CN109808966A - A kind of intelligence express delivery packing case recycling machine people's device - Google Patents
A kind of intelligence express delivery packing case recycling machine people's device Download PDFInfo
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- CN109808966A CN109808966A CN201910286842.0A CN201910286842A CN109808966A CN 109808966 A CN109808966 A CN 109808966A CN 201910286842 A CN201910286842 A CN 201910286842A CN 109808966 A CN109808966 A CN 109808966A
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Abstract
A kind of intelligence express delivery packing case recycling machine people's device, robotic arm is set on the base and is fixed on the base, in robotic arm top front end, packing case clamping jaw is set, packing case is set in packing case clamping jaw, waiting station fixture is arranged in right part on the base, and right part setting intermediate strips scratch station clamp on the base, and setting two sides adhesive tape in portion's scratches station clamp on the base, station clamp is unfolded in left part setting packing case on the base, and packing case folding station fixture is arranged in left part on the base.The invention realizes that overall process is unattended by robotic arm; blade ride out can accurately be adjusted by pressing device; the depth for ensuring to scratch adhesive tape meets the requirements; it is automatically performed the scratching, be unfolded of old express delivery packing case, the overall process that faldstool recycles; it is programmed by the optimization of robotic arm; ensure no waste motion, shortens beat and save energy consumption simultaneously.Applied in energy-saving environmental protection device technical field.
Description
Technical field
The present invention relates to the intelligent express delivery packing case recycling machine people's devices of one of energy-saving environmental protection device technical field.
Background technique
In recent years, Courier Service industry is quickly grown, but problem is also following, and people arbitrarily abandon express delivery package box.
The online shopping in China, delivery industry market are huge, and courier packages' demand is big, therefore cause a degree of wasting of resources and ring
Border pollution.Although those skilled in the art has manufactured and designed express delivery packaging box recovery device, also undesirable.It produces fast
It passs that the packing case rate of recovery is insufficient, removal process difficulty is inefficient, labor intensity of workers is high, promotes packing case with multi-angle mechanical arm
The flexibility of recyclable device is poor, adaptability is not strong etc..
Number of patent application 201810811455.X discloses the method for running based on recyclable express delivery package box, the patent Shen
The method for running of recycling express delivery package box please be disclose only, by logging in electric business in the exclusive identification code of packing box, user and putting down
Platform selects commodity, is recycled by express delivery cabinet, community's property or convenience store, the modes such as delivery of visiting, is recycled by express company,
The method for running and program of the packing box of the patent application publication.It is also mentioned in patent application and carries out transmitting-receiving carrying with robot,
But without open equipment situation and how to implement.
In order to effectively solve the above problems, the design applicable industry robot realize without human intervention in the case of to fast
Pass the recycling of packing case.This research product is based on to the problem that the express delivery packing case rate of recovery is insufficient and removal process difficulty is inefficient
It designs a kind of automatic recycling device, including robotic arm, packing case clamping jaw, scratches adhesive tape station clamp, expansion packing case station clip
Tool, Collapsible container station clamp etc..The present invention is intended to provide a kind of express delivery packing case automatic recycling device, using mechanical arm and
Special fixture is, it can be achieved that the Full automatic displacement of waste and old express delivery packing case, the movement such as overturning, scratching adhesive tape, expansion, folding, significantly
Ground improves recovery efficiency, alleviates manual labor's intensity, promotes the flexible of packaging box recovery device with multi-angle mechanical arm
Property, adaptability.Therefore, developing a kind of intelligent express delivery packing case recycling machine people's device is always project anxious to be resolved.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent express delivery packing case recycling machine people's devices, which has full-automatic
The recycling function of completing old express delivery packing case is completed the overall process of packing case recycling, is opened up completely by the operation of 5 steps
It opens and the packing case spatial volume folded minimizes, can very easily pack, transport, overall process is not necessarily to manual intervention, high
Effect, reliable, safety, in addition to robotic arm, each station is mechanical structure, without additional energy source and power, each station clamp
, can be with Fast Installation using the unified modules bottom plate of 300mm × 300mm, and station is facilitated to adjust, there is extension well
Type only replaces the fixture of corresponding station and adjusts the program of mechanical arm if you need to change packing case size, is not necessarily to rewiring
And transformation.
