An expandable floor robot unboxing device

Abstract

The utility model provides a kind of extensible ground rail robot unpacking device, including rack, discharging rack, folding box mechanism, sealing glue mechanism, discharge conveying line, ground rail, six-axis robot and unpacking mechanism, cooperate through discharging rack, folding box mechanism, sealing glue mechanism, discharge conveying line, ground rail, six-axis robot and unpacking mechanism, realize N paper box mixed line unpacking, folding box, sealing box, can cooperate multiple paper boxes and be online simultaneously, ensure the production of multiple production lines Paper box use, can better be compatible with different products and shorten switching time, reduce equipment downtime, the equipment is under the condition that production capacity rhythm allows, the unpacking quantity can be extended, flexibility increases, compared with traditional equipment layout and discharge transmission, indirectly reduce the import of the number of equipment, save equipment floor size, save certain product time and improve equipment utilization, be favorable to artificial feeding and maintenance, improve product competitiveness.

Description

Technical Field

[0001] This utility model belongs to the field of carton opening technology, and in particular relates to an expandable ground-rail robot opening device. Background Technology

[0002] Cardboard boxes, as one of the most widely used packaging products, are extensively used in the packaging of various products across all industries. Before packaging, the flat cardboard box needs to be unfolded and stretched into a square shape, and the bottom is sealed with glue before a series of packing operations. The existing indoor and outdoor packaging lines of our company use standard mechanical carton erectors, which can only erect one type of cardboard box. A single carton erector cannot handle the mixed-line opening of multiple types of cardboard boxes. Furthermore, traditional carton erectors are relatively large, failing to meet the size requirements of existing multi-line simultaneous carton erection, resulting in large space occupation, high equipment investment, and high production costs. Utility Model Content

[0003] This invention provides an expandable ground-rail robot unpacking device, which can effectively solve the above-mentioned problems.

[0004] This utility model is implemented as follows: An expandable ground-rail robot carton opening device includes a frame, a feeding rack, a carton folding mechanism, a sealing mechanism, a discharge conveyor line, a ground rail, a six-axis robot, and an opening mechanism. The folding mechanism, sealing mechanism, and discharge conveyor line are sequentially arranged on the frame. The folding mechanism has an arc-shaped folding plate, a backing plate, and a side-pressing assembly. The backing plate is connected to the frame, and the arc-shaped folding plate is located at the upstream end of the backing plate. The side-pressing assembly is openable and closeable on both sides of the backing plate. The ground rail is located at the upstream end of the folding mechanism, and the six-axis robot is mounted on the ground rail. A drive assembly is provided between the ground rail and the six-axis robot. The opening mechanism is mounted on the robotic arm of the six-axis robot. The feeding rack is arranged parallel to one side of the ground rail and can accommodate at least two sizes of carton feeding racks.

[0005] As a further improvement, the side pressure assembly is provided with a side pressure frame, a pressure rod and a side pressure cylinder. The side pressure frame is located on both sides of the abutment plate and is hinged to the frame. The pressure rod is located at the other end of the side pressure frame and is arranged parallel to the abutment plate. The side pressure cylinder is fixed on the frame and is linked with the side pressure frame. The abutment plate has a triangular cross-section.

[0006] As a further improvement, the sealing mechanism includes an adhesive application assembly, a conveying assembly, and a pressure box assembly. The adhesive application assembly is connected to a backing plate. The conveying assembly is located on both sides of the adhesive application assembly and includes a lateral conveyor belt, a clamping rail, and a first lead screw motor. The clamping rail is vertically arranged on both sides of the adhesive application assembly, and the lateral conveyor belt is respectively arranged on the clamping rail. The first lead screw motor is located on the frame and connected to the lateral conveyor belt, and the lateral conveyor belt moves in the opposite direction to the first lead screw motor. The pressure box assembly is located above the adhesive application assembly and includes a vertical frame, a vertical rail, a second lead screw motor, and a pressure plate. The vertical frame is fixed to the frame, the vertical rail is arranged on the vertical frame, the second lead screw motor is arranged on the vertical rail, and the pressure plate is arranged on the vertical rail and connected to the second lead screw motor.

[0007] As a further improvement, the driving component is a drive motor, a geared rail, or a lead screw. The geared rail connects the upstream and downstream ends of the ground rail, and the drive motor is mounted on the six-axis robot and connected to the geared rail; or the lead screw connects the upstream and downstream ends of the ground rail, the drive motor is connected to the lead screw, and the six-axis robot is connected to the slider of the lead screw.

