Method for expanding and forming packaging box blanks using an automatic box-opening machine

Abstract

To provide a method for expanding and forming a blank for a packaging box, which can efficiently perform box picking and box opening operations continuously using one power mechanism and is useful for reducing the cost of the implementation equipment. [Solution] The first box body surface (2) of the box blank (1) is removed by being fixed and adsorbed, and after removal, it is moved to the box blank forming process (6), in which the second box body surface (3) on the opposite side opposite to the first box body surface (2) is fixed, and after being fixed, the first box body surface (2) moves in a curved trajectory relative to the second box body surface (3), and after moving to a predetermined position, the box blank (1) is unfolded and formed.

Description

[Technical Field]

[0001] The present invention By automatic box opening machine This invention relates to a method for expanding and forming a blank for a packaging box. [Background technology]

[0002] During the packaging process of cardboard boxes using automatic packaging equipment, the folded and overlapping blanks of the cardboard boxes must be opened and shaped, so it is common to use an automatic box-opening machine to automatically open the box blanks.

[0003] Currently, there are two ways to open a box blank: vertical opening and horizontal opening. Vertical opening refers to opening a box blank in a folded, overlapping state when the blank is placed vertically (the resulting packaging box opens upwards), while horizontal opening refers to opening a box blank in a folded, overlapping state when the blank is placed flat (the resulting packaging box opens sideways). These types of box opening are achieved using vertical and horizontal box opening machines, respectively.

[0004] Also, depending on the folding method of the box blank, it can be opened from the front (front side) or from the back (back side).When the box blank is opened, the resulting packaging box has four main box surfaces: the front (first main box surface), the back (second main box surface), the left side (third main box surface), and the right side (fourth main box surface).

[0005] Furthermore, opening and forming a box blank in which the front and left side are folded and overlapped on the same plane is called front opening, while opening and forming a box blank in which the front and right side are folded and overlapped on the same plane is called back opening.In conventional technology, front opening and back opening are achieved by using different opening machines, and it is not possible to open both types of boxes with a single opening machine.

[0006] Conventional box blank unfolding methods are roughly divided into four types, which will be explained below using the example of opening a box from the front.

[0007] <Type 1 box blank expansion forming method> In this method, the first box body surface of the box blank is sucked to remove the box, and during the box removal process, the auxiliary forming bar pushes out the third box body surface, which is rotated 90 degrees around the connection with the first box body surface, and the box blank is opened and formed. In this method, the box blank is unfolded during the box blank removal process. After the box blank is removed to the designated position, the box blank unfolding process is also completed.

[0008] <Type 2 box blank expansion forming method> In this method, the first and third box body surfaces of the box blank are sucked together to remove the box, and during the box removal process, the suction cup group sucking the third box body surface rotates 90 degrees relative to the suction cup group sucking the first box body surface, and the third box body surface rotates 90 degrees around its connection with the first box body surface, thereby opening and forming the box blank. This method is the same as the first method described above, and the box blank unfolding operation is completed during the box blank removal process, and after the box blank is removed to the designated position, the box blank unfolding is also completed.

[0009] <Third type box blank expansion forming method> In this method, the first box body surface of the box blank is sucked and cut into a box, and the box is moved to a predetermined position, after which the second box body surface of the box blank is sucked and moves in a direction perpendicular to the first box body surface, while the first box body surface of the box blank moves in a direction parallel to the first box body surface of the box blank. After both the first box body surface and the second box body surface have moved to their predetermined positions, the box blank is opened and formed.

[0010] <Fourth type box blank expansion forming method> In this method, the first box body surface of the box blank is sucked and removed, and after the box is removed and moved to a predetermined position, the first box body surface of the box blank is fixed relatively, and the second box body surface of the box blank is sucked and moves along curves in two directions, one perpendicular to the first box body surface and one parallel to the first box body surface, and after being moved to a predetermined position, the box blank is unfolded and formed. Summary of the Invention [Problem to be solved by the invention]

[0011] However, the first and second box blank unfolding methods described above as prior art both achieve unfolding of the box blank by utilizing the third box body surface rotating 90 degrees relative to the first box body surface. During the unfolding process of the box blank, the second and fourth box body surfaces of the box blank are not supported in any way, and rotate in accordance with the inversion of the third box body surface. The second and fourth box body surfaces also bear a relatively large force, which places a relatively high requirement on the hardness of the box blank. If the hardness of the box blank is relatively low, the second and fourth box body surfaces are likely to be deformed by the force, resulting in a poor unfolding effect of the box blank and poor box opening efficiency.

[0012] Furthermore, the third type of box blank forming method, also listed as a prior art, opens the box blank by a system in which the first box body surface and the second box body surface of the box blank move in a positional offset from each other, which has at least the following problems:

[0013] 1. Because both the first box body surface and the second box body surface of the box blank need to move, at least two sets of operating mechanisms are required, which increases equipment costs compared to the above-mentioned first and second methods.

[0014] 2. When the first and second box body surfaces of the box blank move out of position, it is necessary to control the cooperation between the two sets of operating mechanisms, i.e., to control the moving speed of the first box body surface and the moving speed of the second box body surface. Currently, commonly used packaging boxes are rectangular packaging boxes. The displacement of the first box body surface moving in the direction parallel to the first box body surface of the box blank is the same as the displacement of the second box body surface moving in the direction perpendicular to the first box body surface, but the speeds of the two are not the same and need to be changed. Therefore, the control method for controlling the interlocking of the two operating mechanisms becomes complicated. If the speeds of the two cannot be matched, it will cause deformation of the box blank, resulting in poor box blank forming effect and even failure of box blank forming.

[0015] 3. Since both the first box body surface and the second box body surface of the box blank need to be moved, there is no fixed reference during the process of opening and forming the box blank, and the reference is constantly changing, which is difficult to achieve and reduces the efficiency of unfolding and forming the box blank.

