CN105173278A - Automatic unboxing system based on industrial robot - Google Patents
Automatic unboxing system based on industrial robot Download PDFInfo
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- CN105173278A CN105173278A CN201510550540.1A CN201510550540A CN105173278A CN 105173278 A CN105173278 A CN 105173278A CN 201510550540 A CN201510550540 A CN 201510550540A CN 105173278 A CN105173278 A CN 105173278A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
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Abstract
The invention relates to an automatic unboxing system based on an industrial robot. The automatic unboxing system comprises a main body frame, two side cutter devices, a main cutter device, four cover opening mechanisms and a lifting device for fetching objects, wherein the side cutter devices are mounted on two sides of the front side of the main body frame respectively; the main cutter device is mounted at the top of the front side of the main body frame; the cover opening mechanisms are symmetrically mounted at the bottom of the main body frame; the lifting device for fetching objects is mounted at the rear part of the main body frame. According to the automatic unboxing system disclosed by the invention, an unboxing procedure and an object fetching procedure are completed at one working position, so that the production efficiency is improved, and the labor strength of workers is reduced; the automatic unboxing system replace human beings to do repeated monotonous work, so that the efficiency is improved, and resources are saved; therefore, operation staff are safe and labor-saving, a lot of time is saved, and the labor strength of the operation staff is reduced.
Description
Technical field
The present invention relates to a kind of Auto-unboxing system based on industrial robot, belong to industrial robot field.
Background technology
At present, in industrial practical application, a lot of factory has achieved to pack the system of joint sealing and application automatically to commodity, but in actual production, many times needs the article packaged with carton to take out from carton to carry out next process.For cutting sealing tape, open case lid and object in case is taken out these operations, if use special mechanism to complete this operation can realize automation of industry to the full extent, unpacking system is the key equipment of manufacturing line, and its quality directly has influence on production efficiency.But unpacking system is in the market realize this function at multiple station substantially, and station is many, floor area is large, and production efficiency is low; Also have in much production to use and manually devan, waste time and energy.
Summary of the invention
The object of the invention is to the inefficient problem of multistation optimizing existing unpacking system, and provide a kind of Auto-unboxing system based on industrial robot, for sealing off and the function of taking out article in case using the carton of sealing tape encapsulation to realize full automaticity in suitability for industrialized production.
For solving the problems of the technologies described above design of the present invention be:
Each operation of devaning is assigned on the not coplanar of a cuboid-type profile framework, first realize the function of the sealing tape of cutting side, then be the main sealing tape cut just, then with vacuum cup, case lid opened, finally use ball-screw to be taken out by article in case.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of Auto-unboxing system based on industrial robot, comprise main body frame, two side cutter devices, main cutter device, four flip-open cover mechanisms and a lift fetching device, described side cutter device is arranged on the both sides before main body frame, described main cutter device is arranged on the top before main body frame, described flip-open cover mechanism symmetry is installed on the bottom of main body frame, and described lift fetching device is installed on the rear portion of main body frame.
Described main body frame comprises four first vertical frames, two first crossbeams, two second cross beams, four the second vertical frames, two the 3rd crossbeams, the 4th crossbeam, four the 5th crossbeams; Described two first crossbeams and two second cross beam alternating orthogonal are fixed into a rectangular frame, four first vertical frames are fixed in the bottom of its corner, four the second vertical frames are fixed on the top of corner, the rectangular frame be made up of four the 5th crossbeams is fixed at the top of four the second vertical frames, 4th crossbeam is fixed on the middle part of two second vertical frames above second cross beam, two the 3rd crossbeams are fixed on the both sides up and down of the 4th crossbeam, and a flange is fixed on two the 3rd crossbeams and the 4th crossbeam.
