CN105173278B - A kind of Auto-unboxing system based on industrial robot - Google Patents
A kind of Auto-unboxing system based on industrial robot Download PDFInfo
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- CN105173278B CN105173278B CN201510550540.1A CN201510550540A CN105173278B CN 105173278 B CN105173278 B CN 105173278B CN 201510550540 A CN201510550540 A CN 201510550540A CN 105173278 B CN105173278 B CN 105173278B
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Classifications
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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
Abstract
The present invention relates to a kind of Auto-unboxing system based on industrial robot, including main body frame, two side cutter devices, a main cutter device, four flip-open cover mechanisms and a lift fetching device, the side cutter device is arranged on the both sides before main body frame, the main cutter device is arranged on the top before main body frame, the flip-open cover mechanism is symmetrically arranged on the bottom of main body frame, and the lift fetching device is installed on the rear portion of main body frame.The present invention, which collects, to devan process and takes all processes of thing on a station, substantially increase production efficiency, reduce the labor intensity of workman, repetition, dull work are done instead of people, efficiency is improved, is economized on resources, operating personnel is in and compares safety and labour-saving status, and the plenty of time is saved, the labor intensity of operating personnel 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, many factories are had been realized in the automatic packing joint sealing system of commodity
System design and apply, but in actual production, many times need will to be taken out from carton with the good article of paper box packing with
Just next process is carried out.These processes are taken out for cutting sealing tape, opening case lid and by object in case, if using special
Mechanism, which completes this operation, can realize industrial automation to the full extent, and unpacking system is that the key of production line is set
Standby, its quality directly influences production efficiency.But unpacking system in the market substantially realizes the work(in multiple stations
Can, station is more, and floor space is big, low production efficiency；Using manually devaning in also many productions, waste time and energy.
The content of the invention
It is an object of the invention to the multistation efficiency for optimizing existing unpacking system it is low the problem of, and provide and a kind of be based on work
The Auto-unboxing system of industry robot, for realizing full-automatic seal off simultaneously to the carton using sealing tape encapsulation in industrialized production
And take out the function of article in case.
For solve above-mentioned technical problem idea of the invention is that：
Each process devaned is assigned in the different faces of a cuboid section material framework, the envelope of cutting side is first realized
The function of case band, followed by main sealing tape just above is cut, then case lid is opened with vacuum cup, finally using ball wire
Thick stick takes out article in case.
Conceived according to foregoing invention, the present invention uses following technical proposals：
A kind of Auto-unboxing system based on industrial robot, including main body frame, two side cutter devices, a masters
Cutter device, four flip-open cover mechanisms and a lift fetching device, the side cutter device are arranged on before main body frame
Both sides, the main cutter device is arranged on the top before main body frame, and the flip-open cover mechanism is symmetrically arranged on main body frame
Bottom, the lift fetching device is installed on the rear portion of main body frame.
The main body frame include four first vertical frames, two first crossbeams, two second cross beams, four second erect
Frame, two the 3rd crossbeams, the 4th crossbeam, four the 5th crossbeams；Described two first crossbeams and two second cross beam alternatings
Vertical to be fixed into a rectangular frame, four first vertical frames are fixed in the bottom of its corner, and the top of corner fixes four the
Two vertical frames, the rectangular frame being made up of in the top fixation of four the second vertical frames four the 5th crossbeams, the 4th crossbeam is consolidated
The middle part for two second vertical frames being scheduled on above second cross beam, two the 3rd crossbeams are fixed on the both sides up and down of the 4th crossbeam, one
Individual ring flange is fixed on two the 3rd crossbeams and the 4th crossbeam.
The side cutter device include be arranged on the U-shaped support in the second vertical frame of ring flange opposite face, first
Frame and second support constitute a stable tripod, and the 3rd support is connected to the company for strengthening stable tripod in two second supports
Connect, line slideway is installed on the secondary support bracket, and slide plate is arranged on line slideway, and fixed mount is arranged on slide plate, two first
Spring is arranged on two bars of fixed mount, and the first Rodless cylinder is fixed on fixed mount by two L-type supports, and first swings
Cylinder is arranged on the first Rodless cylinder by the 4th support, and the first knife rest is arranged on the first oscillating cylinder, the first Standard Gases
Cylinder one end is fixed on the second vertical frame by the 5th support, and the other end is fixed on slide plate by the first cylinder connection piece and the 6th support
On.
