the ground and has a guide plate 21. The guide plate 21 is integrally connected to the support plate 2, and the guide plate 21 is arc-shaped and protrudes towards the ground. The support plate 2 and the guide plate 21 are tangent to each other.

[0032] Reference Figure 1 , Figure 2 and Figure 5The robotic arm 11 rotates to transport the unfolded cardboard box 7 to the support plate 2. First, the cardboard box 7 is rotated to make it tilt. Then, the robotic arm 11 drives the cardboard box 7 to descend and bend one of the short flaps 71 at the bottom of the cardboard box 7 through the horizontal support plate 2. When the connecting side of the short flap 71 at the bottom of the cardboard box 7 and the side wall of the cardboard box 7 abuts against the top wall of the support plate 2, the robotic arm 11 stops descending.

[0033] Reference Figure 1 and Figure 2 When the bent side of the connection between the side wall of the carton 7 and the short flap 71 abuts against the support plate 2, the end of the other short flap 71 of the carton 7 separates from the top wall of the support plate 2. Then, the robotic arm 11 moves the carton 7 horizontally toward the guide plate 21. As the end of the other short flap 71 presses against the inner wall of the arc-shaped guide plate 21, the other short flap 71 of the carton 7 is also bent under the push of the inner wall of the guide plate 21. When the connecting side of the other short flap 71 of the carton 7 and the side wall of the carton 7 abuts against the inner wall of the guide plate 21, the built-in program controls the robotic arm 11 to stop horizontal displacement.

[0034] After bending the two short flaps 71 at one end of the carton 7, the robotic arm 11 moves the carton 7 away from the guide plate 21. Simultaneously, the robotic arm 11 straightens the carton 7 and moves it vertically downwards, ensuring that the connecting side of the carton 7's side wall and the short flaps 71 remain firmly against the inner wall of the guide plate 21. The horizontal component of the reaction force from the inner wall of the guide plate 21 positions the carton 7. When the carton 7 is fully straightened, the connecting side of the short flaps 71 separates from the guide plate 21, and the bottom wall of the carton 7 and the two short flaps 71 adhere to the top wall of the support plate 2, completing the complete folding of the two short flaps 71 at the end of the carton 7.

[0035] A mounting rod 15 is fixedly installed on the frame 1. The mounting rod 15 is set horizontally. The length direction of the vertical projection of the mounting plate 111 is perpendicular to the length direction of the mounting rod 15, and the vertical projection of the mounting plate 111 is located in the middle of the mounting rod 15.

[0036] The mounting rod 15 has a rectangular cross-section and a horizontal top wall. Each end of the mounting rod 15 has a bracket 5, with the bottom wall of the bracket 5 fitting snugly against the top wall of the mounting rod 15. A fixing plate 52 is fitted to the bottom wall of the mounting rod 15. The width of the bottom wall of the bracket 5 is greater than the width of the mounting rod 15. The mounting rod 15 is located in the middle of the bottom wall of the bracket 5. Several fixing bolts 53 are threaded through the bottom walls of the bracket 5 on both sides of the mounting rod 15. One end of each fixing bolt 53 passes through the fixing plate 52, and a fixing nut 54 is threaded onto the end of the fixing bolt 53 that passes through the fixing plate 52.

[0037] The portion of the fixing bolt 53 located between the bottom wall of the bracket 5 and the fixing plate 52 is in the shape of a smooth rod, and the side wall of the smooth end of the fixing bolt 53 fits against the side wall of the mounting rod 15. The bracket 5 is slidably installed on the mounting rod 15 through the cooperation between its bottom wall, the fixing plate 52 and the fixing bolt 53. After the bracket 5 has slid to the appropriate position, tightening the fixing nut 54 will fix the bracket 5 to the mounting rod 15.

[0038] Two push plates 3 are rotatably mounted on the top of two supports 5 respectively. The end of the push plate 3 that is rotatably connected to the support 5 is designed with an obtuse angle bend. Each of the two supports 5 is provided with a first cylinder 51. The first cylinder 51 is located between the support 5 and the push plate 3. One end of the first cylinder 51 is rotatably mounted on the support 5. The piston rod of the first cylinder 51 is rotatably connected to the bend of the push plate 3, so that the end of the push plate 3 that is away from the support 5 rotates at a larger speed, thereby allowing the push plate 3 to apply a greater slapping impact force to the long flap 72 of the carton 7.