[0016] 4. After the box blank is opened, the flap (box leaf) on one side of the formed box blank needs to be folded. In the above-mentioned Type 1 and Type 2 box blank unfolding forming methods, the final forming position of the box blank is relatively fixed, the flap on one side of the box blank is folded at the box blank forming position, and the position of the flap folding mechanism is relatively fixed, so that after the box blank dimension changes, the reference position of the box blank forming position does not change. If the position does not change significantly, the flap folding mechanism can be adjusted accordingly. However, in Type 3 method, the first box body surface of the box blank and the second box body surface of the box blank move relatively, so when the box blank dimension changes, the forming reference position also changes, and it is difficult and time-consuming to adjust the position of the flap folding mechanism.

[0017] Furthermore, the third and fourth types of box blank unfolding methods cited above as prior art both require two sets of operating mechanisms to perform the box picking and box opening operations, resulting in high costs for the box blank unfolding equipment. In particular, the third type of method requires the box picking operating mechanism to cooperate with the box opening operating mechanism to achieve box opening, which requires high coordination precision between the two sets of operating mechanisms, making it difficult to achieve high-speed box opening and resulting in low efficiency in successful box opening. In the fourth type of method, the second box body surface of the box blank can only be attracted and moved after the box is picked up, meaning that the box picking and box opening operations are not continuous and require a certain waiting time, resulting in poor box unfolding efficiency. [Means for solving the problem]

[0018] The present invention aims to solve the problems of the prior art, such as the high equipment costs required for implementing the box blank expansion forming method, the high control precision required for the implementation equipment, the complicated cooperation mechanism, the discontinuity between the box picking operation and the box opening operation, and the low box opening efficiency due to the interval between these operations. In order to achieve this purpose, the box blank waiting to be expanded is taken out by a method in which its first box body surface is fixed and adsorbed, and then the box blank is formed. Station (location / place) Box blank forming Station (location / place) The second box body surface of the box blank is fixed at the first box body surface, and then the first box body surface moves relative to the second box body surface until the box blank is opened and formed after moving to a predetermined position.

[0019] In the present invention, both the box picking and box opening operations are completed based on the first box body surface, the second box body surface is fixed at the box picking position, and the first box body surface can operate immediately. The present invention can be implemented using a single operating mechanism, which reduces the cost of implementation equipment, and the box picking and box opening are both based on the first box body surface, allowing the two operations to be combined into one, eliminating the wait time between the two operations and improving the box opening success rate. In addition, only the movement of the first box body surface needs to be controlled, which makes it easier to control and implement.

[0020] That is, in the method for expanding a blank of a packaging box according to the present invention, as described in claim 1, horizontal a box blank storage cabinet for storing box blanks in a folded state superimposed in the direction;

[0021] the a formed box blank transport path in a transport direction perpendicular to the arrangement direction of the box blank storage;

[0022] a fixed suction cup set installed on one side of a box blank forming station at an entrance or front end of the formed box blank conveying path;

[0023] An automatic box-opening machine having a set of movable suction cups attached to a set of actuators is used to suck the first box body surface of the box blank in the box blank storage facility,

[0024] a first step in which the actuator moves a movable suction cup group to the front side of the box blank storage cabinet, and the movable suction cup group sucks the first box main body surface of the box blank and removes it from the box blank storage cabinet;

[0025] the a second step in which the actuator moves the sucked box blank forward a certain distance to the position of the fixed suction cup set in the box blank forming station, and then a second box body surface opposite to the first box body surface of the box blank is sucked and fixed to the fixed suction cup set;

[0026] a third step in which, after the second box body surface is fixed, when the second box body surface in the folded and overlapped state of the box blank is located behind the first box body surface with reference to the conveying direction of the formed box blank conveying path, the actuator moves the first box body surface backward along a curved path relative to the second box body surface;

[0027] or a third step of, after the second box body surface is fixed, when the second box body surface in the folded and overlapped state of the box blank is located in front of the first box body surface with reference to the conveying direction of the formed box blank conveying path, causing the actuator to move the first box body surface forward along a curved trajectory relative to the second box body surface,

[0028] In any of the third steps, the curved motion locus of the first box main body surface is a quarter-circular arc motion locus whose radius is the length of the third box main body surface or the length of the fourth box main body surface adjacent to the second box main body surface, and whose rotation center is the connection part between the second box main body surface and the adjacent third box main body surface or the connection part between the second box main body surface and the adjacent fourth box main body surface,

[0029] The box body expanded in the third step is conveyed forward by conveyor belts installed on both sides of the formed box blank conveying path,

[0030] The actuator that has completed the developing and forming is characterized by moving backward a certain distance from the position of the fixed suction cup set in the box blank forming station to the front side of the box blank storage.

[0031] In claim 2, the movable suction cup group of the actuator presses the second box body surface of the box blank with a constant force so as to suck and fix it to the fixed suction cup group, or

[0032] Alternatively, the fixed suction cup set extends or advances toward the second box body surface of the box blank, and the fixed suction cup set sucks and fixes the second box body surface by vacuum negative pressure.

[0033] The third aspect of the present invention is characterized in that the center line of the expanded box body is aligned with the center line of the transport path for the formed box blank.

[0034] In claim 4, when the cross section of the box body to be developed is rectangular, the first box body surface and the second box body surface are set to the box body surfaces on the long sides of the box blank. [Effects of the Invention]

[0035] 1. The box blank unfolding method of the present invention as set forth in claim 1, compared with the first and second methods described in the prior art, can unfold the box blank by misaligning and separating the first and second box body surfaces. During the unfolding process, the third and fourth box body surfaces are not subjected to pressing force, so no deformation occurs. Even if the third and fourth box body surfaces are deformed in the original box blank, the third and fourth box body surfaces can be straightened by misaligning and separating the first and second box body surfaces, and the deformation can be corrected.

[0036] 2. Compared with the third method presented as the prior art, in the box blank unfolding method of the present invention, the second box body surface is fixed and only the movement of the first box body surface needs to be controlled, making the movement of the first box body surface easier to control, simpler to control, and faster to realize the movement without requiring two sets of actuators. This reduces the cost of the implementation equipment and achieves high box-opening efficiency.