The object of the present invention is achieved like this: a kind of intelligence express delivery packing case recycling machine people's device, including packing case
Clamping jaw, robotic arm, waiting station fixture, intermediate strips scratch station clamp, two sides adhesive tape scratches station clamp, packing case expansion
Robotic arm is arranged on the base and fixes on the base, in machine for station clamp, packing case folding station fixture, pedestal, packing case
Packing case clamping jaw is arranged in device arm top front end, packing case is arranged between two clamping jaws of packing case clamping jaw, on the base right part
Waiting station fixture is set, and right part setting intermediate strips scratch station clamp on the base, and two sides adhesive tape is arranged in portion on the base
Station clamp is scratched, station clamp is unfolded in left part setting packing case on the base, and packing case bender is arranged in left part on the base
Position fixture；Packing case clamping jaw is made of connecting plate, driver, upper gripper jaw, lower clamping jaw, and connecting plate is connect with driver, driver
It is connect respectively with upper gripper jaw, lower clamping jaw；Waiting station fixture is positioned by the first bottom plate, the first locating piece, the second locating piece, third
Block composition, is respectively set two the first locating pieces, two the second locating pieces, two third locating pieces on the first bottom plate；It is intermediate
Adhesive tape scratches station clamp by the second bottom plate, first crossbeam, the first gib block, the first adjustment height blade, blade pressing bolt
Composition, is arranged first crossbeam on the second bottom plate, and two the first gib blocks, two the first gib blocks are arranged on the second bottom plate
It is connect with the left and right ends of first crossbeam, the first adjustment height blade is set on first crossbeam, and will with blade pressing bolt
First adjustment height blade is fixed on first crossbeam；Two sides adhesive tape scratches station clamp by third bottom plate, blade pressuring plate, second
Adjustment height blade, the second gib block, second cross beam, bolt composition, are arranged second cross beam on third bottom plate, in third bottom plate
Two the second gib blocks of upper setting, two the second gib blocks are connect with second cross beam left and right ends, two the second gib block sides
Two the second adjustment height blades are arranged in face, and the second adjustment height blade is fixed on the second guiding with blade pressuring plate and bolt
On item；Packing case expansion station clamp is made of the 4th bottom plate, long side guide surface, short side guide surface, is arranged on the 4th bottom plate
Two long side guide surfaces and two short side guide surfaces, two long side guide surfaces are connect with two short side guide surfaces；Packing case folds
Station clamp is made of the 5th bottom plate, third gib block, oscillating rod, folding rod, connecting rod, bracket, folding platform, at the 5th bottom
Two pairs of brackets are respectively set on plate, folding platform is set on two pairs of brackets, third gib block is set on folding platform, is being rolled over
Two oscillating rods are respectively set in folded platform left part slot, two folding rods, two pairs of pendulum are respectively set in folding platform right part slot
Lever passes through two connecting rods respectively with folding rod and connects；
It is 45 ° that the waiting station clamp central line and intermediate strips, which scratch angle between station clamp center line,；Described
Intermediate strips scratch station clamp and two sides adhesive tape to scratch angle between station clamp center line be 45 °；The two sides adhesive tape
Scratching angle between station clamp center line and packing case expansion station clamp center line is 45 °；Work is unfolded in the packing case
Angle is 45 ° between position fixture center line and packing case folding station clamp central line；
A kind of working principle of intelligent express delivery packing case recycling machine people's device is that (1) is realized among packing case bottom
Adhesive tape scratches function: scratching station clamp in intermediate strips, robotic arm and packing case clamping jaw are pressed from both sides packing case by waiting station
It after tool crawl, is carried to intermediate strips and scratches station clamp, then scratch packing case along the first gib block push-in intermediate strips
In station clamp, intermediate strips scratch station clamp bottom middle position and are equipped with the first adjustment height blade of height, to ensure the
The middle seam Accurate align of one adjustment height blade and packing case bottom tape, although robotic arm can realize crawl by programming
Packing case presses desired trajectory movement, but the feature insufficient in view of packing case rigidity, scratches in intermediate strips and sets on station clamp
Set with packing case the first gib block of same size, further correct packing case motion profile, make packing case moving process, first
Adjustment height blade is aligned in packing case bottom always and stitches, and realizes the function of accurately scratching packing case bottom intermediate strips；(2) real
Existing packing case two sides of the bottom adhesive tape scratches function: in two sides, adhesive tape scratches station clamp, and robotic arm and packing case clamping jaw will wrap
It after vanning scratches station clamp crawl by intermediate strips, is carried to two sides adhesive tape and scratches station clamp, then by packing case along the
Two gib blocks push-in two sides adhesive tape is scratched in station clamp, and two sides adhesive tape scratches station clamp two sides of the bottom position can equipped with second
Adjusting height blade, to ensure the second adjustment height blade and packing case bottom tape two sides gap Accurate align, although robotic arm
