Boxer robot-based cartoning machine paper box stack adaptive loading device
By automating the handling of cardboard boxes using a collaborative robot loading device, the problem of increased manual loading intensity caused by the increase in cartoning machine speed has been solved, and the continuous and stable operation of the cartoning machine has been achieved.
Patent Information
- Application Number
- CN202522165710.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-14
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-10-14
AI Technical Summary
The increased cartoning speed of traditional cartoning machines leads to increased strength of manually loaded cartons, making it impossible to guarantee the continuous and stable operation of the cartoning machine.
The carton stacking adaptive loading device of the cartoning machine adopts a collaborative robot, which uses components such as robotic arms, vacuum suction cups, cutters and cylinders to work together to automatically complete the extraction, cutting and conveying of cartons, and realize the continuous and stable loading of cartons.
This improves the continuity and stability of the cartoning machine, reduces the intensity of manual loading, and ensures the efficient operation of the cartoning machine.
Smart Images
Figure CN224929331U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of pharmaceutical packaging technology, and in particular to an adaptive loading device for carton stacking machines based on collaborative robots. Background Technology
[0002] Traditionally, cartoning machines manually remove stacks of cartons from cartons or buffer turnover mechanisms. However, with cartoning machines reaching speeds exceeding 500 cartons per minute, and a typical stack containing 300 cartons, the workload of manual loading has increased, necessitating automation to load carton stacks. Utility Model Content
[0003] The purpose of this invention is to provide an adaptive loading device for carton stacking machines based on collaborative robots, which solves the problem that as the cartoning speed of cartoning machines increases and the strength of manually loading cartons increases, it is impossible to ensure the continuous and stable operation of cartoning machines.
[0004] To achieve the above objectives, this utility model provides an adaptive loading device for carton stacking machines based on collaborative robots, including a base, an extraction component, a conveying component, and a fixing component. The extraction component includes a robotic arm, a connecting rod, an extraction frame, vacuum suction cups, a first telescopic cylinder, and a cutter. The robotic arm is connected to the base and located at the top of the base. The connecting rod is connected to the robotic arm and located at the bottom of the robotic arm. The extraction frame is fixedly connected to the connecting rod and located at the bottom of the connecting rod. There are multiple vacuum suction cups, each connected to and passing through the extraction frame. The first telescopic cylinder is fixedly connected to the extraction frame and located at the bottom of the extraction frame. The cutter is connected to the output end of the first telescopic cylinder and located outside the first telescopic cylinder. The conveying component is connected to the base, and the fixing component is connected to the conveying component.
[0005] The conveying assembly includes a conveyor frame, a conveyor, and baffles. The conveyor frame is fixedly connected to the base and located on the side of the base. The conveyor is connected to the conveyor frame and located on the outside of the conveyor frame. There are two baffles, which are fixedly connected to the conveyor frame and located on the top of the conveyor frame.
[0006] The conveying assembly further includes a support frame, a linear slide rail, a tilting cylinder, and a push plate. The support frame is fixedly connected to the conveying frame and located on top of the conveying frame. The linear slide rail is fixedly connected to the support frame and located on top of the support frame. The tilting cylinder is connected to the output end of the linear slide rail and located above the linear slide rail. The push plate is connected to the output end of the tilting cylinder and located inside the tilting cylinder.
[0007] The fixing assembly includes a lifting cylinder, a lifting frame, a front plate, and a rear plate. The lifting cylinder is connected to the support frame via a slide rail and is located on top of the support frame. The lifting frame is connected to the output end of the lifting cylinder and is located on top of the lifting cylinder. The front plate is fixedly connected to the lifting frame and is located on one side of the lifting frame. The rear plate is fixedly connected to the lifting frame and is located on the side of the lifting frame away from the front plate.
[0008] The fixing assembly further includes a fixing cylinder and a fixing plate. The fixing cylinder is fixedly connected to the support frame and is located on the outside of the rear plate. The fixing plate is connected to the output end of the fixing cylinder and is located between the fixing cylinder and the rear plate.