The main cutter device includes the first thin plate and the second plate sheet welding on second cross beam, and two reinforcing plates pass through spiral shell
Nail is fixed on the second thin plate, and two connecting plates are connected by screw in two reinforcing plates, and the second Rodless cylinder passes through two
Support is fixed on two connecting plates, and the second oscillating cylinder is arranged on the second Rodless cylinder by the 7th support, the second knife rest
It is fixed by screws on the second oscillating cylinder.
The flip-open cover mechanism includes the first cross bar and is arranged on by two clutch shaft bearings in two the first vertical frames, rocking arm welding
On the first cross bar, cylinder fittings one are connected by the hole on rocking arm with pin, and the two ends of cylinder connection piece one are attached with cylinder respectively
The Standard Cylinder of part one and second is connected, and the 8th support is connected with the gudgeon of cylinder connection piece one, and the 8th support is fixed on fixed branch
On frame, fixed support is connected on first crossbeam or second cross beam, and the other end of the second Standard Cylinder passes through cylinder connection piece
Two are connected with cylinder fittings two, and cylinder fittings two are welded on fixed support；Two set of first Harvard structure one, two set of second Harvard
Structure two is welded in the first rotary shaft, is arranged in rocking arm two ends, the sleeve equipped with second spring and Harvard structure two-way
Mode connects for screw is crossed, slide bar is welded on slide bar by socket cover and sleeve connection, contiguous block, and rolling bearing units are fixed by screws in
On contiguous block, the second rotating shaft terminal is connected on two rolling bearing units, two set of second Harvard structure one, two set of second Harvard knot
Structure two is welded in the second rotary shaft, and two vacuum cups are fixed on the second Harvard structure two by vacuum cup connector,
Two torsion springs are fixed by rolling bearing units and the pin being connected in the second rotary shaft.
The lift fetching device includes the fixed cross beam of suspension bracket first and two hanger brackets are welded, and two hog frames pass through
First backing plate and hanger bracket mode connects for screw, hog frame and the fixed cross beam of suspension bracket first by the second backing plate and the 3rd backing plate with
Two the 5th crossbeams are connected by screw；Two guide rail pad rack one end pass through cushion block and suspension bracket the first fixed cross beam screw
Fixed, the other end is welded with the fixed cross beam of suspension bracket second, and the fixed cross beam of suspension bracket second passes through two cushion blocks and two first crossbeams
It is screwed, two guide rail backing plates are welded on two guide rail pad racks；Motor fixing frame passes through screw and two guide rails
Pad rack is connected, and L-type support backing plate is welded on motor fixing frame, and L-type support one end is connected by screw with motor, another
End is connected by screw with L-type support backing plate, and shaft coupling one end and motor connection, the other end are connected with ball-screw, ball wire
Thick stick one end is connected with clutch shaft bearing support unit, and clutch shaft bearing support unit is connected by screw with bearing backing plate, bearing backing plate
Be welded on bearing fixed mount one, the ball-screw other end is connected with second bearing support unit, second bearing support unit with
Bearing fixed mount two is connected by screw, and bearing fixed mount one and bearing fixed mount two and two guide rail pad racks pass through screw
Connection, the feed screw nut of ball-screw is connected by connector with workbench, and two rail bracketses pass through with two guide rail backing plates
Mode connects for screw, line slideway is arranged on two rail bracketses, and workbench two ends are connected by screw with line slideway, two suctions
Disk suspension bracket is connected by screw with sucking disc lifting frame backing plate, and two sucking disc lifting frame backing plates are welded on workbench, and aperture sucker is installed
On two sucking disc lifting frames.
The present invention compared with prior art, inner characteristic point and remarkable advantage is protruded with following：
Present invention collection devans process and all processes for taking thing on a station, substantially increases production efficiency, reduces
The labor intensity of workman, does repetition, dull work instead of people, improves efficiency, economize on resources, and is in operating personnel and compares
Safety and labour-saving status, and the plenty of time is saved, reduce the labor intensity of operating personnel.