[0037] 3. Also, compared to the third method, the present invention has a reference point for the position of the blank unfolding and forming, and this reference point does not change regardless of the blank's dimensional specifications. In the third method, the first box body surface and the second box body surface both move relative to each other, and the position of the reference point changes depending on the blank's dimensional specifications. If the position of the reference point changes, the position of the mechanism for folding the flaps (box leaves) after opening and forming the box must be adjusted, making the overall adjustment relatively difficult. However, because the reference point does not change in the present invention, there is no need to adjust the position of the mechanism for folding the flaps, which is advantageous for the implementation and placement of the mechanism.

[0038] 4. Compared with the fourth method presented as the prior art, the box blank unfolding method of the present invention operates using the first box body surface, and is performed by a single actuator from start to finish, from when the box blank is removed to when it is opened. This operation is simpler, and the box removal and box opening operations are realized more simply and continuously. There is no waiting time between the box removal and box opening operations; the box opening operation is performed immediately after the box is removed, and there is no need to wait for the related mechanisms to be executed in the designated position, so there is no waiting interval, and the efficiency of box opening using the method of the present invention is higher.

[0039] 5. The box blank unfolding method of the present invention has a relatively wide applicability and is not affected by the material of the box blank. For box blanks made of relatively soft material, with a relatively thin box body, exposed to moisture, or used repeatedly, the box blank unfolding method of the present invention can achieve effective forming for all of the box blanks, ensuring an effective box-opening success rate.

[0040] 6. The box blank unfolding method of the present invention is not affected by the folded and overlapping state of the box blank and can be used for both front (front side) and back (rear side) opening. The box opening equipment implemented using the method of the present invention can be used for both front and back opening. Switching between front and back opening simply requires changing the direction in which the first box body surface moves relative to the second box body surface, and does not require changing the implementation structure; simply select the appropriate control program.

[0041] 7. In the box blank flattening method of the present invention, the box blank flattening station is located at the entrance (front end) of the formed box blank conveying path, so that the box blank is conveyed to the next process immediately after being flattened, thereby making the implementation structure compact and continuous, and reducing the operation interval between the box blank flattening and the box blank conveying, thereby effectively improving the conveying efficiency of the box blank flattening. In particular, after the box blank is opened and formed, the center line of the box blank overlaps with the center line of the conveying path of the formed box blank (box body), ensuring centering after the box blank is opened and formed, and avoiding deflection when the box blank is conveyed after being opened and formed, further improving the box blank flattening and conveying efficiency.

[0042] 8. In the present invention, the curved motion trajectory of the first box body surface approximates a quarter-circular motion trajectory with the length (one side) of the third or fourth box body surface adjacent to the second box body surface as the radius and the connection point between the second box body surface and the adjacent third or fourth box body surface as the pivot point. Therefore, it is relatively easy to realize the motion trajectory of the first box body surface, further simplifying the motion control program, reducing the manufacturing accuracy requirements for the box blank itself, and allowing box blanks to be manufactured within a set error.

[0043] 9. In the box blank unfolding method of the present invention, all movements of the first box body surface are achieved by a single set of actuators driving a set of movable suction cups, which simplifies the implementation structure, reduces costs, and effectively ensures continuity between the box removal and box opening operations. The actuators can be planar actuators in two directions, preferably biaxial robot arms or serial robot arms, which are highly accurate, easy to implement, simple to control, and require a small installation space.

[0044] 10. In the box blank unfolding method of the present invention, a fixed suction cup set is used to suction-fix the second box body surface to the box blank forming process, which has a simple implementation structure, is easy to implement, and achieves a good fixing effect. The second box body surface can be displaced in any direction in space, ensuring that the second box body surface is effectively fixed during the box blank unfolding process. When the third and / or fourth box body surface needs to be straightened, the fixed suction cup set cooperates with the movable suction cup set that pulls the first box body surface to pull and straighten the third and / or fourth box body surface. The movement trajectory of the first box body surface can also be diversified, making it possible to accommodate different situations in unfolding the box blank.

[0045] 11. In the box blank expansion method of the present invention, in order to ensure stability, high efficiency, and a high success rate of the expansion, it is preferable that the long side of the box body surface is used as the reference box body surface for expanding the box blank. [Brief explanation of the drawings]

[0046] [Figure 1] FIG. 1 is a schematic perspective view showing a folded and overlapped state (box blank) of a packaging box according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic perspective view showing the box blank in an expanded state (box body). [Figure 3] FIG. 10 is a schematic plan view showing the expansion forming action of the box blank. [Figure 4] 4 is a schematic plan view showing the development molding action of a modified example corresponding to FIG. 3. FIG. [Figure 5] FIG. 10 is a schematic plan view showing the development forming action of a box blank according to the first type of prior art. [Figure 6] FIG. 10 is a schematic plan view showing the development forming action of a box blank according to the second type of prior art. [Figure 7] FIG. 10 is a schematic plan view showing the development forming action of a box blank according to the third type of prior art. [Figure 8] FIG. 10 is a schematic plan view showing the development forming action of a box blank according to the fourth type of prior art. [Figure 9] 1A to 1C are schematic plan views showing the expanded state of box blanks of different sizes according to an embodiment of the present invention. [Figure 10] 1 is a perspective view showing the overall outline of a vertical box-opening machine used in the practice of the present invention. [Figure 11] FIG. 11 is a front view of FIG. [Figure 12] FIG. 12 is a rear view of FIG. [Figure 13] FIG. 12 is a plan view of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0047] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. However, this embodiment is merely a preferred example of the present invention and does not limit the content of the present invention described in the claims.

[0048] The illustrated embodiment relates to a blank unfolding method for a packaging box having a box body with a rectangular (cuboid) cross section, and Figures 1 and 2 respectively show a box blank (1) in a folded and overlapping state and the box body (M) that is the formed box blank.

[0049] The method for expanding a packaging box blank according to the embodiment comprises the following first to third steps (S1), (S2), and (S3), as shown in Figures 3 and 4. In other words, in the first step (S1), a box blank (1) waiting to be expanded is taken out of a box blank storage (13) and moved by fixing and suctioning the first box body surface (2) out of the four box body surfaces (2), (3), (4), and (5).