[0009] This utility model discloses an adaptive loading device for carton stacking machines based on collaborative robots. In operation, the control module controls the robotic arm to move the vacuum suction cups above the carton stacks. The vacuum suction cups pick up a stack of cartons, and the robotic arm then places the cartons between the front and rear plates. The fixing cylinder pushes the fixing plate to press and secure the cartons. At this point, the outer strapping on the carton loosens. The control module then controls the robotic arm to rise, lifting the loose strapping. Simultaneously, the first telescopic cylinder pushes the cutter to move rapidly, cutting the strapping and releasing it from the carton. The front set of vacuum suction cups releases, while the rear set continues to hold the strapping. The robotic arm moves upward again, extracting the strapping from the bottom of the carton. After extraction, the rear vacuum suction cups release, facilitating the collection of the strapping. Simultaneously, the lifting cylinder moves forward along its bottom rail, while the control module controls the... The tilting cylinder and the push plate move along the linear slide rail. After moving to the middle position, the tilting cylinder drives the push plate to lift. Then, the linear slide rail pushes the tilting cylinder until the push plate is behind the rear plate. Then, the tilting cylinder lowers the push plate. At this time, the lifting cylinder drives the lifting frame to move upward, releasing the front plate and the rear plate from limiting the carton. Then, the linear slide rail quickly pushes the tilting cylinder and the push plate forward. The moving push plate pushes the carton towards the conveyor. While the push plate moves, the slide rail at the bottom of the lifting cylinder drives the lifting cylinder and the lifting frame to move backward, resetting the lifting frame, the front plate, and the rear plate. Finally, the conveyor transports the carton, improving the continuity of carton transport and solving the problem that the increasing speed of carton loading machines and the increased intensity of manual loading of cartons make it impossible to ensure the continuous and stable operation of the carton loading machine. Attached Figure Description
[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0011] Figure 1 This is a schematic diagram of the overall structure of the adaptive loading device for carton stacking of a cartoning machine based on a collaborative robot, according to the first embodiment of this utility model.
[0012] Figure 2 This is a schematic diagram of the extraction component according to the first embodiment of the present invention.
[0013] Figure 3 This is a structural schematic diagram of the conveying component and the fixing component of the first embodiment of this utility model.
[0014] In the diagram: 000 - Cardboard box bundle, 100 - Cardboard box stack, 101 - Base, 102 - Robotic arm, 103 - Linkage rod, 104 - Extraction frame, 105 - Vacuum suction cup, 106 - First telescopic cylinder, 107 - Cutter, 108 - Conveyor frame, 109 - Conveyor, 110 - Baffle, 111 - Support frame, 112 - Linear slide rail, 113 - Tilting cylinder, 114 - Push plate, 115 - Lifting cylinder, 116 - Lifting frame, 117 - Front plate, 118 - Rear plate, 119 - Fixing cylinder, 120 - Fixing plate. Detailed Implementation
[0015] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.
[0016] The first embodiment of this application is as follows: Please see Figures 1 to 3 ,in, Figure 1 This is a schematic diagram of the overall structure of the adaptive loading device for carton stacking of a cartoning machine based on a collaborative robot, according to the first embodiment of this utility model. Figure 2 This is a schematic diagram of the extraction component according to the first embodiment of this utility model. Figure 3 This is a structural schematic diagram of the conveying and fixing components of the first embodiment of this utility model. This utility model provides an adaptive loading device for carton stacking machines based on collaborative robots, including a base 101, an extraction component, a conveying component, and a fixing component. The extraction component includes a robotic arm 102, a connecting rod 103, an extraction frame 104, a vacuum suction cup 105, a first telescopic cylinder 106, and a cutter 107. The conveying component includes a conveying frame 108, a conveyor 109, a baffle 110, a support frame 111, a linear slide rail 112, a tilting cylinder 113, and a push plate 114. The fixing component includes a lifting cylinder 115, a lifting frame 116, a front plate 117, a rear plate 118, a fixing cylinder 119, and a fixing plate 120. The aforementioned solution solves the problem that as the cartoning speed of cartoning machines increases, the strength of manually loading cartons also increases, making it impossible to guarantee the continuous and stable operation of the cartoning machine.