Brief description of the drawings
Fig. 1 is a kind of Auto-unboxing system architecture diagram based on industrial robot.
Fig. 2 is the overall section material framework structure total figure used.
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 schematic device.
Fig. 7 is the sleeve schematic diagram of flip-open cover mechanism.
Fig. 8 is the schematic device of Qu Wu mechanisms.
Fig. 9 is the schematic device of Qu Wu mechanisms.
Embodiment
Below in conjunction with the accompanying drawings, the specific implementation to the present invention is described further.
As shown in figure 1, a kind of Auto-unboxing system based on industrial robot, including main body frame 1, two side cutteves
Device 2, a main cutter device 3, four flip-open cover mechanisms 4 and a lift fetching device 5, the side cutter device 2 are installed
Both sides before main body frame 1, the main cutter device 3 is arranged on the top before main body frame 1, the flip-open cover mechanism 4
The bottom of main body frame 1 is symmetrically arranged on, the lift fetching device 5 is installed on the rear portion of main body frame 1.
As shown in Fig. 2 the main body frame 1 includes four first vertical frames 10, two first crossbeams 11, two the second horizontal strokes
Beam 12, four the second vertical frames 9, two the 3rd crossbeams 7, the 4th crossbeam 8, four the 5th crossbeams 13；Described two first is horizontal
Beam 11 and two alternating orthogonals of second cross beam 12 are fixed into a rectangular frame, and the bottom of its corner is fixed four first and erected
Four the second vertical frames 9 are fixed on frame 10, the top of corner, four the second vertical frames 9 top fixation by four 13 groups of the 5th crossbeams
Into rectangular frame, the 4th crossbeam 8 is fixed on the middle part of two second vertical frames 9 above second cross beam 12, two
Three crossbeams 7 are fixed on the both sides up and down of the 4th crossbeam 8, and a ring flange 6 is fixed on two the 3rd crossbeams 7 and the 4th crossbeam 8.
As shown in Figure 3 and Figure 4, the side cutter device 2 includes being arranged on the second vertical frame 9 with the opposite face of ring flange 6
On U-shaped support 31, first support 25 and second support 26 constitute a stable tripod, the 3rd support 27 is connected to two the
Strengthen the connection of stable tripod on two supports 26, line slideway 24 is arranged in second support 26, and slide plate 16 is arranged on straight line
On guide rail 24, fixed mount 17 is arranged on slide plate 16, and two the first springs 23 are arranged on two bars of fixed mount 17, the first nothing
Bar cylinder 19 is fixed on fixed mount 17 by two L-type supports 18, and the first oscillating cylinder 22 is arranged on by the 4th support 20
On first Rodless cylinder 19, the first knife rest 21 is arranged on the first oscillating cylinder 22, and the one end of the first Standard Cylinder 15 passes through the 5th
Support 30 is fixed on the second vertical frame 9, and 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, the main cutter device 3 includes, main cutter device 3 includes the first thin plate 32 and the second thin plate 33 is welded
It is connected on second cross beam 12, two reinforcing plates 34 are fixed by screws on the second thin plate 33, two connecting plates 35 pass through screw
It is connected in two reinforcing plates 34, the second Rodless cylinder 37 is fixed on two connecting plates 35 by two supports 36, the second pendulum
Cylinder 39 of taking offence is arranged on the second Rodless cylinder 37 by the 7th support 40, and the second knife rest 38 is fixed by screws in the second swing
On cylinder 39.