[0050] Next, in a second step (S2), the box blank (1) with the first box body surface (2) fixed and sucked is moved to the blank forming station (position / location) (6), and after being moved to a predetermined position, the second box body surface (3) of the box blank (1) is fixed to the box blank forming station (6). Then, in a third step (S3), after the second box body surface (3) of the box blank (1) is fixed, the first box body surface (2) fixed and sucked is driven to move along a curved trajectory relative to the second box body surface (3), and after the first box body surface (2) has moved to a predetermined position, the box blank (1) is developed and formed.

[0051] In this case, the first box body surface (2) and the second box body surface (3) are opposite box body surfaces that face each other in the developed molded state as the box body (M), as suggested by Figures 1 and 2.

[0052] While the first box body surface (2) of the box blank (1) moves along a curved path relative to the second box body surface (3), the second box body surface (3) is fixed throughout, and the second box body surface (3) and the first box body surface (2) are maintained in a parallel position.

[0053] The curved motion locus of the first box body surface (2) is such that the projection of the first box body surface (2) onto the horizontal plane gradually moves away from the projection of the second box body surface (3) onto the horizontal plane towards the front (outside), and at the same time the projection of the first box body surface (2) onto the vertical plane gradually overlaps (matches) with the projection of the second box body surface (3) onto the vertical plane.

[0054] In the second step (S2) of the above-mentioned unfolding forming method, a specific means for fixing the second box body surface (3) of the box blank (1) to the box blank forming station (6) is to install a fixed suction cup set (12) on one side of the box blank forming station (6) as shown in Figures 3, 4 and 10 to 13, and use the fixed suction cup set (12) to fix and adsorb the second box body surface (3) to the box blank forming station (6).

[0055] The box blank unfolding method in Figure 3 is opening from the back (rear side), while that in Figure 4 is opening from the front (front side). As is clear from comparing Figures 3 and 4, switching between opening from the front and opening from the back can be achieved simply by changing the direction of movement of the first box body surface (2) depending on the folding and overlapping state of the box blank (1). Simply by changing the control related to the movement of the first box body surface (2), opening from the front and opening from the back can be switched, without the need for hardware adjustments or repositioning of the box blank forming station (6).

[0056] 5 and 6 show the first and second types of prior art for comparison with the present invention. In the first type of box blank expanding method shown in Fig. 5, the first box body surface (2) of the box blank (1) is sucked to remove the box, and during the box removal process, the third box body surface (4) is pushed out by an auxiliary forming bar, and the third box body surface (4) is rotated 90 degrees around the joint with the first box body surface (2), thereby expanding and forming the box blank (1). In this method, the expanding and forming operation of the box blank (1) is completed during the process of removing the box blank (1), and after the box blank (1) is removed to the specified position, the expanding and forming of the box blank (1) is also completed.

[0057] In the second type box blank expanding method shown in Fig. 6, the first box body surface (2) and the third box body surface (4) of the box blank (1) are sucked to separate the box, and in the process of removing the box, the suction cup group that has sucked the third box body surface (4) rotates 90 degrees relative to the suction cup group that has sucked the first box body surface (2), and the third box body surface (4) is rotated 90 degrees around the connection part with the first box body surface (2), thereby expanding the box blank (1). This method is the same as the method shown in Fig. 7, and in the process of removing the box blank (1), the expanding operation of the box blank (1) is completed, and after the box blank (1) is taken out to a predetermined position, the expanding of the box blank (1) is also completed.

[0058] 5 and 6, the conventional box blank unfolding method utilizes the third box body surface (4), which rotates 90 degrees relative to the first box body surface (2) to unfold the box blank (1). During the unfolding process, the second and fourth box body surfaces (3 and 5) of the box blank (1) are not supported, and the second and fourth box body surfaces (3 and 5) rotate in accordance with the inversion of the third box body surface (4). Therefore, the second and fourth box body surfaces (3 and 5) are subjected to a large force. As a result, if the hardness requirement for the box blank (1) is relatively high and its hardness is low, the second and fourth box body surfaces (3 and 5) are likely to be deformed by the force, which deteriorates the unfolding state of the box blank (1) and reduces the box-opening efficiency.

[0059] The box blank unfolding method according to the illustrated embodiment of the present invention is as follows: A box blank 1 awaiting unfolding is taken out and moved with its first box body surface 2 fixed and sucked (held by suction cups on a mechanical arm). The box blank 1 with its first box body surface 2 fixed and sucked is moved to a box blank forming station 6, and after being moved to a predetermined position, its second box body surface 3 is fixed to the box blank forming station 6.

[0060] After the second box body surface (3) is fixed, the first box body surface (2) of the box blank (1) to which it is fixed and adsorbed is moved along a curved path relative to the second box body surface (3), and after moving to a predetermined position, the box blank (1) is expanded and molded.

[0061] As is clear from Figure 2, the first box body surface (2) and the second box body surface (3) are opposite box body surfaces that face each other after the box blank (1) is expanded. During the process in which the first box body surface (2) moves along a curved path relative to the second box body surface (3), the second box body surface (3) remains fixed throughout, and the first and second box body surfaces (2) and (3) remain parallel to each other throughout.

[0062] The curved motion locus of the first box body surface (2) is such that the projection of the first box body surface (2) onto the horizontal plane gradually moves away from the projection of the second box body surface (3) onto the horizontal plane towards the front (outside), and at the same time the projection of the first box body surface (2) onto the vertical plane gradually overlaps (matches) with the projection of the second box body surface (3) onto the vertical plane.

[0063] The box blank expansion forming method of the above embodiment is a method for expanding and forming a box blank (1) by misaligning and separating the first box body surface (2) relative to the second box body surface (3) of the box blank (1). During the expansion and forming process, the third box body surface (4) and the fourth box body surface (5) of the box blank (1) are not subjected to any pressing force, so no deformation occurs. Even if the third and fourth box body surfaces (4) and (5) in the original box blank (1) are deformed, the misalignment and separation of the first box body surface (2) and the second box body surface (3) can straighten and correct the deformed third and fourth box body surfaces (4) and (5).