[0017] In this specific embodiment, the robotic arm 102 is connected to the base 101 and located at the top of the base 101; the connecting rod 103 is connected to the robotic arm 102 and located at the bottom of the robotic arm 102; the extraction frame 104 is fixedly connected to the connecting rod 103 and located at the bottom of the connecting rod 103; there are two sets of vacuum suction cups 105, each set connected to and passing through the extraction frame 104; the first telescopic cylinder 106 is fixedly connected to the extraction frame 104 and located at the bottom of the extraction frame 104; and the cutter 107 is connected to the output end of the first telescopic cylinder 106 and located outside the first telescopic cylinder 106. The conveying assembly is connected to the base 101, and the fixing assembly is connected to the conveying assembly. The base 101 provides support for the device. The robotic arm 102 is controlled by a control module. The connecting rod 103 provides support for the extraction frame 104. The vacuum suction cup 105 is connected to an external air pump for adsorbing and transferring the cardboard boxes. The first telescopic cylinder 106 controls the cutter 107, which cuts the outer edge of the cardboard box. In use, the control module controls the robotic arm 102 to move the vacuum suction cup 105 above the cardboard box stack, lifts a stack of cardboard boxes using the vacuum suction cup 105, and then controls the robotic arm 102 to place the cardboard boxes on the... Between the front plate 117 and the rear plate 118, the fixing cylinder 119 pushes the fixing plate 120 to squeeze and fix the cardboard box. At this time, the outer strip of the cardboard box loosens. The control module then controls the robotic arm 102 to rise and lift the loose strip. At this time, the first telescopic cylinder 106 pushes the cutter 107 to move quickly and cut the strip, releasing the strip from fixing the cardboard box. At this time, the front set of vacuum suction cups 105 releases, while the rear set of vacuum suction cups 105 continues to hold the cable tie. The robotic arm 102 moves up again to pull the strip from the bottom of the cardboard box. After extraction, the rear vacuum suction cups 105 release to facilitate the collection of the strip. At the same time, the lifting cylinder 115 is controlled to slide along its bottom. The guide rail moves forward, simultaneously controlling the tilting cylinder 113 and the push plate 114 to move along the linear slide rail 112. After moving to the middle position, the tilting cylinder 113 drives the push plate 114 to lift, and then the linear slide rail 112 pushes the tilting cylinder 113 until the push plate 114 is behind the rear plate 118. Then, the tilting cylinder 113 lowers the push plate 114. At this time, the lifting cylinder 115 drives the lifting frame 116 to move upward, releasing the restriction of the front plate 117 and the rear plate 118 on the paper box. Then, the linear slide rail 112 quickly pushes the tilting cylinder 113 and the push plate 114 forward, and the moving push plate 114 pushes the paper box towards the conveyor 109.As the pusher plate 114 moves, the lifting cylinder 115 and the lifting frame 116 move backward, driven by the slide rail at the bottom of the lifting cylinder 115. This resets the lifting frame 116, the front plate 117, and the rear plate 118. Finally, the conveyor 109 continues to transport the cardboard box, improving the continuity of cardboard box transport.
[0018] The conveyor frame 108 is fixedly connected to the base 101 and located on the side of the base 101. The conveyor 109 is connected to the conveyor frame 108 and located on the outside of the conveyor frame 108. There are two baffles 110, which are fixedly connected to the conveyor frame 108 and located on the top of the conveyor frame 108. The conveyor frame 108 provides support for the conveying assembly and the fixing assembly. The conveyor 109 is a belt conveyor connected to the cartoning machine for conveying cartons. The baffles 110 protect the cartons and prevent them from falling off the sides of the conveyor 109.
[0019] Secondly, the support frame 111 is fixedly connected to the conveyor frame 108 and located on top of the conveyor frame 108. The linear slide rail 112 is fixedly connected to the support frame 111 and located on top of the support frame 111. The tilting cylinder 113 is connected to the output end of the linear slide rail 112 and located on top of the linear slide rail 112. The push plate 114 is connected to the output end of the tilting cylinder 113 and located inside the tilting cylinder 113. The support frame 111 provides support for the fixed components. The linear slide rail 112 provides support for the tilting cylinder 113 and guides the tilting cylinder 113 and the push plate 114 to move along the linear slide rail 112. The tilting cylinder 113 provides control over the push plate 114. The push plate 114 discharges the cardboard box after the strip has been released.
[0020] Furthermore, the lifting cylinder 115 is connected to the support frame 111 via a slide rail and is located at the top of the support frame 111. The lifting frame 116 is connected to the output end of the lifting cylinder 115 and is located at the top of the lifting cylinder 115. The front plate 117 is fixedly connected to the lifting frame 116 and is located on one side of the lifting frame 116. The rear plate 118 is fixedly connected to the lifting frame 116 and is located on the side of the lifting frame 116 away from the front plate 117. The slide rail at the bottom of the lifting cylinder 115 cooperates with the linear slide rail for continuous conveying of the paper box. The lifting cylinder 115 provides control over the lifting frame 116. The lifting frame 116 provides support for the front plate 117 and the rear plate 118. The front plate 117 and the rear plate 118 form a paper box holder for limiting the paper box to be processed.
[0021] Finally, the fixing cylinder 119 is fixedly connected to the support frame 111 and is located on the outside of the back plate 118. The fixing plate 120 is connected to the output end of the fixing cylinder 119 and is located between the fixing cylinder 119 and the back plate 118. The fixing cylinder 119 is used to control the fixing plate 120, and the fixing plate 120 facilitates the pressing of the cardboard box.