It can realize that the packing case of crawl presses desired trajectory movement, but the feature insufficient in view of packing case rigidity by programming, two
Side adhesive tape is scratched and is provided with the second gib block identical as packing case length on station clamp, further corrects packing case and moves rail
Mark makes packing case moving process, and the second adjustment height blade is directed at packing case two sides of the bottom gap always, realizes and accurately scratches packet
The function of vanning two sides of the bottom adhesive tape；(3) realize that function: flanging there are four packing case top and bottom are each is unfolded in packing case, top
Flanging has been switched on when taking out express delivery, and the flanging of lower part is bonded by adhesive tape, a kind of intelligence express delivery packing case recycling machine people dress
It sets and the adhesive tape that function has scratched bonding flanging is scratched by adhesive tape, but flanging is still in semi-open state, it only will be whole
When flanging is opened to 90 degree, packing case could be folded further；Station clamp, robotic arm and packing case clamping jaw is unfolded in packing case
After packing case is scratched station clamp crawl by two sides adhesive tape, it is carried to packing case expansion station clamp, packing case is vertically turned over
Turnback from top to bottom covers packing case on packing case expansion station clamp, and it is band guide surface that station clamp, which is unfolded, in packing case
Rectangle column, cross sectional shape and packaging box cavity it is just the same, by the guiding on inclined-plane, from top to bottom covered in packing case
During entering packing case expansion station clamp, each four flangings in packing case top and bottom are unfolded 90 degree, during the packing case after expansion is in
Empty column shape；(4) realize packing case folder function: in order to store and transport, packing case after the recovery is rolled over after must being unfolded
It is folded, folded packing case can multiple-layer stacked, facilitate binding, realize the optimization of memory space；It is pressed from both sides in packing case folding station
After tool, robotic arm and packing case clamping jaw are grabbed packing case by packing case expansion station clamp, it is carried to packing case folding station
90 degree of packing case flip vertical are placed on packing case on packing case folding station fixture by fixture, unclamp packing case clamping jaw,
The section parallelogram of packing case, long side is horizontal, and short side is vertical, and the folding platform of packing case folding station fixture blocks packet
The long side of vanning, oscillating rod, folding rod block two short sides of packing case respectively, and oscillating rod, folding rod pass through mechanical structure group
At synchronous interaction mechanism, oscillating rod, folding rod drive packing case short side to rotate simultaneously, i.e., will be in hollow vertical when turning to 90 degree
The packing case of post shapes folds, and is folded into flat shape；
A kind of use of intelligent express delivery packing case recycling machine people's device and operating method are a kind of intelligence express delivery packagings
Case recycling machine people's device has the function of to be automatically finished the recycling of old express delivery packing case, by an industrial machine arm, pass through
Five steps complete the recycling of express delivery packing case, and each step completes an action, and the first step is complete in waiting station fixture
At packing case is placed on waiting station fixture with upright posture, and robotic arm grabs packing case by packing case clamping jaw；Second step exists
Intermediate strips scratch station completion, robotic arm and packing case clamping jaw by packing case by the crawl of waiting station fixture after, be carried to
Between adhesive tape scratch station clamp, then by packing case along the first gib block push-in intermediate strips scratch in station clamp, intermediate rubber
Band scratches station clamp bottom middle position equipped with the first adjustment height blade, in packing case moving process, the first adjustment height
Blade scratches the adhesive tape being stained among packing case bottom；Third step is scratched station clamp in two sides adhesive tape and is completed, robotic arm and packet
After packing case is scratched station clamp crawl by intermediate strips by vanning clamping jaw, it is carried to two sides adhesive tape and scratches station clamp, will wrap
Vanning rotates horizontally 90 degree, packing case is scratched station clamp along the second gib block push-in two sides adhesive tape, two sides adhesive tape scratches work
Position fixture bottom sides position is equipped with two the second adjustment height blades, in packing case moving process, the second adjustment height blade
Scratch the adhesive tape that packing case bottom sides are stained with；4th step is completed in packing case expansion station clamp, robotic arm and packaging clamp
After packing case is scratched station crawl fixture by two sides adhesive tape by pawl, it is carried to packing case expansion station clamp, packing case is vertical
180 degree is overturn, packing case is from top to bottom covered on packing case expansion station clamp, each four flangings in packing case top and bottom are complete
Expansion, packing case expansion are in hollow column shape；5th step is completed in packing case folding station fixture, robotic arm and packing case
After clamping jaw is grabbed packing case by packing case expansion station clamp, it is carried to packing case folding station fixture, packing case is vertical
It turns over and turn 90 degrees, packing case is placed on packing case folding station fixture, unclamp packing case clamping jaw, robotic arm pushes folding clamp
Operating stick will fold in the packing case of hollow pillar stand shape, become flat shape.
The structure for being characterized by it, working principle, use and operating method of the invention.