[0064] Compared with the first and second types of box blank expansion forming methods shown in Figures 5 and 6 as prior art, the box blank expansion forming method according to the above embodiment of the present invention has low requirements for the hardness of the box blank (1), can be easily applied to box blanks (1) of different hardness and materials, and can achieve a high success rate of effective box opening.

[0065] In the third type of box blank unfolding forming method shown as prior art in Figure 7, the second box body surface (3) of the box blank (1) is sucked and removed, and after moving to the box removal position, the first box body surface (2) of the box blank (1) is sucked and the first box body surface (2) moves in a direction perpendicular to the second box body surface (3), and at the same time the second box body surface (3) moves in a direction parallel to the second box body surface (3) of the box blank (1).

[0066] If we define the displacement of the first box body surface (2) as the X-axis and the displacement of the second box body surface (3) as the Y-axis, then the box blank (1) is developed after both the first and second box body surfaces (2) and (3) have moved to their designated positions. To achieve this, at least two motion mechanisms are required: one to move the first box body surface (2) along the X-axis, and the other to move the second box body surface (3) along the Y-axis.

[0067] In this case, the displacement of the first box body surface (2) and the second box body surface (3) is the same, and the length of the third box body surface (4) and / or the fourth box body surface (5) is the same. The movement of the first box body surface (2) and the second box body surface (3) must take into account not only the length of the third box body surface (4) and / or the fourth box body surface (5), but also the length of the first box body surface (2) and the second box body surface (3). Therefore, the X-axis displacement speed and the Y-axis displacement speed must be controlled to ensure the positional accuracy of the X-axis motion mechanism when adsorbing the first box body surface (2), and the Y-axis motion mechanism when adsorbing the second box body surface (3). Otherwise, the box blank, i.e., the box body, will be deformed after expansion molding.

[0068] However, in reality, even for box blanks (1) of the same dimensional standard, there is a certain amount of error, making it difficult to ensure high-precision fixing positions for the X-axis motion mechanism and Y-axis motion mechanism, and making it impossible to guarantee excellent unfolding effects for the box blank (1).

[0069] Furthermore, due to differences in the positions at which the X-axis motion mechanism and the Y-axis motion mechanism fix the box body surface of the box blank 1, the cooperation between the two mechanisms cannot be constant and can only be determined if the fixing positions of both mechanisms relative to the box body surface are highly accurate. Because the cooperation between the two mechanisms cannot be adjusted for adaptability, the third type of box blank flattening method requires high precision in terms of the movement accuracy of the actuator 10, and also high precision in terms of the processing accuracy of the box blank 1. As a result, it is difficult to achieve cooperation between the two mechanisms and to control the implementation structure.

[0070] Furthermore, in the third type of box blank unfolding method shown in Figure 7, the specific implementation process does not use the box blank (1) as the reference, but rather the X-axis motion mechanism and the Y-axis motion mechanism. That is, after box blanks (1) of different sizes are formed, they are all formed based on one of their axes, and whether it is the X-axis or the Y-axis, the position of the centerline of the box blank after it is formed changes. At the same time, for box blanks (1) of different sizes, the positions of the front and rear ends of the box blank after it is formed change, and the centerline of the formed box blank also changes. This is unfavorable for adjusting the flap folding mechanism and the adaptation of the formed box blank transport mechanism. After changing the size, the flap folding mechanism and the formed box blank transport mechanism also need to be adjusted significantly.

[0071] As described above, since it is difficult to coordinate the movements of the X-axis motion mechanism and the Y-axis motion mechanism, after changing the dimensions of the box blank (1), it takes a lot of time to adjust the X-axis motion mechanism and the Y-axis motion mechanism in order to better form the box blank (1) after the dimensions have been changed.

[0072] In this respect, compared to the third type of box blank flattening method, the box blank flattening method according to the illustrated embodiment of the present invention can be realized using only one set of actuators 10, thereby reducing the cost of the equipment required for its implementation. Since it is only necessary to control the movement of the first box body surface 2, it is easy to realize and control. Because both the box picking operation and the box opening operation are performed via the first box body surface 2, there is no requirement for a position to fix and suck the first box body surface 2; in short, it is sufficient that the first box body surface 2 can be fixed and sucked.

[0073] The reference standard in the box blank expansion forming method according to the above embodiment of the present invention is always the center line of the box blank after it has been formed (see FIG. 9). Therefore, it is only necessary to perform centering adjustment, and adjustments can be easily made after the dimensions of the box blank (1) have changed.

[0074] The reference for movement of the first box body surface (2) is always the second box body surface (3). That is, the connection parts (connecting ridges) (c) and (d) between both ends of the second box body surface (3) and the adjacent third box body surface (4) and fourth box body surface (5), and this reference for movement is constant and unchanging. During the process in which the first box body surface (2) of the box blank (1) moves relative to the second box body surface (3), the second box body surface (3) remains stationary throughout, and the reference for movement is also unchanging. The first box body surface (2) always moves along a 1 / 4 (90 degree) arc (curved) trajectory with the connection (connecting ridge) (c) between the second box body surface (3) and the adjacent third box body surface (4) and the connection (connecting ridge) (d) between the fourth box body surface (5) as the center of rotation (rotating hinge), and there is no requirement as to the position where the actuator (10) adsorbs the first box body surface (2).

[0075] Therefore, the unfolding of the box blank (1) can be easily achieved, and the actuator (10) does not require high precision in its suction position; it is sufficient if it can be firmly suctioned. When fitting (generating) the motion trajectory curve of the first box body surface (2), only the length (one side) (bc) of the third box body surface (4) and the length (one side) (da) of the fourth box body surface (5) need to be taken into consideration; there is no need to consider the position where the first box body surface (2) is fixed and suctioned. Moreover, the motion trajectory of the first box body surface (2) is simple, and its motion speed can be increased, significantly improving the efficiency of unfolding the box blank.

[0076] In addition, in a fourth type of box blank unfolding method shown as prior art in Figure 8, the first box body surface (2) of the box blank (1) is sucked and cut into a box, and after it has been moved to a predetermined position, the first box body surface (2) is fixed relatively, and the second box body surface (3) of the box blank (1) is sucked, and the second box body surface (3) moves in a curved, fitting manner in two directions, a direction perpendicular to the first box body surface (2) and a direction parallel to it, and after it has been moved to a predetermined position, the box blank (1) is unfolded.