Described side cutter device comprises the U-shaped support be arranged on in the second vertical frame of flange opposite face, first support and second are configured to a stable tripod, 3rd support is connected to the connection two the second supports adding strong stability tripod, line slideway is installed on the secondary support bracket, slide plate is arranged on line slideway, fixed mount is arranged on slide plate, two the first spring fittings are on two bars of fixed mount, first Rodless cylinder is fixed on fixed mount by two L-type support, first oscillating cylinder passes through the 4th support installing on the first Rodless cylinder, first knife rest is arranged on the first oscillating cylinder, first Standard Cylinder one end is fixed on the second vertical frame by the 5th support, the other end is fixed on slide plate by the first cylinder connection piece and the 6th support.
Described main cutter device comprises the first thin plate and the second light gauge welding on second cross beam, two brace panels are fixed by screws on the second thin plate, two connecting panels are connected by screw on two brace panels, second Rodless cylinder is fixed on two connecting panels by two supports, second oscillating cylinder is by the 7th support installing on the second Rodless cylinder, and the second knife rest is fixed by screws on the second oscillating cylinder.
Described flip-open cover mechanism comprises the first cross bar and is arranged in two the first vertical frames by two clutch shaft bearings, rocking arm is welded on the first cross bar, cylinder fittings one is connected with pin by the hole on rocking arm, cylinder connection piece one two ends are connected with cylinder fittings one and the second Standard Cylinder respectively, 8th support is connected with the gudgeon of cylinder connection piece one, 8th support is fixed on fixed support, fixed support is connected on first crossbeam or second cross beam, the other end of the second Standard Cylinder is connected with cylinder fittings two by cylinder connection piece two, cylinder fittings two is welded on fixed support, two cover the first Harvard structures one, two cover the second Harvard structures two are welded on the first S. A., be arranged in rocking arm two ends, sleeve and Harvard structure two that second spring is housed are connected by screw, slide bar is by socket cover and sleeve connection, contiguous block is welded on slide bar, rolling bearing units are fixed by screws on contiguous block, second rotating shaft terminal is connected on two rolling bearing units, two cover the second Harvard structures one, two cover the second Harvard structures two are welded on the second S. A., two vacuum cups are fixed on the second Harvard structure two by vacuum cup attaching parts, two torsion springs are fixed by rolling bearing units and the pin be connected on the second S. A..
Described lift fetching device comprises suspension bracket first fixed cross beam and welds with two hanger bracket, two hog frames are connected with hanger bracket screw by the first backing plate, and hog frame and suspension bracket first fixed cross beam are connected by screw by the second backing plate and the 3rd backing plate and two the 5th crossbeams, two guide rail pad rack one end are screwed by cushion block and suspension bracket first fixed cross beam, the other end welds with suspension bracket second fixed cross beam, suspension bracket second fixed cross beam is screwed by two cushion blocks and two first crossbeams, and two guide rail weldings with backing are connected on two guide rail pad racks, motor fixing frame is connected with two guide rail pad racks by screw, L-type support welding with backing is connected on motor fixing frame, L-type support one end and motor are connected by screw, the other end and L-type support backing plate are connected by screw, coupler one end is connected with motor, the other end is connected with ball-screw, ball-screw one end is connected with clutch shaft bearing support unit, clutch shaft bearing support unit and bearing backing plate are connected by screw, bearing backing plate is welded on bearing fixed mount one, the ball-screw other end is connected with the second bearings unit, second bearings unit and bearing fixed mount two are connected by screw, bearing fixed mount one and bearing fixed mount two and two guide rail pad racks are connected by screw, the feed screw nut of ball-screw is connected with bench board by adaptor union, two rail bracketses and two guide rail backing plates are connected by screw, line slideway is arranged on two rail bracketses, bench board two ends and line slideway are connected by screw, two sucking disc lifting frames are connected with sucking disc lifting frame backing plate by screw, two sucking disc lifting frame weldings with backing connect on the table, aperture sucker is arranged on two sucking disc lifting frames.
The present invention compared with prior art, has following outstanding inner characteristic point and remarkable advantage:
The present invention's collection is devaned operation and get all processes of thing on a station, substantially increase production efficiency, decrease the labour intensity of workman, for oblige by doing's repetition, dull work, raise the efficiency, economize on resources, make operating personal be in relatively safety and status, labour-saving, and save the plenty of time, reduce the labour intensity of operating personal.