[0039] Reference Figure 1 and Figure 4 Using the bend of the push plate 3 as the dividing line, the end connecting the push plate 3 and the bracket 5 is defined as the connecting part 31, and the remaining part of the push plate 3 is defined as the pushing part 32. When the piston rod of the first cylinder 51 retracts, the pushing part 32 is vertical, so that when the robotic arm 11 folds the short flap 71 of the carton 7 through the support plate 2 and the guide plate 21, the pushing part 32 will not interfere with the long flap 72 of the carton 7. When the piston rod of the first cylinder 51 extends, the pushing part 32 is inclined and can be used to push the long flap 72 of the carton 7 to fold.

[0040] Furthermore, since the first cylinder 51 is used for driving, the push plate 3 rotates at a relatively fast speed. When the piston rod of the first cylinder 51 extends, the push part 32 quickly taps the long flap 72 of the carton 7. Since the long flap 72 of the carton 7 is pre-set with a folding groove 61 at the connection between it and the side wall of the carton 7, the long flap 72 of the carton 7 will fold along the groove 61 because the rigidity of the area with the groove 61 is lower than that of other parts of the carton 7. Thus, for different sizes of carton 7 and long flaps 72 of different lengths and widths, the push plate 3 can fold the long flap 72 along the groove 61 at the connection between the side wall of the carton 7 and the long flap 72.

[0041] Reference Figure 1 , Figure 4 and Figure 5A vertical first connecting plate 22 is fixedly installed in the middle of the bottom wall of the support plate 2. The first connecting plate 22 is set along the length of the support plate 2. The frame 1 is integrally provided with a vertical second connecting plate 14. The lower side of the first connecting plate 22 is in contact with the second connecting plate 14. The first connecting plate 22 and the second connecting plate 14 are fixedly connected by flat-head bolts, so that the bolts interfere less with the long flap 72 of the carton 7 when it is folded, and the long flap 72 of the carton 7 is not easily damaged by the bolt head during the folding process.

[0042] The support plate 2 is fixed by the cooperation between the first connecting plate 22 and the second connecting plate 14. At the same time, the long flap 72 of the carton 7 is avoided when the carton 7 is folded, so that the long flap 72 of the carton 7 is not disturbed when it is folded.

[0043] A reinforcing plate 23 is welded to the bottom wall of the guide plate 21. The reinforcing plate is located in the middle of the guide plate 21 and is integrally connected with the first connecting plate 22. The reinforcing plate 23 strengthens the structure of the guide plate 21, making the guide plate 21 less prone to deformation and making the support of the guide plate 21 for the carton 7 more stable when the robotic arm 11 folds the short flap 71 of the carton 7.

[0044] An automatic carton sealing machine 13 is fixedly installed on the frame 1 located at the end of the support plate 2 away from the guide plate 21. This machine is used to seal and fix the bottom wall of the carton 7 with adhesive tape. The worktable of the automatic carton sealing machine 13 is horizontal, and the worktable of the automatic carton sealing machine 13 is at the same horizontal height as the top wall of the support plate 2. The automatic carton sealing machine 13 is existing equipment used to automatically seal the bottom wall of the carton 7 with adhesive tape. Those skilled in the art can select it according to the actual situation.

[0045] The frame 1 is provided with two guide rods 12, which are located on both sides of the support plate 2. One end of the two guide rods 12 is fixedly installed at the feed end of the automatic box sealing machine 13 and the upper side wall of the guide rods 12 is flush with the worktable of the automatic box sealing machine 13. The other end of the two guide rods 12 is bent and extends to the lower side of the support plate 2.