A kind of intelligence express delivery packing case recycling machine people device compared with prior art, the beneficial effects of the present invention are:
(1) intelligent: to realize that overall process is unattended by robotic arm, grab packing case from waiting station fixture, scratch automatically
Packing case bottom intermediate strips, scratch packing case bottom sides adhesive tape automatically, the flanging of Automatic-expanding packing case top and bottom, automatically
Packing case is folded to can storage state；
(2) reliability: station clamp is scratched in intermediate strips and two sides adhesive tape scratches station clamp, robotic arm is by packing case by preceding
After the crawl of one station, packing case is scratched into station clamp along gib block push-in intermediate strips and two sides adhesive tape scratches station clamp
In, intermediate strips scratch station clamp and two sides adhesive tape scratches station clamp bottom corresponding position equipped with height-adjustable knife
Piece, to ensure blade and packing case bottom tape gap Accurate align, although robotic arm can realize the packet of crawl by programming
Vanning presses that desired trajectory is mobile, but the feature insufficient in view of packing case rigidity, is provided on fixture and packing case size phase
Same gib block further corrects packing case motion profile, makes packing case moving process, and blade is directed at packing case bottom seam always
Gap realizes the function of accurately scratching packing case bottom tape, meanwhile, blade ride out can accurately be adjusted by pressing device,
The depth for ensuring to scratch adhesive tape meets the requirements；
(3) high efficiency: product whole process is unattended, is automatically performed the scratching, be unfolded of old express delivery packing case, faldstool recycles
Overall process, device can be used as in functional module insertion automatic production line；
(4) energy saving: in addition to robotic arm, each station clamp is acted without active mechanical, is not necessarily to additional energy source power, is passed through machine
The optimization of arm programs, it is ensured that without waste motion, shortens beat and saves energy consumption simultaneously.
It will be widely used in energy-saving environmental protection device technical field.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and embodiments.
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the structural schematic diagram of packing case gripping portions of the present invention.
Fig. 4 is the top view of Fig. 3.
Fig. 5 is the structural schematic diagram of waiting station holder part of the present invention.
Fig. 6 is the top view of Fig. 5.
Fig. 7 is the structural schematic diagram that intermediate strips of the present invention scratch station clamp part.
Fig. 8 is the top view of Fig. 7.
Fig. 9 is the structural schematic diagram that two sides adhesive tape of the present invention scratches station clamp part.
Figure 10 is the top view of Fig. 9.
Figure 11 is the structural schematic diagram of packing case expansion of the present invention station clamp part.
Figure 12 is the top view of Figure 11.
Figure 13 is the structural schematic diagram of packing case folding station holder part of the present invention.
Figure 14 is the top view of Figure 13.
Specific embodiment
Referring to attached drawing, a kind of intelligence express delivery packing case recycling machine people's device, including packing case clamping jaw 1, robotic arm 2, etc.
Scratch station clamp 4 to station clamp 3, intermediate strips, two sides adhesive tape scratches station clamp 5, packing case expansion station clamp 6,
Robotic arm 2 is arranged on pedestal 8 and is fixed on pedestal 8, in machine for packing case folding station fixture 7, pedestal 8, packing case 9
Packing case clamping jaw 1 is arranged in 2 top front end of arm, and packing case 9 is arranged between two clamping jaws of packing case clamping jaw 1, upper right in pedestal 8
Waiting station fixture 3 is arranged in portion, and right part setting intermediate strips scratch station clamp 4 on pedestal 8, is arranged two on 8 top of pedestal
Side adhesive tape scratches station clamp 5, and station clamp 6 is unfolded in left part setting packing case on pedestal 8, the left part setting packet on pedestal 8
Vanning folding station fixture 7；Packing case clamping jaw 1 is made of connecting plate 1-1, driver 1-2, upper gripper jaw 1-3, lower clamping jaw 1-4, even
Fishplate bar 1-1 is connect with driver 1-2, and driver 1-2 is connect with upper gripper jaw 1-3, lower clamping jaw 1-4 respectively；Waiting station fixture 3 by
First bottom plate 3-1, the first locating piece 3-2, the second locating piece 3-3, third locating piece 3-4 composition, on the first bottom plate 3-1 respectively
Two the first locating piece 3-2, two the second locating piece 3-3, two third locating piece 3-4 are set；Intermediate strips scratch station clip
Tool 4 is by the second bottom plate 4-1, first crossbeam 4-2, the first gib block 4-3, the first adjustment height blade 4-4, blade pressing bolt 4-
5 compositions, are arranged first crossbeam 4-2 on the second bottom plate 4-1, are arranged two the first gib block 4-3 on the second bottom plate 4-1, and two
A first gib block 4-3 is connect with the left and right ends of first crossbeam 4-2, and the first adjustment height knife is arranged on first crossbeam 4-2
Piece 4-4, and the first adjustment height blade 4-4 is fixed on first crossbeam 4-2 with blade pressing bolt 4-5；Two sides adhesive tape is drawn
Position fixture 5 go into operation by third bottom plate 5-1, blade pressuring plate 5-2, the second adjustment height blade 5-3, the second gib block 5-4, the second cross
Beam 5-5, bolt 5-6 composition, are arranged second cross beam 5-5 on third bottom plate 5-1, and two second are arranged on third bottom plate 5-1
Gib block 5-4, two the second gib block 5-4 are connect with the left and right ends second cross beam 5-5, two the second sides gib block 5-4
Two the second adjustment height blade 5-3 are set, and are fixed the second adjustment height blade 5-3 with blade pressuring plate 5-2 and bolt 5-6
On the second gib block 5-4；Station clamp 6 is unfolded by the 4th bottom plate 6-1, long side guide surface 6-2, short side guide surface 6- in packing case
3 compositions, are arranged two long side guide surface 6-2 and two short side guide surface 6-3, two long side guide surfaces on the 4th bottom plate 6-1
6-2 is connect with two short side guide surface 6-3；Packing case folding station fixture 7 is by the 5th bottom plate 7-1, third gib block 7-2, pendulum
Lever 7-3, folding rod 7-4, connecting rod 7-5, bracket 7-6, folding platform 7-7 composition, are respectively set two on the 5th bottom plate 7-1
To bracket 7-6, folding platform 7-7 is set on two couples of bracket 7-6, third gib block 7-2 is set on folding platform 7-7,
Two oscillating rod 7-3 are respectively set in folding platform 7-7 left part slot, two foldings are respectively set in folding platform 7-7 right part slot
Folded bar 7-4, two couples of oscillating rod 7-3 and folding rod 7-4 pass through two connecting rod 7-5 respectively and connect.