Accompanying drawing explanation
Fig. 1 is a kind of Auto-unboxing system architecture diagram based on industrial robot.
Fig. 2 is that the overall section material framework structure used always is schemed.
Fig. 3 is side cutter device schematic diagram.
Fig. 4 is side cutter device schematic diagram.
Fig. 5 is main cutter device schematic diagram.
Fig. 6 is flip-open cover mechanism device schematic diagram.
Fig. 7 is the sleeve schematic diagram of flip-open cover mechanism.
The device schematic diagram of Tu8Shi Qu thing mechanism.
The device schematic diagram of Tu9Shi Qu thing mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiment of the invention is described further.
As shown in Figure 1, a kind of Auto-unboxing system based on industrial robot, comprise main body frame 1, two side cutter device 2, main cutter device, 3, four flip-open cover mechanisms 4 and a lift fetching device 5, described side cutter device 2 is arranged on the both sides before main body frame 1, described main cutter device 3 is arranged on the top before main body frame 1, and described flip-open cover mechanism 4 symmetry is installed on the bottom of main body frame 1, and described lift fetching device 5 is installed on the rear portion of main body frame 1.
As shown in Figure 2, described main body frame 1 comprises four first vertical frames, 10, two first crossbeams, 11, two second cross beams, 12, four the second vertical frames, 9, two the 3rd crossbeams, 7, the 4th crossbeam, 8, four the 5th crossbeams 13; Described two first crossbeams 11 and two second cross beam 12 alternating orthogonal are fixed into a rectangular frame, four first vertical frames 10 are fixed in the bottom of its corner, four the second vertical frames 9 are fixed on the top of corner, the rectangular frame be made up of four the 5th crossbeams 13 is fixed at the top of four the second vertical frames 9,4th crossbeam 8 is fixed on the middle part of two second vertical frames 9 above second cross beam 12, two the 3rd crossbeams 7 are fixed on the both sides up and down of the 4th crossbeam 8, and a flange 6 is fixed on two the 3rd crossbeams 7 and the 4th crossbeam 8.
As shown in Figure 3 and Figure 4, described side cutter device 2 comprises the U-shaped support 31 be arranged on in the second vertical frame 9 of flange 6 opposite face, first support 25 and the second support 26 form a stable tripod, 3rd support 27 is connected to the connection two the second supports 26 adding strong stability tripod, line slideway 24 is arranged on the second support 26, slide plate 16 is arranged on line slideway 24, fixed mount 17 is arranged on slide plate 16, two the first springs 23 are arranged on two bars of fixed mount 17, first Rodless cylinder 19 is fixed on fixed mount 17 by two L-type support 18, first oscillating cylinder 22 is arranged on the first Rodless cylinder 19 by the 4th support 20, first knife rest 21 is arranged on the first oscillating cylinder 22, first Standard Cylinder 15 one end is fixed on the second vertical frame 9 by the 5th support 30, the other end is fixed on slide plate 16 by the first cylinder connection piece 29 and the 6th support 28.
As shown in Figure 5, described main cutter device 3 comprises main cutter device 3 and comprises the first thin plate 32 and the second thin plate 33 is welded on second cross beam 12, two brace panels 34 are fixed by screws on the second thin plate 33, two connecting panels 35 are connected by screw on two brace panels 34, second Rodless cylinder 37 is fixed on two connecting panels 35 by two supports 36, second oscillating cylinder 39 is arranged on the second Rodless cylinder 37 by the 7th support 40, and the second knife rest 38 is fixed by screws on the second oscillating cylinder 39.