[0022] Using the adaptive loading device for carton stacking machines based on collaborative robots in this embodiment, during operation, the control module controls the robotic arm 102 to move the vacuum suction cup 105 above the carton stack. The vacuum suction cup 105 picks up a stack of cartons, and then the robotic arm 102 places the cartons between the front plate 117 and the rear plate 118. The fixing cylinder 119 then pushes the fixing plate 120 to press and fix the cartons. At this time, the outer edge of the carton loosens, and the control module then controls the robotic arm 102 to rise and lift the loosened edge. At this time, the first telescopic cylinder 106 pushes the cutter 107 to move quickly, cutting the cable tie and releasing it from the cardboard box. The front set of vacuum suction cups 105 then releases, while the rear set continues to hold the cable tie. The robotic arm 102 moves upward again, pulling the cable tie from the bottom of the cardboard box. After extraction, the rear vacuum suction cups 105 release, facilitating the collection of the cable tie. Simultaneously, the lifting cylinder 115 is controlled to move forward along its bottom slide rail, while the tilting cylinder 113 and the push plate 114 are controlled to move along... The linear slide rail 112 moves to the middle position, and then the tilting cylinder 113 drives the push plate 114 to lift. The linear slide rail 112 then pushes the tilting cylinder 113 until the push plate 114 is behind the rear plate 118. The tilting cylinder 113 then lowers the push plate 114. At this time, the lifting cylinder 115 drives the lifting frame 116 to move upward, releasing the restriction of the front plate 117 and the rear plate 118 on the paper box. Then, the linear slide rail 112 quickly pushes the tilting cylinder 113 and the push plate 114 forward. The moving push plate 114 pushes the cardboard box towards the conveyor 109. As the push plate 114 moves, the sliding rail at the bottom of the lifting cylinder 115 drives the lifting cylinder 115 and the lifting frame 116 to move backward, resetting the lifting frame 116, the front plate 117, and the rear plate 118. Finally, the conveyor 109 transports the cardboard box, improving the continuity of cardboard box transport and solving the problem that the increasing speed of the cartoning machine and the increased intensity of manual loading of cardboard boxes make it impossible to ensure the continuous and stable operation of the cartoning machine.
[0023] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1. A carton stacking adaptive loading device for a cartoning machine based on a collaborative robot, comprising a base, characterized in that, It also includes extraction components, conveying components, and fixing components; The extraction assembly includes a robotic arm, a connecting rod, an extraction frame, vacuum suction cups, a first telescopic cylinder, and a cutter. The robotic arm is connected to the base and located at the top of the base. The connecting rod is connected to the robotic arm and located at the bottom of the robotic arm. The extraction frame is fixedly connected to the connecting rod and located at the bottom of the connecting rod. There are two sets of vacuum suction cups, each set connected to the extraction frame and passing through the extraction frame. The first telescopic cylinder is fixedly connected to the extraction frame and located at the bottom of the extraction frame. The cutter is connected to the output end of the first telescopic cylinder and located outside the first telescopic cylinder. The conveying assembly is connected to the base, and the fixing assembly is connected to the conveying assembly.
2. The adaptive loading device for carton stacking based on a collaborative robot for a cartoning machine as described in claim 1, characterized in that, The conveying assembly includes a conveyor frame, a conveyor, and baffles. The conveyor frame is fixedly connected to the base and located on the side of the base. The conveyor is connected to the conveyor frame and located on the outside of the conveyor frame. There are two baffles, which are fixedly connected to the conveyor frame and located on the top of the conveyor frame.
3. The adaptive loading device for carton stacking of a cartoning machine based on a collaborative robot as described in claim 2, characterized in that, The conveying assembly further includes a support frame, a linear slide rail, a tilting cylinder, and a push plate. The support frame is fixedly connected to the conveying frame and located on top of the conveying frame. The linear slide rail is fixedly connected to the support frame and located on top of the support frame. The tilting cylinder is connected to the output end of the linear slide rail and located above the linear slide rail. The push plate is connected to the output end of the tilting cylinder and located inside the tilting cylinder.
4. The adaptive loading device for carton stacking of a cartoning machine based on a collaborative robot as described in claim 3, characterized in that, The fixing assembly includes a lifting cylinder, a lifting frame, a front plate, and a rear plate. The lifting cylinder is connected to the support frame via a slide rail and is located on top of the support frame. The lifting frame is connected to the output end of the lifting cylinder and is located on top of the lifting cylinder. The front plate is fixedly connected to the lifting frame and is located on one side of the lifting frame. The rear plate is fixedly connected to the lifting frame and is located on the side of the lifting frame away from the front plate.
5. The adaptive loading device for carton stacking of a cartoning machine based on a collaborative robot as described in claim 4, characterized in that, The fixing assembly further includes a fixing cylinder and a fixing plate. The fixing cylinder is fixedly connected to the support frame and located on the outside of the rear plate. The fixing plate is connected to the output end of the fixing cylinder and located between the fixing cylinder and the rear plate.