It is 45 ° that 3 center line of waiting station fixture and intermediate strips, which scratch angle between 4 center line of station clamp,；
The intermediate strips scratch station clamp 4 and two sides adhesive tape to scratch angle between 5 center line of station clamp be 45 °；Described
It is 45 ° that two sides adhesive tape, which scratches angle between 5 center line of station clamp and packing case expansion 6 center line of station clamp,；The packet
Angle is 45 ° between vanning expansion 6 center line of station clamp and 7 center line of packing case folding station fixture.
A kind of working principle of intelligent express delivery packing case recycling machine people's device is that (1) realizes 9 bottom of packing case
Intermediate strips scratch function: intermediate strips scratch station clamp 4, robotic arm 2 and packing case clamping jaw 1 by packing case 9 by etc.
After the crawl of station clamp 3, it is carried to intermediate strips and scratches station clamp 4, then push away packing case 9 along the first gib block 4-3
Enter intermediate strips to scratch in station clamp 4, intermediate strips scratch 4 bottom middle position of station clamp and are equipped with the first adjustable height of height
Blade 4-4 is spent, for the middle seam Accurate align for ensuring the first adjustment height blade 4-4 Yu 9 bottom tape of packing case, although robotic arm
2 can realize that the packing case 9 of crawl presses desired trajectory movement, but the feature insufficient in view of 9 rigidity of packing case by programming,
Intermediate strips are scratched to be provided with and the first gib block 4-3 of same size of packing case 9, further amendment packing case 9 on station clamp 4
Motion profile makes 9 moving process of packing case, and the first adjustment height blade 4-4, which is aligned always in 9 bottom of packing case, to be stitched, and realizes essence
Really scratch the function of 9 bottom intermediate strips of packing case；(2) that realizes 9 two sides of the bottom adhesive tape of packing case scratches function: in two sides glue
Band scratch station clamp 5, robotic arm 2 and packing case clamping jaw 1 by packing case 9 by intermediate strips scratch station clamp 4 grab after, remove
It is transported to two sides adhesive tape and scratches station clamp 5, packing case 9 is then scratched into station clip along the second gib block 5-4 push-in two sides adhesive tape
In tool 5, two sides adhesive tape scratches 5 two sides of the bottom position of station clamp equipped with the second adjustment height blade 5-3, to ensure that second is adjustable
Height blade 5-3 and 9 bottom tape two sides gap Accurate align of packing case, although robotic arm 2 can realize crawl by programming
Packing case 9 press that desired trajectory is mobile, but the feature insufficient in view of 9 rigidity of packing case, in two sides, adhesive tape scratches station clamp 5
It is upper to be provided with second gib block 5-4 identical as 9 length of packing case, 9 motion profile of packing case is further corrected, packing case 9 is moved
Dynamic process, the second adjustment height blade 5-3 are directed at 9 two sides of the bottom gap of packing case always, realize and accurately scratch 9 bottom of packing case
The function of two sides adhesive tape；(3) realize that function is unfolded in packing case 9: respectively there are four flanging, the flanging on top exists 9 top and bottom of packing case
Take out express delivery when have been switched on, the flanging of lower part is bonded by adhesive tape, it is a kind of intelligence express delivery packing case recycling machine people's device pass through
Adhesive tape scratches the adhesive tape that function has scratched bonding flanging, but flanging only beats whole flangings still in semi-open state
When opening to 90 degree, packing case 9 could be folded further；Station clamp 6 is unfolded in packing case, robotic arm 2 and packing case clamping jaw 1 will
After packing case 9 scratches the crawl of station clamp 5 by two sides adhesive tape, it is carried to packing case expansion station clamp 6, packing case 9 is vertical
180 degree is overturn, packing case 9 is from top to bottom covered on packing case expansion station clamp 6, it is band that station clamp 6, which is unfolded, in packing case
The rectangle column of guide surface, cross sectional shape and 9 inner cavity of packing case are just the same, by the guiding on inclined-plane, packing case 9 by
It is inserted under during packing case expansion station clamp 6, each four flangings in 9 top and bottom of packing case are unfolded 90 degree, after expansion
Packing case 9 is in hollow column shape；(4) 9 folder function of packing case is realized: in order to store and transport, packing case 9 after the recovery
Folded after must being unfolded, folded packing case 9 can multiple-layer stacked, facilitate binding, realize the optimization of memory space；It is packing
After case folding station fixture 7, robotic arm 2 and packing case clamping jaw 1 are grabbed packing case 9 by packing case expansion station clamp 6, carry
Packing case 9 is placed on packing case folding station fixture by 90 degree of 9 flip vertical of packing case to packing case folding station fixture 7
On 7, packing case clamping jaw 1 is unclamped, the section parallelogram of packing case 9, long side is horizontal, and short side is vertical, packing case bender
The folding platform 7-7 of position fixture 7 blocks the long side of packing case 9, and oscillating rod 7-3, folding rod 7-4 block the two of packing case 9 respectively
A short side, oscillating rod 7-3, folding rod 7-4 form synchronous interaction mechanism by mechanical structure, and oscillating rod 7-3, folding rod 7-4 are same
When drive the rotation of 9 short side of packing case, when turning to 90 degree, i.e., will be folded in the packing case 9 of hollow pillar stand shape, and be folded into plane
Shape.