As shown in Figure 6 and Figure 7, described flip-open cover mechanism 4 comprises the first S. A. 50 and is arranged in two the first vertical frames 10 by two clutch shaft bearings 49, Rocker arm 48 is welded on the first S. A. 50, cylinder fittings 1 is connected with pin by the hole on Rocker arm 48, cylinder connection piece 1 two ends are connected with cylinder fittings 1 and the second Standard Cylinder 44 respectively, 8th support 47 is connected with the gudgeon of cylinder connection piece 1, 8th support 47 is fixed on fixed support 41, fixed support 41 is connected on first crossbeam 11 or second cross beam 12, the other end of the second Standard Cylinder 44 is connected with cylinder fittings 2 42 by cylinder connection piece 2 43, cylinder fittings 2 42 is welded on fixed support 41, two cover the first Harvard structures 1, two cover the second Harvard structures 2 52 are welded on the first S. A. 50, be arranged in Rocker arm 48 two ends, the sleeve 53 that second spring 65 is housed is connected by screw with Harvard structure 2 52, slide bar 55 is connected with sleeve 53 by socket cover 54, contiguous block 56 is welded on slide bar 55, rolling bearing units 57 are fixed by screws on contiguous block 56, second S. A. 58 two ends are connected on two rolling bearing units 57, two cover the second Harvard structures 1, two cover the second Harvard structures 2 62 are welded on the second S. A. 58, two vacuum cups 64 are fixed on the second Harvard structure 2 62 by vacuum cup attaching parts 63, two torsion springs 61 are fixed by rolling bearing units 57 and the pin 60 be connected on the second S. A. 58.
As shown in Figure 8 and Figure 9, described lift fetching device 5 comprises suspension bracket first fixed cross beam 71 and welds with two hanger bracket 70, two hog frames 67 are connected with screw with hanger bracket 70 by the first backing plate 69, and hog frame 67 and suspension bracket first fixed cross beam 71 are connected by screw by the second backing plate 66 and the 3rd backing plate 68 and two the 5th crossbeams 13, two guide rail pad rack 78 one end are screwed by cushion block 90 and suspension bracket first fixed cross beam 71, the other end welds with suspension bracket second fixed cross beam 87, suspension bracket second fixed cross beam 87 is screwed by two cushion blocks 88 and two first crossbeams 11, and two guide rail backing plates 72 are welded on two guide rail pad racks 78, motor fixing frame 89 is connected with two guide rail pad racks 78 by screw, L-type support backing plate 73 is welded on motor fixing frame 89, L-type support 75 one end and motor 74 are connected by screw, the other end and L-type support backing plate 73 are connected by screw, coupler 91 one end is connected with motor 74, the other end is connected with ball-screw 81, ball-screw 81 one end is connected with clutch shaft bearing support unit 76, clutch shaft bearing support unit 76 and bearing backing plate 77 are connected by screw, bearing backing plate 77 is welded on bearing fixed mount 1, ball-screw 81 other end is connected with the second bearings unit 95, second bearings unit 95 is connected by screw with bearing fixed mount 2 94 that (bearings unit is all furnished with corresponding bearing here, second bearing 93 is arranged in clutch shaft bearing support unit, second bearings unit in like manner), bearing fixed mount 1 and bearing fixed mount 2 94 and two guide rail pad racks 78 are connected by screw, the feed screw nut of ball-screw 81 is connected with bench board 83 by adaptor union 82, two rail bracketses 79 and two guide rail backing plates 72 are connected by screw, line slideway 80 is arranged on two rail bracketses 79, bench board 83 two ends and line slideway 80 are connected by screw, two sucking disc lifting frames 84 are connected with sucking disc lifting frame backing plate 85 by screw, two sucking disc lifting frame backing plates 85 are welded on bench board 83, aperture sucker 86 is arranged on two sucking disc lifting frames 84.
The use procedure of apparatus of the present invention is as follows: case lid is opened into 110 degree-motor driven ball screws and drives aperture sucker to be taken out by the article in case by sealing tape-vacuum cup that the sealing tape-cutting box of cutting carton two sides covers face.