[0077] This fourth type box blank unfolding method requires the use of at least two motion mechanisms, one of which must perform the operation of "sucking the first box body surface (2) of the box blank (1) to separate it into a box and moving it to a predetermined position," and the other of which must perform the operation of "sucking the second box body surface (3) and moving it relative to the first box body surface (2) to open the box blank (1)," resulting in high implementation costs.

[0078] In terms of practical operation, in this box blank flattening method, after the second box body surface 3 has moved to a predetermined position, the second set of motion mechanisms must suck the second box body surface 3 and then move the second box body surface 3. Generally speaking, when arranging the motion mechanisms, an initial position must be given to the motion mechanisms, that is, after the second box body surface 3 has moved to a predetermined position, the second set of motion mechanisms must move from the initial position to the second box body surface 3 and suck the second box body surface 3.

[0079] In the fourth type of unfolding molding method, when the second box body surface (3) of the box blank (1) moves to a predetermined position, the second set of actuators (10) must move to the second box body surface (3) and wait until they adsorb the second box body surface (3). Between the operation of taking out the box and moving it to a predetermined position and the operation of opening the box, there is a time interval (waiting time) during which the second set of actuators (10) wait for the movement to the predetermined position.

[0080] In this regard, in the box blank unfolding method according to the above embodiment of the present invention, the box body surfaces of the box blank 1 that are subjected to the box picking and box opening operations are both the first box body surface 2. After the box blank 1 is moved to a predetermined position, the second box body surface 3 is fixed by suction, and the first box body surface 2 immediately begins the box opening operation, so that the interval between the box picking operation and the box opening operation can be almost ignored and there is essentially no waiting time, resulting in excellent consistency (continuity) of the operation, low cost of the implementation structure, and high box opening efficiency.

[0081] 3 and 4, in addition to the above configuration, in the box blank expanding method according to an embodiment of the present invention, the box blank forming station (6) is located at the entrance (front end) of the formed box blank conveying path (7), and after the box blank (1) has been expanded, the first box body surface (2) and the second box body surface (3) are released and conveyed forward along the formed box blank conveying path (7). In this case, it is preferable to set the relationship so that after the box blank (1) has been expanded, the center line of the box blank (1) overlaps (coincides with) the center line of the formed box blank conveying path (7).

[0082] In this way, by installing the box blank forming station (6) at the entrance (tip) of the formed box blank conveying path (7) and conveying the box blank (1) to the next process immediately after unfolding it, the structure is made compact, the operations are continuous, and the operation interval between unfolding the box blank (1) and its subsequent conveying is shortened, which helps to improve conveying efficiency.

[0083] In particular, by setting the center line of the box blank (1) to overlap (match) the center line of the formed box blank conveying path (7) after the box blank (1) has been expanded, centering of the box blank (1) after it has been expanded can be ensured, the formed box blank, i.e., the box body (M), can be prevented from being deflected during conveyance along the conveying path (7), and the conveying efficiency of the box body (M) can be improved.

[0084] As shown in Figure 3, which shows the opening of the box from the back (rear side), when the second box body surface (3) of the folded and overlapped box blank (1) is located in front of the first box body surface (2) based on the conveying direction of the formed box blank conveying path (7), the actuator (10) drives the movable suction cup set (11) to move the first box body surface (2) forward along a curved path relative to the second box body surface (3), and the box body (M) after the box blank (1) has been unfolded and formed is conveyed forward by the formed box blank conveying belts (8) installed on both sides of the formed box blank conveying path (7).

[0085] On the other hand, as shown in Figure 4, which shows opening the box from the front (outside), when the second box body surface (3) of the folded and overlapped box blank (1) is located behind the first box body surface (2) using the conveying direction of the formed box blank conveying path (7) as a reference, the actuator (10) drives the movable suction cup set (11) to move the first box body surface (2) backward in a curved trajectory relative to the second box body surface (3), and the box body (M) after the box blank (1) has been unfolded and formed is also conveyed forward by the formed box blank conveying belts (8) on both sides of the formed box blank conveying path (7).

[0086] In short, by simply changing the direction of movement of the first box body surface (2) by the movable suction cup group (11) of the actuator (10) to either forward or backward depending on the folded and overlapped state of the box blank (1), it is possible to switch between opening the box from the front (front side) and opening from the back (rear side), without having to adjust the implementation structure or increase the equipment costs.

[0087] In either case, the box body (M) after being expanded is transported forward by the formed box blank conveyor belt (8), while the actuator (10) that has finished expanding the box blank (1) moves backward a certain distance (F) from the position of the fixed suction cup set (12) present in the box blank forming station (6) to the front side of the box blank storage room (13) and returns.

[0088] In the above embodiment of the present invention, the curved motion trajectory of the first box body surface (2) is a 1 / 4 (90 degree) arc motion trajectory with a radius equal to the length (one side) (bc) of the third box body surface (4) adjacent to the second box body surface (3) or the length (one side) (da) of the fourth box body surface (5), and with the connection part (connecting ridge) (c) between the second box body surface (3) and its adjacent third box body surface (4) or the connection part (connecting ridge) (d) between the second box body surface (3) and its adjacent fourth box body surface (5) as the rotation center (rotating hinge).

[0089] In other words, the box blank (1) has four box body surfaces (2), (3), (4), and (5) that form a four-bar parallel link motion mechanism in a plan view. Any one of these surfaces (one side) (3) (the second box body surface in the illustrated embodiment) is fixed, and the surface (one side) (2) (the first box body surface in the illustrated embodiment) opposite the fixed surface (one side) (3) is pulled away by the movable suction cup group (11) of the actuator (10). The remaining three surfaces (three sides) (4) and (5), including the fixed surface (one side) (2), are then moved (oscillated) by 90 degrees in a parallel link motion (swing). The box blank (1) in a folded and overlapped state is then expanded and molded into a three-dimensional box body (M).