[0008] As a further improvement, the box-opening mechanism includes a fixed frame, a box-opening frame, a suction cup, a linkage rod, and a box-opening cylinder. The fixed frame is mounted on the manipulator of the six-axis robot, and the fixed frame and the box-opening frame are hinged side by side. The suction cup is respectively mounted on the surface of the fixed frame and the box-opening frame, and the suction cup is equipped with a pneumatic valve connected to an air source. The linkage rod is mounted on the box-opening frame on the opposite side of the suction cup, and the box-opening cylinder is hinged to the fixed frame and hinged to the linkage rod.

[0009] As a further improvement, the suction cup is a sponge suction cup.

[0010] As a further improvement, the feeding rack is provided with a support, a lifting assembly, a bracket, and a front stop frame. The lifting assembly is located at the rear of the support, the bracket is connected to the lifting assembly, and the front stop frame is located at the front end of the support. The upper frame of the front stop frame is provided with a sliding groove, and a limiting block is provided on the sliding groove. The bracket is provided with a support frame, a limiting side plate, a lead screw, a chain, and a crank. The support frame is inclinedly mounted on the lifting mechanism. The lead screw is horizontally mounted across the upper and lower ends of the support frame. The two lead screws are linked together by a chain. The crank is located at the upper end of the lead screw. There are two limiting side plates. One limiting side plate is fixedly mounted on one side of the support frame, and the other limiting side plate is mounted opposite to the sliding block of the lead screw.

[0011] As a further improvement, the limiting block is a conical block.

[0012] As a further improvement, the lifting assembly is provided in two sets. The lifting assembly includes a lifting frame, a lifting screw, a lifting sleeve, a linkage frame, a connecting rod, a connecting chain, and a lifting handle. The lifting frame is fixed to both ends of the rear side of the bracket. The lifting screw is vertically mounted on the lifting frame. The lifting sleeve is sleeved on the lifting screw. The linkage frame is connected to the lifting sleeve. The bracket is connected to the linkage frame through the connecting rod. The lifting handle is located at the upper end of the lifting screw. The connecting chain is linked to the lifting screws at both ends.

[0013] As a further improvement, the bracket is provided with a counterweight push rod, which is provided with a slide rod, a push rod and a push plate. The slide rod is connected to the upper and lower ends of the bracket frame, the push rod is vertically mounted on the slide block of the slide rod, and the push plate is located on the front side of the push rod.

[0014] The beneficial effects of this utility model are as follows: This carton opening device, through the cooperation of a feeding rack, a folding mechanism, a sealing mechanism, a discharge conveyor line, a ground rail, a six-axis robot, and the opening mechanism, can realize the mixed-line opening, folding, and sealing of N types of cartons, enabling the simultaneous production of multiple types of cartons. It ensures the use of cartons across multiple production lines, maintains a unified manual feeding area, better accommodates different products, shortens changeover and setup time, and minimizes equipment downtime. Under the condition that the production capacity allows, the number of cartons that can be opened can be extended, increasing flexibility. Compared with traditional equipment layouts and discharge conveyors, it indirectly reduces the number of equipment required, saves equipment footprint, frees up more space for other equipment, has lower requirements for incoming cartons, better sealing consistency, and requires less adjustment displacement during model switching. This saves quick changeover time, improves equipment utilization, facilitates manual feeding and maintenance, and enhances product competitiveness. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of an embodiment of an expandable ground-rail robot unpacking device of this utility model; Figure 2 This is a partial structural schematic diagram of an embodiment of an expandable ground-rail robot unpacking device of this utility model; Figure 3 yes Figure 2 Enlarged structural diagram at point A; Figure 4 yes Figure 2 Enlarged structural diagram at point B; Figure 5 This is a schematic diagram of the material unloading rack provided in an embodiment of an expandable ground rail robot unpacking device of this utility model; Figure 6 This is a schematic diagram of the material unloading rack structure provided in an embodiment of an expandable ground rail robot unpacking device of this utility model; Figure 7 This is another schematic diagram of the material unloading rack structure provided in an embodiment of an expandable ground-rail robot unpacking device of this utility model.