As shown in Figure 6 and Figure 7, the flip-open cover mechanism 4 is arranged on including the first rotary shaft 50 by two clutch shaft bearings 49
In two the first vertical frames 10, Rocker arm 48 is welded in the first rotary shaft 50, and cylinder fittings 1 pass through the hole pin on Rocker arm 48
Nail connection, the two ends of cylinder connection piece 1 are connected with the Standard Cylinder 44 of cylinder fittings one 46 and second respectively, the 8th support 47 with
The gudgeon of cylinder connection piece 1 is connected, and the 8th support 47 is fixed on fixed support 41, and it is horizontal that fixed support 41 is connected to first
On beam 11 or second cross beam 12, the other end of the second Standard Cylinder 44 passes through cylinder connection piece 2 43 and the phase of cylinder fittings 2 42
Even, cylinder fittings 2 42 are welded on fixed support 41；Two set of first Harvard structure 1, two set of second Harvard structure 2 52 are welded
It is connected in the first rotary shaft 50, is arranged in the two ends of Rocker arm 48, the sleeve 53 equipped with second spring 65 and Harvard structure 2 52
It is connected by screw, slide bar 55 is connected by socket cover 54 with sleeve 53, contiguous block 56 is welded on slide bar 55, rolling bearing units 57
It is fixed by screws on contiguous block 56, the two ends of the second rotary shaft 58 are connected on two rolling bearing units 57, two set of second Harvard
Structure 1, two set of second Harvard structure 2 62 are welded in the second rotary shaft 58, and two vacuum cups 64 pass through vacuum cup
Connector 63 is fixed on the second Harvard structure 2 62, and two torsion springs 61 are by rolling bearing units 57 and are connected to the second rotary shaft 58
On pin 60 fix.
As shown in Figure 8 and Figure 9, the lift fetching device 5 includes the first fixed cross beam of suspension bracket 71 and two hanger brackets
70 welding, two hog frames 67 are by the first backing plate 69 and the mode connects for screw of hanger bracket 70, and hog frame 67 and suspension bracket first are solid
Determine crossbeam 71 to be connected by screw with two the 5th crossbeams 13 by the second backing plate 66 and the 3rd backing plate 68；Two guide rail backing plate branch
The one end of frame 78 is screwed by cushion block 90 with the first fixed cross beam of suspension bracket 71, and the other end is welded with the second fixed cross beam of suspension bracket 87
Connect, the second fixed cross beam of suspension bracket 87 is screwed by two cushion blocks 88 with two first crossbeams 11, two guide rail backing plates 72
It is welded on two guide rail pad racks 78；Motor fixing frame 89 is connected by screw with two guide rail pad racks 78, L-type branch
Frame backing plate 73 is welded on motor fixing frame 89, and the one end of L-type support 75 is connected by screw with motor 74, the other end and L-type branch
Frame backing plate 73 is connected by screw, and the one end of shaft coupling 91 is connected with motor 74, and the other end is connected with ball-screw 81, ball-screw
81 one end are connected with clutch shaft bearing support unit 76, and clutch shaft bearing support unit 76 is connected by screw with bearing backing plate 77, axle
Rim plate 77 is welded on bearing fixed mount 1, and the other end of ball-screw 81 is connected with second bearing support unit 95, and second
Bearings unit 95 is connected by screw with bearing fixed mount 2 94（Here bearings unit is provided with correspondence bearing, the
Two bearings 93 are arranged in clutch shaft bearing support unit, and second bearing support unit is similarly）, bearing fixed mount 1 and bearing are solid
Determine frame 2 94 to be connected by screw with two guide rail pad racks 78, the feed screw nut of ball-screw 81 passes through connector 82 and work
Make platform 83 to connect, two rail bracketses 79 are connected by screw with two guide rail backing plates 72, line slideway 80 is led installed in two
On rail support 79, the two ends of workbench 83 are connected by screw with line slideway 80, and two sucking disc lifting frames 84 pass through screw and sucker
Suspension bracket backing plate 85 is connected, and two sucking disc lifting frame backing plates 85 are welded on workbench 83, and aperture sucker 86 is arranged on two sucker cranes
On frame 84.
The use process of apparatus of the present invention is as follows：Sealing tape-cutting box of cutting carton two sides covers the joint sealing in face
Case lid is opened into 110 degree-motor driven ball screws and drives aperture sucker to take out the article in case by band-vacuum cup.