First, as shown in Figure 3, side cutter device 2 cuts sealing tape detailed process: when being positioned on station until the carton of operation, by industrial robot upset main body frame 1, for case lid under making side cutter device 2 just, first Standard Cylinder 15 drives whole first Rodless cylinder 19 and the first oscillating cylinder 22 device to move to the position being applicable to cutting side sealing tape along line slideway 24 by slide plate 16, first oscillating cylinder 22 is provided with the first knife rest 21, first knife rest 21 is equipped with blade of carving knife, here the first oscillating cylinder and the first Rodless cylinder realize being connected and fixed by the 4th support 20.First oscillating cylinder 22 90-degree rotation makes blade forward cutting angle to, and then the first Rodless cylinder 19 drives the first oscillating cylinder 22 and blade apparatus to move one end apart from realizing cutting side sealing tape.Here the smooth cutting of sealing tape when the first spring 23 on floating installation is to ensure that carton misplaces.Sealing tape through this process carton side is entirely cut to come.
Secondly, the main cutter of Fig. 5 cuts main sealing tape detailed process.After connecing previous step cutting side, blade on the main cutter device 3 of system is right against the sealing tape above carton by industrial robot, the second knife rest 38 that the second Rodless cylinder 37 drives the second oscillating cylinder 39 and blade is housed above it move one end distance realize directly over the cutting of sealing tape.Here oscillating cylinder and Rodless cylinder realize being connected and fixed by the 7th support 40.
Then, Fig. 6 opens the detailed process of case lid.Essence is the process of a double leval jib motion.Carton has the case lid of 4 demifacets, so there are 4 flip-open cover mechanisms here.With the motion process of next flip-open cover mechanism.First the second Standard Cylinder 44 is connected with Rocker arm 48 by the 8th support 47; rocking arm is welded on the first S. A. 50; the first S. A. is provided with two sleeves 53; sleeve is built with the second spring 65 and slide bar 55; slide bar is equipped with the second S. A. 58 by rolling bearing units; this axle is equipped with two vacuum cups 64, and two torsion springs 61 are housed between these axle and rolling bearing units, and torsion spring is fixed by pin.Here torsion spring and spring are used to reset.Here when vacuum cup holds case lid time, cylinder drives rocking arm to rotate, and rocking arm band moving sleeve and slide bar rotate, and due to the transmission of power, the second last S. A. 58 also drives vacuum cup to rotate, and makes case lid and initial bit be set to 110 degree of angles.Here flip-open cover mechanism uses in pairs, and a pair flip-open cover mechanism opened outside case lid before this, then the other case lid opening inside for a pair, and when the article in case are lifting after device taking-up, vacuum cup is blown, and the process of renovating terminates.
Finally, the detailed process of lift fetching device is illustrated in figure 8.After four case lids are all opened by flip-open cover mechanism, motor 74 drives ball-screw 81 to move, ball-screw drives bench board 83 up-and-down movement by an adaptor union 82, for ensureing the smooth motion of bench board, bench board also must be arranged on two line slideways 80, and bench board is connected with aperture sucker 86 by two sucking disc lifting frames 84.Get thing process as follows: aperture sucker is under a series of mechanism drives above, first move downward the object instructing and touch in case, then aperture sucker captures object, then aperture sucker rises and realizes getting the function of thing under the drive of ball-screw, when article in case being promoted to the height of carton, now flip-open cover mechanism quits work, and waits for next step operation.
Claims (6)
1. the Auto-unboxing system based on industrial robot, it is characterized in that, comprise main body frame (1), two side cutter devices (2), a main cutter device (3), four flip-open cover mechanisms (4) and a lift fetching device (5), described side cutter device (2) is arranged on the both sides before main body frame (1), described main cutter device (3) is arranged on the top before main body frame (1), described flip-open cover mechanism (4) symmetry is installed on the bottom of main body frame (1), described lift fetching device (5) is installed on the rear portion of main body frame (1).
2. the Auto-unboxing system based on industrial robot according to claim 1, it is characterized in that, described main body frame (1) comprises four first vertical frame (10), two first crossbeams (11), two second cross beams (12), four the second vertical frames (9), two the 3rd crossbeams (7), the 4th crossbeam (8), four the 5th crossbeams (13), described two first crossbeams (11) and two second cross beam (12) alternating orthogonal are fixed into a rectangular frame, four first vertical frame (10) is fixed in the bottom of its corner, four the second vertical frames (9) are fixed on the top of corner, the fixing rectangular frame be made up of four the 5th crossbeams (13) at the top of four the second vertical frames (9), 4th crossbeam (8) is fixed on the middle part of two second vertical frames (9) above second cross beam (12), two the 3rd crossbeams (7) are fixed on the both sides up and down of the 4th crossbeam (8), a flange (6) is fixed on two the 3rd crossbeams (7) and the 4th crossbeam (8).