[0090] In this regard, in the illustrated embodiment, the cross section of the formed box blank (box body) is rectangular (rectangular parallelepiped), and its long sides form the first and second box body surfaces (2) and (3), but the above-mentioned unfolding forming method is essentially the same even for a box blank (1) whose cross section is square (cubic).

[0091] This allows the movement trajectory of the first box body surface (2) to be realized relatively easily, the program for controlling that movement is simplified, and the requirements for manufacturing accuracy of the box blank (1) are reduced, allowing box blanks to be manufactured within a set manufacturing error.

[0092] Furthermore, in the box blank forming station (6) of the third step (S3), after the box blank (1) is unfolded and formed, if a flap (box leaf) at one end of the opening of the formed box blank (box body (M)) is folded to close the opening end, the forming operation of the box blank (1) and the folding operation of the flap can be carried out continuously, which is beneficial as it improves the overall efficiency, including the sealing of the unfolded box blank.

[0093] 10 to 13, in the above embodiment of the present invention, the curved trajectory movement of the first box body surface (2) of the box blank (1) in the first step (S1), the second step (S2), and the third step (S3) is realized by a set of actuators (10) driving the movable suction cup sets (11). The actuators (10) drive the movable suction cup sets (11) to move in two directions: a direction parallel to the first box body surface (2) and the second box body surface (3), and a direction perpendicular to the first box body surface (2) and the second box body surface (3).

[0094] The actuator (10) can be, for example, a two-axis parallel robot arm or a serial robot arm, an XY motion module or a cross-slide motion module.

[0095] The movement of the first box body surface (2) is realized by driving the movable suction cup set (11) with a set of actuators (10), which simplifies the implementation structure, reduces costs, and effectively ensures consistency between the box picking and box opening operations. The actuators (10) can be planar actuators in two directions, and a two-axis robot arm or a serial robot arm is preferred because of their high precision, ease of implementation, simple control, and small installation space.

[0096] In the second step (S2) of the box blank unfolding and forming method, a specific means for fixing the second box body surface (3) of the box blank (1) to the box blank forming station (6) is to install a fixed suction cup set (12) on one side of the box blank forming station (6), and the fixed suction cup set (12) is used to fix the second box body surface (3) to the box blank forming station (6) by suction.

[0097] In this case, in the second step (S2), after the box blank (1) with the first box body surface (2) fixed and sucked thereto is moved to a predetermined position in the box blank forming station (6), the fixed suction cup set (12) may be configured to extend in the direction of the second box body surface (3), so that the suction cups of the fixed suction cup set (12) come into contact with the second box body surface (3), and the second box body surface (3) is sucked and fixed by the negative pressure of the vacuum.

[0098] This makes it possible to achieve a simple and easy-to-implement structure for fixing the second box body surface (3), and to obtain a good fixing effect. It also makes it possible to realize displacement of the second box body surface (3) in any direction in space, so that the second box body surface (3) is effectively fixed during the process of opening the box blank (1).

[0099] When the third box body surface 4 and / or the fourth box body surface 5 of the box blank 1 needs to be straightened, the fixed suction cup group 12 cooperates with the movable suction cup group 11 that pulls the first box body surface 2 to pull and straighten the third box body surface 4 and / or the fourth box body surface 5. The movement trajectory of the first box body surface 2 can also be diversified to accommodate different situations in the unfolding of the box blank 1.

[0100] When the cross section of the formed box blank, that is, the box body (M), is rectangular (cuboid), the first box body surface (2) and the second box body surface (3) of the box blank (1) are the long side box body surfaces. In order to ensure stability and a high success rate of the box blank expansion forming, it is preferable to select the long side box body surfaces as the box body surfaces that serve as the basis for the box blank expansion forming.

[0101] 3 and 4, in an embodiment of the present invention, because the arrangement direction of the box blank storage cabinet (13) is perpendicular to the formed box blank conveying path (7) (in other words, because the folding and stacking direction of the box blanks (1) in the box blank storage cabinet (13) is perpendicular to the conveying direction of the formed box blank conveying path (7)), the actuator (10) moves the movable suction cup set (11) to the front side (outside / front side) of the box blank storage cabinet (13) to suck the first box main body surface (2) of the box blank (1) located at the top surface of the box blank storage cabinet (13). If the cross section of the formed box blank is rectangular, it is preferable to suck the long side of the first box main body surface (2). Although it is also possible to suck the short side of the box main body surface, sucking the long side of the box main body surface provides a relatively high unfolding effect and a higher success rate.

[0102] Then, the actuator (10) drives the movable suction cup set (11) to transport the box blank (1) adsorbed on the first box body surface (2) forward along the box blank transport path (7) by a certain distance (F) to a position where the second box body surface (3) is adsorbed by the fixed suction cup set (11).

[0103] Specifically, as far as the structure allows, the first box body surface (2) sucked by the movable suction cup set (11) as shown in Figure 3 may partially overlap with the box blank storage unit (13), and the second box body surface (3) on the opposite side of the first box body surface (2) sucked by the movable suction cup set (11) may be sucked by the fixed suction cup set (12). This is because it helps to shorten the distance (F) that the box blank (1) travels to the fixed suction cup set (12) as much as possible and improves the efficiency of opening the box blank (1).

[0104] When the box blank (1) with its first box body surface (2) sucked by the movable suction cup group (11) of the actuator (10) is moved to the position of the fixed suction cup group (12), the movable suction cup group (11) is moved by the actuator (10) in the direction of the fixed suction cup group (12) by a set distance (F), and the box blank (1) is pressed against the fixed suction cup group (12) with a certain force, so that the fixed suction cup group (12) can firmly suck the second box body surface (3) of the box blank (1).

[0105] Alternatively, the fixed suction cup set (12) is configured to extend or advance by a certain length (maintain this position after suction or reset after suction) in the direction of the second box body surface (3) so that the fixed suction cup set (12) can firmly suction the second box body surface (3) of the box blank (1).

[0106] In either case, after the fixed suction cup group (12) has sucked the second box body surface (3) of the box blank (1), the actuator (10) drives the movable suction cup group (11), causing the first box body surface (2) sucked by the movable suction cup group (11) to move along a curved path, thereby opening and forming the box blank (1).