First, as shown in figure 3, the cutting of side cutter device 2 sealing tape detailed process is：When the carton for treating operation is located at work
When on position, main body frame 1, for case lid under making side cutter device 2 just, the first Standard Cylinder 15 are overturn by industrial robot
The whole device of first Rodless cylinder, 19 and first oscillating cylinder 22 is driven to be moved to along line slideway 24 by slide plate 16 suitable
The position of side sealing tape is cut, the first oscillating cylinder 22, which is provided with the first knife rest 21, the first knife rest 21, is equipped with blade of carving knife,
Here the first oscillating cylinder is connected with the first Rodless cylinder by the 4th support 20 to realize.First oscillating cylinder 22 rotates
90 degree make blade go to cutting angle, and then the first Rodless cylinder 19 drives the first oscillating cylinder 22 and blade apparatus to move one end
Distance realizes cutting side sealing tape.Here sealing tape when the first spring 23 on floating installation is to ensure that carton misplaces
Smooth cutting.It is cut and comes entirely by the sealing tape of this process carton side.
Secondly, the main cutter cutting primary seal case band detailed processes of Fig. 5.Connect after previous step cutting side, industrial robot will
Blade on the main cutter device 3 of system is right against the sealing tape above carton, and the second Rodless cylinder 37 drives second to swing gas
Cylinder 39 and it be fitted with blade the second knife rest 38 motion one end distance realize directly over sealing tape cutting.Here swing
Cylinder is connected with Rodless cylinder by the 7th support 40 to realize.
Then, Fig. 6 opens the detailed process of case lid.Essence is the process of a double leval jib motion.Carton has 4 demifacets
Case lid, so there is 4 flip-open cover mechanisms here.With the motion process of next flip-open cover mechanism.The second Standard Cylinder 44 passes through first
8th support 47 and Rocker arm 48 are connected, and rocking arm is welded in the first rotary shaft 50, and the first rotary shaft is provided with two sleeves
53, sleeve is equipped with the second rotary shaft 58, the axle by rolling bearing units built with second spring 65 and slide bar 55, slide bar and is equipped with two
Individual vacuum cup 64, equipped with two torsion springs 61 between the axle and rolling bearing units, torsion spring is fixed by pin.Here torsion spring and
Spring is for resetting.Here when vacuum cup holds case lid, cylinder band motion rocker arm rotate, rocking arm band moving sleeve and
Slide bar is rotated, due to the transmission of power, and the second last rotary shaft 58 also drives vacuum cup to rotate, make case lid and initial position into
110 degree of angles.Here flip-open cover mechanism is used in pairs, before this case lid outside a pair of flip-open cover mechanisms openings, then in addition
Open the case lid of inside for a pair, after the article in case is taken out by lowering or hoisting gear, vacuum cup is blown, and the process of renovating terminates.
Finally, it is illustrated in figure 8 the detailed process of lift fetching device.When flip-open cover mechanism by four case lids it is fully open it
Afterwards, the driving of motor 74 ball-screw 81 is moved, and ball-screw drives workbench 83 to move up and down by a connector 82, to protect
The smooth motion of workbench is demonstrate,proved, workbench must also be arranged on two line slideways 80, and workbench passes through two sucking disc lifting frames 84
Connected with aperture sucker 86.Take thing process as follows：Aperture sucker first moves downward guidance in the case where a series of mechanism drives above
The object in case is touched, then aperture sucker crawl object, then aperture sucker rises realization under the drive of ball-screw
The function of thing is taken, article is promoted to the height of carton in by case, now flip-open cover mechanism is stopped, wait next step operation.
Claims (5)
1. a kind of Auto-unboxing system based on industrial robot, it is characterised in that including main body frame（1）, two sides are cut
Knife system（2）, a main cutter device（3）, four flip-open cover mechanisms（4）With a lift fetching device（5）, the side cutter
Device（2）Installed in main body frame（1）Both sides above, the main cutter device（3）Installed in main body frame（1）Top above
Portion, the flip-open cover mechanism（4）It is symmetrically arranged on main body frame（1）Bottom, the lift fetching device（5）It is installed on body frame
Frame（1）Rear portion；
The main body frame（1）Including 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
Crossbeam（11）With two second cross beams（12）Alternating orthogonal is fixed into a rectangular frame, and the bottom of its corner fixes four
One vertical frame（10）, four the second vertical frames are fixed on the top of corner（9）, in four the second vertical frames（9）Top fixation by four
5th crossbeam（13）The rectangular frame of composition, the 4th crossbeam（8）It is fixed on second cross beam（12）Above two second
Vertical frame（9）Middle part, two the 3rd crossbeams（7）It is fixed on the 4th crossbeam（8）Both sides up and down, a ring flange（6）It is fixed on
Two the 3rd crossbeams（7）With the 4th crossbeam（8）On.