[0046] After the robotic arm 11 folds the two short flaps 71 of the carton 7, it moves the carton 7 to a position corresponding to the two push plates 3. Then, the two first cylinders 51 are activated to fold the two long flaps 72 of the carton 7. Then, the robotic arm 11 moves the carton 7 toward the automatic carton sealing machine 13. The two long flaps 72 slide down onto the worktable of the automatic carton sealing machine 13 under the guidance of the guide rod 12. At this time, the long flaps 72 and the short flaps 71 of the carton 7 are folded to a right angle with the side wall of the carton 7. The long flaps 72 and the short flaps 71 of the carton 7 completely seal the bottom of the carton 7. Then, the automatic carton sealing machine 13 attaches tape to the bottom wall of the carton 7 to complete the sealing.

[0047] During the movement of the carton 7, when the long flap 72 of the carton 7 is not in contact with the guide rod 12, the push plate 3 remains in contact with the long flap 72 of the carton 7, maintaining the folded state of the long flap 72 of the carton 7. However, if the carton 7 has separated from the push plate 3 before the long flap 72 contacts the guide rod 12, the carton 7 of this size can maintain the folded state of the long flap 72 by relying on the support of the cardboard itself.

[0048] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A carton folding device, comprising a frame (1) and a robotic arm (11) disposed on the frame (1), characterized in that: It also includes a support plate (2) provided on the frame (1), two push plates (3) of the frame (1) respectively provided on both sides of the support plate (2), and several cardboard racks (4) provided on one side of the frame (1). The cardboard racks (4) are used to stack different types of cardboard pieces (6). The robotic arm (11) is used to take out the cardboard pieces (6) from the cardboard racks (4) and unfold the cardboard pieces (6). One end of the support plate (2) is provided with a guide plate (21). The angle between the support plate (2) and the guide plate (21) is designed to be an included angle. The support plate (2) is used to cooperate with the robotic arm (11) to fold one of the short flaps (71) at one end of the cardboard box (7). The guide plate (21) is used to fold the other short flap (71) at one end of the cardboard box (7). The two push plates (3) are used to fold the two long flaps (72) at the same end of the cardboard box (7).

2. The carton folding device according to claim 1, characterized in that: The guide plate (21) is arc-shaped and protrudes in a direction away from the angle between it and the support plate (2). The connection point between the guide plate (21) and the support plate (2) is tangent.

3. A carton folding device according to claim 1, characterized in that: The frame (1) is provided with a guide rod (12), which is connected to the automatic carton sealing machine (13). The guide rod (12) is used to guide the two long flaps (72) of the folded carton (7) to slide onto the worktable of the automatic carton sealing machine (13) for tape sealing and fixing.

4. A carton folding device according to claim 2, characterized in that: The support plate (2) has a first connecting plate (22) on the side facing away from the angle between it and the guide plate (21). The first connecting plate (22) is perpendicular to the support plate (2). The first connecting plate (22) is located in the middle of the support plate (2). The first connecting plate (22) is arranged along the length of the support plate (2). The frame (1) has a second connecting plate (14). The first connecting plate (22) is connected to the second connecting plate (14). The first connecting plate (22) and the second connecting plate (14) are in close contact with each other.

5. A carton folding device according to claim 2, characterized in that: The frame (1) is provided with a mounting rod (15), which is parallel to the surface of the support plate (2). The support plate (2) is located in the middle of the mounting rod (15). Both ends of the mounting rod (15) are provided with brackets (5). The brackets (5) are provided with fixing parts to form a fixation with the mounting rod (15). The two push plates (3) are respectively rotatably installed on the two brackets (5).

6. A carton folding device according to claim 1, characterized in that: The support plate (2) is horizontal, and the guide plate (21) extends in the direction away from the ground.

7. A carton folding device according to claim 5, characterized in that: One end of the push plate (3) is bent, and the bent end of the push plate (3) is rotatably connected to the bracket (5). In the initial state, the other end of the push plate (3) is vertical.

8. A carton folding device according to claim 7, characterized in that: The push plate (3) is driven by a cylinder.

9. A carton folding device according to claim 8, characterized in that: The piston rod of the cylinder is rotatably connected to the push plate (3) near the part where it is rotatably connected to the frame (1).

10. A carton folding device according to claim 1, characterized in that: The guide plate (21) has a reinforcing plate (23) on the side opposite to the angle between it and the support plate (2), and the reinforcing plate (23) is arranged along the arc direction of the guide plate (21).

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