[0107] 3 and 4 are explained as plan schematic views of the box blank unfolding action according to an embodiment of the present invention, but if they are understood to show the layout of the structure (equipment), they can also be said to be plan schematic views showing the vertical opening of a box blank using a vertical box opener. In other words, the packaging box blank unfolding method according to the above embodiment of the present invention can be carried out using the vertical box opener shown in Figures 10 to 13, which improves the forming and opening rate of the box blank (1), improves the forming effect, reduces requirements on the material of the box blank (1), and reduces the equipment costs for vertical box opening.

[0108] 3 and 4 can also be understood as front view schematics, and in this case, these structural layouts can be said to be front view schematics showing the horizontal opening of box blanks using a horizontal box opener. The structural (equipment) layout shown in Fig. 3 is similar to that of a conventional horizontal box opener, but when the box blank expansion forming method of Fig. 3 according to the above embodiment of the present invention is applied to a horizontal box opener, the fixed suction cup set (12) is installed above the formed box blank conveying path (7). Compared to conventional horizontal box openers, this simplifies the structure, helping to reduce equipment costs and improve box opening efficiency.

[0109] When the box blank unfolding and forming method shown in Figure 4 is applied to a horizontal box opener, the box blank storage (13) is changed to a position where the box blank (1) is laid flat, and after a box is taken out from the box blank storage (13), the box blank (1) is rotated 90 degrees, brought to a horizontal position, and moved horizontally to a predetermined position. After that, the fixed suction cup group (12) sucks the second box body surface (3) of the box blank (1), and the first box body surface (2) is moved downward in a curved trajectory, thereby opening and forming the box blank (1).

[0110] When the box blank unfolding forming method according to the above embodiment of the present invention is applied to a vertical box-opening machine, as well as a horizontal box-opening machine, it is possible to open the box from both the front (front side) and the back (rear side), and it is easy to switch between the two.

[0111] Although the preferred embodiments of the present invention have been specifically described, none of the contents thereof are intended to limit the scope of the claims of the present invention, and various modifications can be made without departing from the scope of the claims. [Explanation of symbols]

[0112] (1) Box blank (2)...First box body side (3)...Second box body side (4)...Third box body surface (5)...4th box body side (6) Box blank forming station (7) Formed box blank transport path (8) Formed box blank conveyor belt (9) Stopper (retaining hook) (10) Actuator (11) Movable suction cup assembly (12)...Fixed suction cup set (13) Blank Box Storage (a)(b)(c)(d) Connection part (connecting ridge / rotation center) (M) Box body (pre-formed box blank) (S1) First step (S2) Second step (S3) Third step

Claims

1. a box blank storage (13) for storing box blanks (1) in a folded state stacked horizontally and waiting to be expanded; a formed box blank conveying path (7) in a conveying direction perpendicular to the arrangement direction of the box blank storage (13); a fixed suction cup set (12) installed on one side of the box blank forming station (6) at the entrance or front end of the formed box blank conveying path (7); An automatic box-opening machine having a set of movable suction cups (11) attached to a set of actuators (10) is used to suck the first box body surface (2) of the box blank (1) in the box blank storage (13), a first step (S1) in which the actuator (10) moves a movable suction cup set (11) to the front side of a box blank storage (13), and the movable suction cup set (11) sucks the first box body surface (2) of the box blank (1) and removes it from the box blank storage (13); a second step (S2) in which the actuator (10) moves the sucked box blank (1) forward by a certain distance to the position of the fixed suction cup set (12) in the box blank forming station (6), and then the second box body surface (3) on the opposite side of the first box body surface (2) of the box blank (1) is sucked and fixed to the fixed suction cup set (12); a third step (S3) in which, after the second box body surface (3) is fixed, the actuator (10) moves the first box body surface (2) backward along a curved path relative to the second box body surface (3) when the second box body surface (3) in the folded and overlapped state of the box blank (1) is located behind the first box body surface (2) based on the conveying direction of the formed box blank conveying path (7); Alternatively, after the second box body surface (3) is fixed, when the second box body surface (3) in the folded and overlapped state of the box blank (1) is located in front of the first box body surface (2) with reference to the conveying direction of the formed box blank conveying path (7), the actuator (10) moves the first box body surface (2) forward along a curved path relative to the second box body surface (3), and a third step (S3) is included. In either of the third steps (S3), the curved motion locus of the first box body surface (2) is a quarter-circular motion locus whose radius is the length (bc) of the third box body surface (4) adjacent to the second box body surface (3) or the length (da) of the fourth box body surface (5), and whose rotation center is the connection part (c) between the second box body surface (3) and the adjacent third box body surface (4) or the connection part (d) between the second box body surface (3) and the adjacent fourth box body surface (5), The box body (M) expanded in the third step (S3) is conveyed forward by conveyor belts (8) installed on both sides of the formed box blank conveying path (7), The method for developing and forming packaging box blanks using an automatic box-opening machine is characterized in that the actuator (10) that has completed the developing and forming moves backward a certain distance from the position of the fixed suction cup set (12) in the box blank forming station (6) to the front side of the box blank storage (13).

2. The movable suction cup set (11) of the actuator (10) presses the second box body surface (3) of the box blank (1) with a certain force so as to suck and fix it to the fixed suction cup set (12), or Alternatively, the method for expanding and forming a packaging box blank using an automatic box-opening machine according to claim 1, characterized in that the fixed suction cup set (12) extends or advances toward the second box body surface (3) of the box blank (1), and the second box body surface (3) is sucked and fixed by the vacuum negative pressure of the fixed suction cup set (12).

3. 2. The method for unfolding and forming a blank for a packaging box using an automatic box-opening machine according to claim 1, wherein the center line of the unfolded box body (M) is aligned with the center line of the formed box blank transport path (7).

4. 2. The method for unfolding a packaging box blank using an automatic box-opening machine according to claim 1, wherein when the cross section of the box body (M) to be unfolded is rectangular, the first box body surface (2) and the second box body surface (3) are set to the box body surfaces on the longer sides of the box blank (1).

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