A kind of use of intelligent express delivery packing case recycling machine people's device and operating method are a kind of intelligence express deliveries
Packing case recycling machine people's device has the function of to be automatically finished the recycling of old express delivery packing case 9, passes through an industrial machine arm
2, the recycling of express delivery packing case 9 is completed by five steps, each step completes an action, and the first step is in waiting station
Fixture 3 is completed, and packing case 9 is placed on waiting station fixture 3 with upright posture, and robotic arm 2 passes through the crawl packaging of packing case clamping jaw 1
Case 9；Second step is scratched station in intermediate strips and is completed, and robotic arm 2 and packing case clamping jaw 1 are by packing case 9 by waiting station fixture 3
It after crawl, is carried to intermediate strips and scratches station clamp 4, then draw packing case 9 along the first gib block 4-3 push-in intermediate strips
It goes into operation in position fixture 4, intermediate strips scratch 4 bottom middle position of station clamp equipped with the first adjustment height blade 4-4, are packing
9 moving process of case, the first adjustment height blade 4-4 scratch the adhesive tape being stained among 9 bottom of packing case；Third step is in two sides adhesive tape
Scratch the completion of station clamp 5, robotic arm 2 and packing case clamping jaw 1 are scratched packing case 9 after station clamp 4 grabs by intermediate strips,
It is carried to two sides adhesive tape and scratches station clamp 5, packing case 9 is rotated horizontally 90 degree, packing case 9 is pushed away along the second gib block 5-4
Enter two sides adhesive tape and scratch station clamp 5, two sides adhesive tape scratches 5 bottom sides position of station clamp equipped with two the second adjustment heights
Blade 5-3, in 9 moving process of packing case, the second adjustment height blade 5-3 scratches the adhesive tape that 9 bottom sides of packing case are stained with；The
Four steps are completed in packing case expansion station clamp 6, and packing case 9 is scratched station by two sides adhesive tape by robotic arm 2 and packing case clamping jaw 1
After grabbing fixture 5, be carried to packing case expansion station clamp 6, by 9 flip vertical 180 degree of packing case, by packing case 9 by up to
It traps on packing case expansion station clamp 6, each four flangings in 9 top and bottom of packing case are fully deployed, and the expansion of packing case 9 is in hollow
Column shape；5th step is completed in packing case folding station fixture 7, and robotic arm 2 and packing case clamping jaw 1 are by packing case 9 by wrapping
After vanning expansion station clamp 6 grabs, it is carried to packing case folding station fixture 7,90 degree of 9 flip vertical of packing case will wrap
Vanning 9 is placed on packing case folding station fixture 7, unclamps packing case clamping jaw 1, and robotic arm 2 pushes folding clamp operating stick, will
It is folded in the packing case 9 of hollow pillar stand shape, becomes flat shape.