[0017] Figure label: Frame 1; Feed rack 2; Support 21; Lifting assembly 22; Lifting frame 221; Lifting screw 222; Lifting sleeve 223; Linkage frame 224; Connecting rod 225; Connecting chain 226; Lifting crank 227; Bracket 23; Bracket frame 231; Limiting side plate 232; Screw 233; Chain 234; Crank 235; Front baffle 24; Slide groove 241; Limiting block 242; Counterweight push rod 25; Slide rod 251; Push rod 252; Push plate 253; Folding box mechanism 3; Arc-shaped folding plate 31; Support plate 32; Side Pressing component 33; side pressing frame 331; pressing rod 332; side pressing cylinder 333; sealing mechanism 4; adhesive application component 41; conveying component 42; side conveyor belt 421; clamping track 422; first lead screw motor 423; pressing box component 43; vertical frame 431; vertical track 432; second lead screw motor 433; pressing plate 434; discharge conveyor line 5; ground rail 6; drive component 61; six-axis robot 7; opening mechanism 8; fixing frame 81; opening frame 82; suction cup 83; linkage rod 84; opening cylinder 85. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to represent selected embodiments of this utility model.

[0019] In the description of this utility model, 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In the description of this utility model, the terms "upper", "middle", "side", "side", "upper side", "end", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model 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 utility model.

[0021] Reference Figure 1-7 As shown, an expandable ground-rail robot carton opening device includes a frame 1, a feeding rack 2, a folding mechanism 3, a sealing mechanism 4, a discharge conveyor line 5, a ground rail 6, a six-axis robot 7, and an opening mechanism 8. The folding mechanism 3, the sealing mechanism 4, and the discharge conveyor line 5 are sequentially arranged on the frame 1. The folding mechanism 3 is provided with an arc-shaped folding plate 31, a stop plate 32, and a side pressure component 33. The stop plate 32 is connected to the frame 1. The arc-shaped folding plate 31 is located at the upstream end of the stop plate 32. The side pressure component 33 is openable and closeable on both sides of the stop plate 32. The ground rail 6 is located at the upstream end of the folding mechanism 3. The six-axis robot 7 is located on the ground rail 6. A drive component 61 is provided between the ground rail 6 and the six-axis robot 7. The opening mechanism 8 is located on the robotic arm of the six-axis robot 7. The feeding rack 2 is arranged parallel to one side of the ground rail 6 and can be provided with at least two sizes of carton feeding racks 2.

[0022] Flat cartons are placed on the feeding rack 2. Cartons of different sizes can be placed on different feeding racks 2, allowing different cartons to be produced on the same unpacking device to meet different packing requirements. As needed, the six-axis robot 7 moves on the ground rail 6 to the corresponding feeding rack 2, picks up the corresponding carton for unpacking, and after folding and sealing, it is conveyed to the corresponding packaging production line via the discharge conveyor line 5.

[0023] The six-axis robot 7 can also adjust the box-opening mechanism 8 to grasp flat-lying cartons and perform box opening and sealing operations.

[0024] Furthermore, the side pressure assembly 33 is provided with a side pressure frame 331, a pressure rod 332, and a side pressure cylinder 333. The side pressure frame 331 is located on both sides of the abutment plate 32 and is hinged to the frame 1. The pressure rod 332 is located at the other end of the side pressure frame 331 and is arranged parallel to the abutment plate 32. The side pressure cylinder 333 is fixed on the frame 1 and is linked with the side pressure frame 331. The abutment plate 32 has a triangular cross-section.

[0025] The side-pressing assembly 33 is not limited by the size of the carton and can realize the closing operation of the side flaps of cartons of different sizes and specifications, so as to cooperate with other mechanisms to realize the processing of cartons of multiple specifications. The triangular abutment 32 avoids interference during the folding of the carton side flaps.

[0026] Furthermore, the sealing mechanism 4 includes an adhesive application component 41, a conveying component 42, and a pressure box component 43. The adhesive application component 41 is connected to the backing plate 32. The conveying component 42 is located on both sides of the adhesive application component 41. The conveying component 42 includes a lateral conveyor belt 421, a clamping rail 422, and a first lead screw motor 423. The clamping rail 422 is vertically arranged on both sides of the adhesive application component 41. The lateral conveyor belt 421 is respectively arranged on the clamping rail 422. The first lead screw motor 423 is arranged on the frame 1 and connected to the lateral conveyor belt 421. 1. The connecting and lateral conveyor belt 421 moves in opposite directions on the first lead screw motor 423; the pressure box assembly 43 is located above the adhesive application assembly 41. The pressure box assembly 43 is provided with a vertical frame 431, a vertical track 432, a second lead screw motor 433, and a pressure plate 434. The vertical frame 431 is fixed on the frame 1, the vertical track 432 is located on the vertical frame 431, the second lead screw motor 433 is located on the vertical track 432, and the pressure plate 434 is located on the vertical track 432 and connected to the second lead screw motor 433.