3. the Auto-unboxing system based on industrial robot according to claim 1, it is characterized in that, described side cutter device (2) comprises the U-shaped support (31) be arranged on in second vertical frame (9) of flange (6) opposite face, first support (25) and the second support (26) form a stable tripod, 3rd support (27) is connected to the connection two the second supports (26) adding strong stability tripod, line slideway (24) is arranged on the second support (26), slide plate (16) is arranged on line slideway (24), fixed mount (17) is arranged on slide plate (16), two the first springs (23) are arranged on two bars of fixed mount (17), first Rodless cylinder (19) is fixed on fixed mount (17) by two L-type support (18), first oscillating cylinder (22) is arranged on the first Rodless cylinder (19) by the 4th support (20), first knife rest (21) is arranged on the first oscillating cylinder (22), first Standard Cylinder (15) one end is fixed on the second vertical frame (9) by the 5th support (30), the other end is fixed on slide plate (16) by the first cylinder connection piece (29) and the 6th support (28).
4. the Auto-unboxing system based on industrial robot according to claim 1, it is characterized in that, described main cutter device (3) comprises the first thin plate (32) and the second thin plate (33) is welded on second cross beam (12), two brace panels (34) are fixed by screws on the second thin plate (33), two connecting panels (35) are connected by screw on two brace panels (34), second Rodless cylinder (37) is fixed on two connecting panels (35) by two supports (36), second oscillating cylinder (39) is arranged on the second Rodless cylinder (37) by the 7th support (40), second knife rest (38) is fixed by screws on the second oscillating cylinder (39).
5. the Auto-unboxing system based on industrial robot according to claim 1, it is characterized in that, described flip-open cover mechanism (4) comprises the first cross bar (50) and is arranged on two the first vertical frames (10) by two clutch shaft bearings (49), rocking arm (48) is welded on the first cross bar (50), cylinder fittings one (46) is connected with pin by the hole on rocking arm (48), cylinder connection piece one (45) two ends are connected with cylinder fittings one (46) and the second Standard Cylinder (44) respectively, 8th support (47) is connected with the gudgeon of cylinder connection piece one (45), 8th support (47) is fixed on fixed support (41), fixed support (41) is connected on first crossbeam (11) or second cross beam (12), the other end of the second Standard Cylinder (44) is connected with cylinder fittings two (42) by cylinder connection piece two (43), cylinder fittings two (42) is welded on fixed support (41), two cover the first Harvard structures one (51), two cover the second Harvard structures two (52) are welded on the first S. A. (50), be arranged in rocking arm (48) two ends, the sleeve (53) that second spring (65) are housed is connected by screw with Harvard structure two (52), slide bar (55) is connected with sleeve (53) by socket cover (54), contiguous block (56) is welded on slide bar (55), rolling bearing units (57) are fixed by screws on contiguous block (56), second S. A. (58) two ends are connected on two rolling bearing units (57), two cover the second Harvard structures one (59), two cover the second Harvard structures two (62) are welded on the second S. A. (58), two vacuum cups (64) are fixed on the second Harvard structure two (62) by vacuum cup attaching parts (63), two torsion springs (61) are fixed by rolling bearing units (57) and the pin (60) be connected on the second S. A. (58).