2. the Auto-unboxing system according to claim 1 based on industrial robot, it is characterised in that the side cutter
Device（2）Including being arranged on and ring flange（6）Second vertical frame of opposite face（9）On U-shaped support（31）, first support（25）With
Second support（26）Constitute a stable tripod, the 3rd support（27）It is connected to two second supports（26）Upper reinforcement stablizes three
The connection of foot stool, line slideway（24）Installed in second support（26）On, slide plate（16）Installed in line slideway（24）On, it is fixed
Frame（17）Installed in slide plate（16）On, two the first springs（23）Installed in fixed mount（17）Two bars on, first without bar gas
Cylinder（19）Pass through two L-type supports（18）It is fixed on fixed mount（17）On, the first oscillating cylinder（22）Pass through the 4th support（20）
Installed in the first Rodless cylinder（19）On, the first knife rest（21）Installed in the first oscillating cylinder（22）On, the first Standard Cylinder
（15）One end passes through the 5th support（30）It is fixed on the second vertical frame（9）, the other end passes through the first cylinder connection piece（29）With the 6th
Support（28）It is fixed on slide plate（16）On.
3. the Auto-unboxing system according to claim 1 based on industrial robot, it is characterised in that the main cutter dress
Put（3）Including the first thin plate（32）With the second thin plate（33）It is welded on second cross beam（12）On, two reinforcing plates（34）Pass through spiral shell
Nail is fixed on the second thin plate（33）On, two connecting plates（35）It is connected by screw in two reinforcing plates（34）On, second without bar
Cylinder（37）Pass through two supports（36）It is fixed on two connecting plates（35）On, the second oscillating cylinder（39）Pass through the 7th support
（40）Installed in the second Rodless cylinder（37）On, the second knife rest（38）It is fixed by screws in the second oscillating cylinder（39）On.
4. the Auto-unboxing system according to claim 1 based on industrial robot, it is characterised in that the flip-open cover mechanism
（4）Including the first cross bar（50）Pass through two clutch shaft bearings（49）Installed in two the first vertical frames（10）On, rocking arm（48）Welding
In the first cross bar（50）On, cylinder fittings one（46）Pass through rocking arm（48）On hole connected with pin, cylinder connection piece one（45）
Two ends respectively with cylinder fittings one（46）With the second Standard Cylinder（44）Connection, the 8th support（47）With cylinder connection piece one（45）
Gudgeon be connected, the 8th support（47）It is fixed on fixed support（41）On, fixed support（41）It is connected to first crossbeam（11）Or
Person's second cross beam（12）On, the second Standard Cylinder（44）The other end pass through cylinder connection piece two（43）With cylinder fittings two（42）
It is connected, cylinder fittings two（42）It is welded on fixed support（41）On；Two set of first Harvard structure one（51）, two set of second Harvard knot
Structure two（52）It is welded on the first rotary shaft（50）On, it is arranged in rocking arm（48）Two ends, equipped with second spring（65）Sleeve
（53）With Harvard structure two（52）It is connected by screw, slide bar（55）Pass through socket cover（54）With sleeve（53）Connection, contiguous block
（56）It is welded on slide bar（55）On, rolling bearing units（57）It is fixed by screws in contiguous block（56）On, the second rotary shaft（58）Two
End is connected to two rolling bearing units（57）On, two set of second Harvard structure one（59）, two set of second Harvard structure two（62）Welding
To the second rotary shaft（58）On, two vacuum cups（64）Pass through vacuum cup connector（63）Fixed to the second Harvard structure two
（62）On, two torsion springs（61）Pass through rolling bearing units（57）Be connected to the second rotary shaft（58）On pin（60）It is fixed.