[0027] After the bottom and side covers of the carton are closed, the unfolded carton enters the sealing mechanism 4. The clamping rail 422 of the conveying component 42 clamps the carton and conveys it backward. During the conveying process, the carton passes through the adhesive application component 41 to complete the application of adhesive tape. The adhesive application component 41 adopts an existing automatic adhesive application machine, such as the tape application machine in patent CN221642831U. After sealing, the carton is conveyed to the discharge conveyor line 5.

[0028] Furthermore, the drive component 61 is a drive motor, a gear rail, or a lead screw. The gear rail connects the upstream and downstream ends of the ground rail 6, and the drive motor is mounted on the six-axis robot 7 and connected to the gear rail; or the lead screw connects the upstream and downstream ends of the ground rail 6, the drive motor is connected to the lead screw, and the six-axis robot 7 is connected to the slider of the lead screw 233.

[0029] The drive component 61 controls the six-axis robot 7 to move on the ground track 6, coordinating actions such as picking up materials, folding boxes, and opening boxes.

[0030] Furthermore, the box-opening mechanism 8 is provided with a fixed frame 81, a box-opening frame 82, a suction cup 83, a linkage rod 84, and a box-opening cylinder 85. The fixed frame 81 is mounted on the manipulator of the six-axis robot 7. The fixed frame 81 and the box-opening frame 82 are hinged side by side. The suction cup 83 is respectively mounted on the surfaces of the fixed frame 81 and the box-opening frame 82. The suction cup 83 is equipped with a pneumatic valve and connected to an air source. The linkage rod 84 is mounted on the box-opening frame 82 on the opposite side of the suction cup 83. The box-opening cylinder 85 is hinged to the fixed frame 81 and hinged to the linkage rod 84.

[0031] When the box is retrieved, the fixing frame 81 and the box opening frame 82 unfold, so that the suction cups 83 on them are on the same plane. The suction cups 83 attached to the fixing frame 81 adhere to one side of the carton, while the suction cups 83 on the box opening frame 82 adhere to the adjacent surfaces of the carton. The box opening cylinder 85 drives the box opening frame 82 to bend ninety degrees, so that the adjacent surfaces of the carton unfold ninety degrees, and the entire box unfolds into a square shape.

[0032] Furthermore, the suction cup 83 is a sponge suction cup.

[0033] The sponge suction cup 83 has a large contact area, and it does not have the problem of the rubber suction cup 83 still having a certain adsorption force on the smooth box surface after deflating or incomplete deflating, which would cause the box to deform upon separation.

[0034] Furthermore, the feeding rack 2 is provided with a support 21, a lifting assembly 22, a bracket 23, and a front stop frame 24. The lifting assembly 22 is located at the rear of the support 21, the bracket 23 is connected to the lifting assembly 22, and the front stop frame 24 is located at the front end of the support 21. The upper frame of the front stop frame 24 is provided with a sliding groove 241, and a limiting block 242 is provided on the sliding groove 241. The bracket 23 is provided with a support frame 231, a limiting side plate 232, and a lead screw 23. 3. Chain 234 and crank 235: The support frame 231 is inclinedly mounted on the lifting mechanism. The lead screw 233 is horizontally mounted across the upper and lower ends of the support frame 231. The two lead screws 233 are linked together by the chain 234. The crank 235 is located at the upper end of the lead screw 233. There are two limiting side plates 232. One limiting side plate 232 is fixedly mounted on one side of the support frame 231, and the other limiting side plate 232 is mounted opposite to the sliding block of the lead screw 233.

[0035] The material rack 2 can be adjusted in height and width. It has a simple structure, is easy to operate, and is stable, thus allowing for the placement of cartons of different sizes.

[0036] Furthermore, the limiting block 242 is a conical block. The conical block can both restrict the carton within the feeding rack 2 and facilitate the removal of the carton.

[0037] Furthermore, the lifting assembly 22 is provided in two sets opposite to each other. The lifting assembly 22 is provided with a lifting frame 221, a lifting screw 222, a lifting sleeve 223, a linkage frame 224, a connecting rod 225, a connecting chain 226, and a lifting handle 227. The lifting frame 221 is fixed to both ends of the rear side of the bracket 21. The lifting screw 222 is vertically mounted on the lifting frame 221. The lifting sleeve 223 is sleeved on the lifting screw 222. The linkage frame 224 is connected to the lifting sleeve 223. The bracket 23 is connected to the linkage frame 224 through the connecting rod 225. The lifting handle 227 is located at the upper end of the lifting screw 222. The connecting chain 226 is linked to the lifting screws 222 at both ends.