Claims (4)
1. a kind of intelligence express delivery packing case recycling machine people's device, including packing case clamping jaw, robotic arm, waiting station fixture, in
Between adhesive tape scratches station clamp, two sides adhesive tape scratches station clamp, packing case expansion station clamp, packing case folding station folder
Tool, pedestal, packing case, it is characterised in that: robotic arm is set on the base and is fixed on the base, is set in robotic arm top front end
Packing case clamping jaw is set, packing case is set between two clamping jaws of packing case clamping jaw, right part setting waiting station is pressed from both sides on the base
Tool, right part setting intermediate strips scratch station clamp on the base, and setting two sides adhesive tape in portion's scratches station clamp on the base,
Station clamp is unfolded in left part setting packing case on pedestal, and packing case folding station fixture is arranged in left part on the base；Pack clamp
Pawl is made of connecting plate, driver, upper gripper jaw, lower clamping jaw, and connecting plate is connect with driver, driver respectively with upper gripper jaw, under
Clamping jaw connection；Waiting station fixture is made of the first bottom plate, the first locating piece, the second locating piece, third locating piece, at the first bottom
Two the first locating pieces, two the second locating pieces, two third locating pieces are respectively set on plate；Intermediate strips scratch station clamp
It is made of the second bottom plate, first crossbeam, the first gib block, the first adjustment height blade, blade pressing bolt, on the second bottom plate
First crossbeam is set, two the first gib blocks, the left and right two of two the first gib blocks and first crossbeam are set on the second bottom plate
End connection, is arranged the first adjustment height blade, and consolidated the first adjustment height blade with blade pressing bolt on first crossbeam
It is scheduled on first crossbeam；Two sides adhesive tape scratches station clamp by third bottom plate, blade pressuring plate, the second adjustment height blade, second
Gib block, second cross beam, bolt composition, are arranged second cross beam on third bottom plate, are arranged two second on third bottom plate and lead
To item, two the second gib blocks are connect with second cross beam left and right ends, and being arranged two second two the second gib block sides can
Adjusting height blade, and the second adjustment height blade is fixed on the second gib block with blade pressuring plate and bolt；Packing case expansion
Station clamp is made of the 4th bottom plate, long side guide surface, short side guide surface, be arranged on the 4th bottom plate two long side guide surfaces and
Two short side guide surfaces, two long side guide surfaces are connect with two short side guide surfaces；Packing case folding station fixture is by the 5th bottom
Plate, third gib block, oscillating rod, folding rod, connecting rod, bracket, folding platform composition, are respectively set two pairs on the 5th bottom plate
Folding platform is arranged on two pairs of brackets in bracket, and third gib block is arranged on folding platform, divides in folding platform left part slot
Not She Zhi two oscillating rods, be respectively set two folding rods in folding platform right part slot, two pairs of oscillating rods and folding rod difference
It is connected by two connecting rods.
2. a kind of intelligent express delivery packing case recycling machine people's device according to claim 1, it is characterised in that: described etc.
Scratching angle between station clamp center line to station clamp center line and intermediate strips is 45 °；The intermediate strips are scratched
It is 45 ° that station clamp and two sides adhesive tape, which scratch angle between station clamp center line,；The two sides adhesive tape scratches station clamp
Angle is 45 ° between center line and packing case expansion station clamp center line；Station clamp center line is unfolded in the packing case
Angle is 45 ° between packing case folding station clamp central line.
3. a kind of intelligent express delivery packing case recycling machine people's device according to claim 1, it is characterised in that: described one
The working principle of the intelligent express delivery packing case recycling machine people's device of kind is that (1) realization packing case bottom intermediate strips scratch function
Can: intermediate strips scratch station clamp, robotic arm and packing case clamping jaw by packing case by waiting station fixture crawl after, carry
Station clamp is scratched to intermediate strips, then scratches packing case in station clamp along the first gib block push-in intermediate strips, in
Between adhesive tape scratch station clamp bottom middle position be equipped with height the first adjustment height blade, to ensure the first adjustment height blade
With the middle seam Accurate align of packing case bottom tape, although robotic arm can by programming realize crawl packing case press pre- orbit determination
Mark is mobile, but the feature insufficient in view of packing case rigidity, scratches on station clamp in intermediate strips provided with wide with packing case
Identical first gib block is spent, packing case motion profile is further corrected, makes packing case moving process, the first adjustment height blade begins
It is stitched in alignment packing case bottom eventually, realizes the function of accurately scratching packing case bottom intermediate strips；(2) packing case bottom two is realized
Side adhesive tape scratches function: in two sides, adhesive tape scratches station clamp, and robotic arm and packing case clamping jaw are by packing case by intermediate strips
It after scratching station clamp crawl, is carried to two sides adhesive tape and scratches station clamp, then by packing case along the second gib block push-in two
Side adhesive tape is scratched in station clamp, and two sides adhesive tape scratches station clamp two sides of the bottom position equipped with the second adjustment height blade, is
Ensure the second adjustment height blade and packing case bottom tape two sides gap Accurate align, although robotic arm can be real by programming
The packing case now grabbed is mobile by desired trajectory, but the feature insufficient in view of packing case rigidity, and in two sides, adhesive tape scratches station
It is provided with the second gib block identical as packing case length on fixture, further corrects packing case motion profile, keeps packing case mobile
Process, the second adjustment height blade are directed at packing case two sides of the bottom gap always, realize and accurately scratch packing case two sides of the bottom glue