5. the Auto-unboxing system according to claim 1 based on industrial robot, it is characterised in that the lift fetching
Device（5）Including the fixed cross beam of suspension bracket first（71）With two hanger brackets（70）Welding, two hog frames（67）Pass through first
Backing plate（69）With hanger bracket（70）With mode connects for screw, hog frame（67）With the fixed cross beam of suspension bracket first（71）Pass through the second backing plate
（66）With the 3rd backing plate（68）With two the 5th crossbeams（13）It is connected by screw；Two guide rail pad racks（78）One end passes through
Cushion block（90）With the fixed cross beam of suspension bracket first（71）It is screwed, the other end and the fixed cross beam of suspension bracket second（87）Welding, hangs
The fixed cross beam of frame second（87）Pass through two cushion blocks（88）With two first crossbeams（11）It is screwed, two guide rail backing plates
（72）It is welded on two guide rail pad racks（78）On；Motor fixing frame（89）Pass through screw and two guide rail pad racks（78）
Connection, L-type support backing plate（73）It is welded on motor fixing frame（89）On, L-type support（75）One end and motor（74）Pass through screw
Connection, the other end and L-type support backing plate（73）It is connected by screw, shaft coupling（91）One end and motor（74）Connection, the other end
With ball-screw（81）Connection, ball-screw（81）One end and clutch shaft bearing support unit（76）Connection, clutch shaft bearing support is single
Member（76）With bearing backing plate（77）It is connected by screw, bearing backing plate（77）It is welded on bearing fixed mount one（92）On, ball wire
Thick stick（81）The other end and second bearing support unit（95）Connection, second bearing support unit（95）With bearing fixed mount two（94）
It is connected by screw, bearing fixed mount one（92）With bearing fixed mount two（94）With two guide rail pad racks（78）Pass through screw
Connection, ball-screw（81）Feed screw nut pass through connector（82）With workbench（83）Connection, two rail bracketses（79）With
Two guide rail backing plates（72）It is connected by screw, line slideway（80）Installed in two rail bracketses（79）On, workbench（83）
Two ends and line slideway（80）It is connected by screw, two sucking disc lifting frames（84）Pass through screw and sucking disc lifting frame backing plate（85）Even
Connect, two sucking disc lifting frame backing plates（85）It is welded on workbench（83）On, aperture sucker（86）Installed in two sucking disc lifting frames（84）
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550540.1A CN105173278B (en) | 2015-09-01 | 2015-09-01 | A kind of Auto-unboxing system based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550540.1A CN105173278B (en) | 2015-09-01 | 2015-09-01 | A kind of Auto-unboxing system based on industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105173278A CN105173278A (en) | 2015-12-23 |
| CN105173278B true CN105173278B (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| JP6849545B2 (en) * | 2017-06-16 | 2021-03-24 | 株式会社京都製作所 | Packaging box opening device and packaging box opening 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 |
| CN109230059B (en) * | 2018-08-01 | 2021-01-29 | 华北水利水电大学 | A retrieve cabinet for retrieving paper express delivery case |
| CN113023214B (en) * | 2021-03-08 | 2022-02-11 | 珠海格力电器股份有限公司 | Storage method and device for article package, storage medium and electronic device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0285123A (en) * | 1988-09-08 | 1990-03-26 | Seibu Electric & Mach Co Ltd | Method and apparatus for cutting case |
| JP2002002636A (en) * | 2000-06-14 | 2002-01-09 | Maejima Kogyo Kk | Method and apparatus for cutting box |
| US6694852B1 (en) * | 2000-11-10 | 2004-02-24 | Kellogg Company | Method and apparatus for cutting a case containing product |
| CN201506493U (en) * | 2008-12-31 | 2010-06-16 | 颐中(青岛)烟草机械有限公司 | Automatic packaged box opener |
| CN101734391B (en) * | 2009-12-25 | 2012-01-04 | 友达光电股份有限公司 | Unpacking system and unpacking method |
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2015
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| CN105173278A (en) | 2015-12-23 |
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