[0038] The lifting mechanism uses a lifting sleeve 223 and a lifting screw 222 to cooperate. The entire lifting assembly 22 has a stable structure and adopts a linkage method between the two lifting assemblies 22, which is convenient for adjustment. Synchronous lifting is conducive to the stability of the structure and keeps the bracket 23 stable.

[0039] Furthermore, the bracket 23 is provided with a counterweight push rod 25, the counterweight push rod 25 is provided with a slide rod 251, a push rod 252 and a push plate 253, the slide rod 251 is connected to the upper and lower ends of the bracket frame 231, the push rod 252 is vertically arranged on the slider of the slide rod 251, and the push plate 253 is arranged on the front side of the push rod 252.

[0040] Unfolded cardboard boxes are stacked vertically within the bracket 23, with the front end secured by a limiting block 242 and the rear end secured by a counterweight push rod 25, keeping the cardboard boxes in an upright position for easy retrieval by the suction cup 83. The counterweight push rod 25 provides a certain amount of gravity, allowing the cardboard boxes to be moved forward after they are removed from the front.

[0041] When processing the carton, firstly, the flat carton is vertically stacked into the bracket 23 of the feeding rack 2. The limiting side plate 232 is adjusted by the crank 235 so that the limiting side plate 232 is in contact with the two sides of the carton and keeps it vertical. The lifting component 22 adjusts the height of the bracket 23 so that the top of the carton abuts against the limiting block 242, confining the carton within the feeding rack 2. Usually, the width and height are adjusted according to the size of the carton first. Each feeding rack 2 is adjusted according to the different sizes and specifications of the carton. Second, the six-axis robot 7 moves to the corresponding feeding rack 2, unfolds the fixing frame 81 and the box opening frame 82, so that the suction cups 83 on them are on the same plane. The suction cups 83 attached to the fixing frame 81 are attached to one side of the carton, and the suction cups 83 on the box opening frame 82 are attached to the adjacent surfaces of the carton. The box opening cylinder 85 drives the box opening frame 82 to bend ninety degrees, so that the adjacent surfaces of the carton are unfolded at ninety degrees, and the entire carton unfolds into a square shape. Third, the drive component 61 moves the six-axis robot 7 to the folding mechanism 3. The six-axis robot 7 adjusts its angle, and the front cover leaf at the bottom of the box touches the abutment plate 32, causing it to close. Then, the six-axis robot 7 moves the box backward, and the front cover leaf at the bottom of the box touches the arc-shaped folding plate 31, causing it to close. Then, the front and rear cover leaves both abut against the abutment plate 32 and move downstream. When they reach the position of the side pressure component 33, the side pressure cylinder 333 drives the side pressure frame 331 to clamp towards the center, and the pressure rod 332 closes the cover leaves on both sides of the bottom of the carton.

[0042] Fourth, the six-axis robot 7 moves the box with the bottom closed to the sealing mechanism 4. The box pressing component 43 presses down to fit the top of the box and fits the bottom of the box with the adhesive application component 41. The conveying component 42 clamps the box and conveys the carton backward. During the conveying process, the adhesive application component 41 applies tape to the bottom of the box to achieve a seal.

[0043] Fifth, the conveyor assembly 42 conveys the sealed box to the discharge conveyor line 5 and transports it to the next process; at the same time, the six-axis robot 7 moves synchronously to the next box's unloading rack 2 position, takes out the box and completes the unpacking operation.

[0044] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An expandable ground-rail robot unpacking device, characterized in that, The system includes a frame, a feeding rack, a box folding mechanism, a sealing mechanism, a discharge conveyor line, a ground rail, a six-axis robot, and a box opening mechanism. The box folding mechanism, sealing mechanism, and discharge conveyor line are sequentially mounted on the frame. The box folding mechanism includes an arc-shaped folding plate, a backing plate, and a side pressure assembly. The backing plate is connected to the frame, and the arc-shaped folding plate is located at the upstream end of the backing plate. The side pressure assembly is located on both sides of the backing plate. The ground rail is located at the upstream end of the box folding mechanism, and the six-axis robot is mounted on the ground rail. A drive assembly is provided between the ground rail and the six-axis robot. The box opening mechanism is mounted on the robotic arm of the six-axis robot. The feeding rack is arranged parallel to one side of the ground rail and can accommodate at least two sizes of carton feeding racks.