6. the Auto-unboxing system based on industrial robot according to claim 1, it is characterized in that, described lift fetching device (5) comprises suspension bracket first fixed cross beam (71) and welds with two hanger bracket (70), two hog frames (67) are connected with screw with hanger bracket (70) by the first backing plate (69), and hog frame (67) and suspension bracket first fixed cross beam (71) are connected by screw with two the 5th crossbeams (13) by the second backing plate (66) and the 3rd backing plate (68), two guide rail pad rack (78) one end are screwed by cushion block (90) and suspension bracket first fixed cross beam (71), the other end welds with suspension bracket second fixed cross beam (87), suspension bracket second fixed cross beam (87) is screwed by two cushion blocks (88) and two first crossbeams (11), and two guide rail backing plates (72) are welded on two guide rail pad racks (78), motor fixing frame (89) is connected with two guide rail pad racks (78) by screw, L-type support backing plate (73) is welded on motor fixing frame (89), L-type support (75) one end and motor (74) are connected by screw, the other end and L-type support backing plate (73) are connected by screw, coupler (91) one end is connected with motor (74), the other end is connected with ball-screw (81), ball-screw (81) one end is connected with clutch shaft bearing support unit (76), clutch shaft bearing support unit (76) and bearing backing plate (77) are connected by screw, bearing backing plate (77) is welded on bearing fixed mount one (92), ball-screw (81) other end is connected with the second bearings unit (95), second bearings unit (95) and bearing fixed mount two (94) are connected by screw, bearing fixed mount one (92) and bearing fixed mount two (94) are connected by screw with two guide rail pad racks (78), the feed screw nut of ball-screw (81) is connected with bench board (83) by adaptor union (82), two rail bracketses (79) are connected by screw with two guide rail backing plates (72), line slideway (80) is arranged on two rail bracketses (79), bench board (83) two ends and line slideway (80) are connected by screw, two sucking disc lifting frames (84) are connected with sucking disc lifting frame backing plate (85) by screw, two sucking disc lifting frame backing plates (85) are welded on bench board (83), aperture sucker (86) is arranged on two sucking disc lifting frames (84).
Priority Applications (1)
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| CN201510550540.1A CN105173278B (en) | 2015-09-01 | 2015-09-01 | A kind of Auto-unboxing system based on industrial robot |
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| CN201510550540.1A CN105173278B (en) | 2015-09-01 | 2015-09-01 | A kind of Auto-unboxing system based on industrial robot |
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| CN105173278A true CN105173278A (en) | 2015-12-23 |
| CN105173278B CN105173278B (en) | 2017-08-11 |
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| CN201510550540.1A Expired - Fee Related CN105173278B (en) | 2015-09-01 | 2015-09-01 | A kind of Auto-unboxing system based on industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105667916A (en) * | 2016-03-11 | 2016-06-15 | 宁波大正工业机器人技术有限公司 | Automatic material transferring device of assembly line circulation box |
| CN107777002A (en) * | 2017-11-22 | 2018-03-09 | 北京石油化工学院 | A kind of pneumatic press for being used to dismantle bank note transporting box sealing device |
| CN110636972A (en) * | 2017-06-16 | 2019-12-31 | 联合株式会社 | Packaging box unsealing device and packaging box unsealing method |
| CN112320145A (en) * | 2018-08-01 | 2021-02-05 | 华北水利水电大学 | Pedal type recovery cabinet of paper express delivery case |
| CN113023214A (en) * | 2021-03-08 | 2021-06-25 | 珠海格力电器股份有限公司 | Storage method and device for article package, storage medium and electronic device |
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| CN201506493U (en) * | 2008-12-31 | 2010-06-16 | 颐中(青岛)烟草机械有限公司 | Automatic packaged box opener |
| CN101734391A (en) * | 2009-12-25 | 2010-06-16 | 友达光电股份有限公司 | Unpacking system and unpacking method |
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| CN110636972B (en) * | 2017-06-16 | 2021-07-23 | 联合株式会社 | Packaging box unsealing device and packaging box unsealing method |
| CN107777002A (en) * | 2017-11-22 | 2018-03-09 | 北京石油化工学院 | A kind of pneumatic press for being used to dismantle bank note transporting box sealing device |
| CN112320145A (en) * | 2018-08-01 | 2021-02-05 | 华北水利水电大学 | Pedal type recovery cabinet of paper express delivery case |
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