The function of band；(3) realize that function is unfolded in packing case: respectively there are four flanging, the flanging on top is taking out express delivery for packing case top and bottom
When have been switched on, the flanging of lower part is bonded by adhesive tape, it is a kind of intelligence express delivery packing case recycling machine people's device scratched by adhesive tape
Function has scratched the adhesive tape of bonding flanging, but flanging only opens whole flangings to 90 degree still in semi-open state
When, packing case could be folded further；Station clamp is unfolded in packing case, robotic arm and packing case clamping jaw are by packing case by two sides
After adhesive tape scratches station clamp crawl, being carried to packing case expansion station clamp will pack packing case flip vertical 180 degree
Case from top to bottom covers on packing case expansion station clamp, and it is the rectangle column with guide surface that station clamp, which is unfolded, in packing case,
Its cross sectional shape and packaging box cavity are just the same, by the guiding on inclined-plane, are from top to bottom inserted in packing case expansion in packing case
During station clamp, each four flangings in packing case top and bottom are unfolded 90 degree, and the packing case after expansion is in hollow column shape；
(4) realize packing case folder function: in order to store and transport, packing case after the recovery folds after must being unfolded, folded packet
Vanning can multiple-layer stacked, facilitate binding, realize the optimization of memory space；In packing case folding station fixture, robotic arm and packet
After clamping jaw of casing is grabbed packing case by packing case expansion station clamp, it is carried to packing case folding station fixture, by packing case
90 degree of flip vertical, packing case is placed on packing case folding station fixture, unclamps packing case clamping jaw, the section of packing case is in
Parallelogram, long side is horizontal, and short side is vertical, and the folding platform of packing case folding station fixture blocks the long side of packing case, pendulum
Lever, folding rod block two short sides of packing case respectively, and oscillating rod, folding rod form synchronous interaction machine by mechanical structure
Structure, oscillating rod, folding rod drive packing case short side to rotate simultaneously, when turning to 90 degree, i.e., will be in the packaging of hollow pillar stand shape
Case folds, and is folded into flat shape.
4. a kind of intelligent express delivery packing case recycling machine people's device according to claim 1, it is characterised in that: described one
The use of the intelligent express delivery packing case recycling machine people's device of kind and operating method are a kind of intelligence express delivery packing case recycling machine people
Device has the function of to be automatically finished the recycling of old express delivery packing case, by an industrial machine arm, be completed by five steps
The recycling of express delivery packing case, each step complete an action, and the first step is completed in waiting station fixture, and packing case is with just
Standing position state is placed on waiting station fixture, and robotic arm grabs packing case by packing case clamping jaw；Second step is scratched in intermediate strips
After station completion, robotic arm and packing case clamping jaw are grabbed packing case by waiting station fixture, it is carried to intermediate strips and scratches work
Then position fixture is scratched packing case in station clamp along the first gib block push-in intermediate strips, intermediate strips scratch station clip
Have bottom middle position and be equipped with the first adjustment height blade, in packing case moving process, the first adjustment height blade scratches packaging
The adhesive tape being stained among bottom portion；Third step is scratched station clamp in two sides adhesive tape and is completed, and robotic arm and packing case clamping jaw will wrap
After vanning scratches station clamp crawl by intermediate strips, it is carried to two sides adhesive tape and scratches station clamp, packing case is rotated horizontally
90 degree, packing case is scratched into station clamp along the second gib block push-in two sides adhesive tape, two sides adhesive tape scratches station clamp bottom side
Face position is equipped with two the second adjustment height blades, and in packing case moving process, the second adjustment height blade scratches packing case bottom
The adhesive tape that portion side is stained with；4th step is completed in packing case expansion station clamp, robotic arm and packing case clamping jaw by packing case by
After two sides adhesive tape scratches station crawl fixture, it is carried to packing case expansion station clamp, it, will by packing case flip vertical 180 degree
Packing case from top to bottom covers on packing case expansion station clamp, and each four flangings in packing case top and bottom are fully deployed, packing case
Expansion is in hollow column shape；5th step is completed in packing case folding station fixture, and robotic arm and packing case clamping jaw will be packed
After case is by packing case expansion station clamp crawl, it is carried to packing case folding station fixture, it, will by 90 degree of packing case flip vertical
Packing case is placed on packing case folding station fixture, unclamps packing case clamping jaw, and robotic arm pushes folding clamp operating stick, will be in
The packing case of hollow pillar stand shape folds, and becomes flat shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286842.0A CN109808966A (en) | 2019-04-11 | 2019-04-11 | A kind of intelligence express delivery packing case recycling machine people's device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286842.0A CN109808966A (en) | 2019-04-11 | 2019-04-11 | A kind of intelligence express delivery packing case recycling machine people's device |
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| CN109808966A true CN109808966A (en) | 2019-05-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015158A (en) * | 2019-12-20 | 2020-04-17 | 刘亦晴 | Intelligent industrial robot device for assembling automobile water pump impeller |
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2019
- 2019-04-11 CN CN201910286842.0A patent/CN109808966A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015158A (en) * | 2019-12-20 | 2020-04-17 | 刘亦晴 | Intelligent industrial robot device for assembling automobile water pump impeller |
| CN111015158B (en) * | 2019-12-20 | 2021-08-31 | 刘亦晴 | Intelligent industrial robot device for assembling automobile water pump impeller |
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