2. The expandable ground-rail robot unpacking device according to claim 1, characterized in that, The side pressure assembly includes a side pressure frame, a pressure rod, and a side pressure cylinder. The side pressure frame is located on both sides of the support plate and is hinged to the frame. The pressure rod is located at the other end of the side pressure frame and is arranged parallel to the support plate. The side pressure cylinder is fixed to the frame and is linked with the side pressure frame. The support plate has a triangular cross-section.

3. The expandable ground-rail robot unpacking device according to claim 1, characterized in that, The sealing mechanism includes an adhesive application component, a conveying component, and a pressure box component. The adhesive application component is connected to a backing plate. The conveying component is located on both sides of the adhesive application component and includes a lateral conveyor belt, a clamping rail, and a first lead screw motor. The clamping rail is vertically located on both sides of the adhesive application component, and the lateral conveyor belt is respectively located on the clamping rail. The first lead screw motor is located on the frame and connected to the lateral conveyor belt, and the lateral conveyor belt moves in the opposite direction to the first lead screw motor. The pressure box component is located above the adhesive application component and includes a vertical frame, a vertical rail, a second lead screw motor, and a pressure plate. The vertical frame is fixed to the frame, the vertical rail is located on the vertical frame, the second lead screw motor is located on the vertical rail, and the pressure plate is located on the vertical rail and connected to the second lead screw motor.

4. The expandable ground-rail robot unpacking device according to claim 1, characterized in that, The driving component is a drive motor, a geared rail, or a lead screw. The geared rail connects the upstream and downstream ends of the ground rail, and the drive motor is mounted on the six-axis robot and connected to the geared rail; or the lead screw connects the upstream and downstream ends of the ground rail, the drive motor is connected to the lead screw, and the six-axis robot is connected to the slider of the lead screw.

5. The expandable ground-rail robot unpacking device according to claim 1, characterized in that, The box-opening mechanism includes a fixed frame, a box-opening frame, suction cups, a linkage rod, and a box-opening cylinder. The fixed frame is mounted on the manipulator of the six-axis robot and is hinged side by side with the box-opening frame. The suction cups are respectively mounted on the surfaces of the fixed frame and the box-opening frame, and each suction cup is equipped with a pneumatic valve connected to an air source. The linkage rod is mounted on the box-opening frame opposite the suction cups, and the box-opening cylinder is hinged to the fixed frame and hinged to the linkage rod.

6. The expandable ground-rail robot unpacking device according to claim 5, characterized in that, The suction cup is a sponge suction cup.

7. The expandable ground-rail robot unpacking device according to claim 1, characterized in that, The feeding rack includes a support, a lifting assembly, a bracket, and a front baffle. The lifting assembly is located at the rear of the support, and the bracket is connected to the lifting assembly. The front baffle is located at the front of the support, and the upper frame of the front baffle has a sliding groove with a limiting block on the sliding groove. The bracket includes a support frame, a limiting side plate, a lead screw, a chain, and a crank. The support frame is inclined on the lifting mechanism, and the lead screw is horizontally arranged across the upper and lower ends of the support frame. The two lead screws are linked together by a chain. The crank is located at the upper end of the lead screw. There are two limiting side plates, one of which is fixed on one side of the support frame, and the other is opposite to the sliding block of the lead screw.

8. The expandable ground-rail robot unpacking device according to claim 7, characterized in that, The limiting block is a conical block.

9. The expandable ground-rail robot unpacking device according to claim 7, characterized in that, The lifting assembly is provided in two sets opposite to each other. The lifting assembly includes a lifting frame, a lifting screw, a lifting sleeve, a linkage frame, a connecting rod, a connecting chain, and a lifting handle. The lifting frame is fixed to both ends of the rear side of the bracket. The lifting screw is vertically mounted on the lifting frame. The lifting sleeve is sleeved on the lifting screw. The linkage frame is connected to the lifting sleeve. The bracket is connected to the linkage frame through the connecting rod. The lifting handle is located at the upper end of the lifting screw. The connecting chain is linked to the lifting screws at both ends.

10. The expandable ground-rail robot unpacking device according to claim 7, characterized in that, The bracket is equipped with a counterweight push rod, which has a slide rod, a push rod and a push plate. The slide rod is connected to the upper and lower ends of the bracket frame, the push rod is vertically mounted on the slide rod's slider, and the push plate is located on the front side of the push rod.

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