CN111823645B - Carton folding robot and folding method thereof - Google Patents
Carton folding robot and folding method thereof Download PDFInfo
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- CN111823645B CN111823645B CN202010700716.8A CN202010700716A CN111823645B CN 111823645 B CN111823645 B CN 111823645B CN 202010700716 A CN202010700716 A CN 202010700716A CN 111823645 B CN111823645 B CN 111823645B
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- paper box
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- 238000000034 method Methods 0.000 title claims description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 239000000758 substrate Substances 0.000 claims abstract description 42
- 238000007789 sealing Methods 0.000 claims abstract description 26
- 239000011120 plywood Substances 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims description 8
- 238000006748 scratching Methods 0.000 claims description 3
- 230000002393 scratching effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 claims 1
- 230000001681 protective effect Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 210000002105 tongue Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
- B31B50/26—Folding sheets, blanks or webs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
- B31B50/02—Feeding or positioning sheets, blanks or webs
- B31B50/04—Feeding sheets or blanks
- B31B50/07—Feeding sheets or blanks by air pressure or suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
- B31B50/74—Auxiliary operations
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- Making Paper Articles (AREA)
Abstract
The invention discloses a paper box folding robot which comprises a double-arm robot, a driven first manipulator, a driven second manipulator and an auxiliary bottom sealing tool, wherein the auxiliary bottom sealing tool is positioned below a position between the first manipulator and the second manipulator; the second manipulator comprises a driving arm connected with the robot body, a second mounting substrate connected with the driving arm, a sucker assembly arranged on the second mounting substrate, an auxiliary positioning mechanism and a closing mechanism, wherein the auxiliary bottom sealing tool comprises a supporting substrate, an upper plywood, a lower plywood, an auxiliary board and a locking board which are arranged on the supporting substrate, and the first manipulator and the second manipulator are clamped and matched to move back and forth on the supporting substrate so as to enable the bottom surface of the paper box to be closed and locked. Snatch and open folding carton through first manipulator, then press from both sides tight location carton through the second manipulator, fold closure to left bottom plate and the right bottom plate of carton bottom surface, supplementary back cover frock is folding to the preceding curb plate and the posterior lateral plate of carton bottom surface, realizes quick closed locking carton bottom surface.
Description
Technical Field
The invention belongs to the technical field of paper box processing equipment, and particularly relates to a paper box folding robot and a folding method thereof.
Background
The paper box is widely used as a packaging material in various links of industrial production, but after the paper box or the paper box is produced, the paper box or the paper box is stored in a folding mode for convenient transportation and storage, and the paper box in a folding state needs to be unfolded before being packaged in the next step in production and use. As shown in fig. 6, the paper box comprises an upper cover plate, a left side plate, a right side plate, a front side plate, a rear side plate and a bottom plate, wherein the left side plate, the right side plate, the front side plate and the rear side plate enclose to form the side surface of the paper box, the upper cover plate and the bottom plate are respectively provided with the upper part and the lower part of the side surface of the paper box, the paper box in a folding state is in a plane state, and the left side plate and the right side plate are unfolded to enable the paper box to be opened and then the bottom plate is processed for subsequent work.
In recent years, the industry of Chinese packaging machines has developed rapidly, but the technical level is still far from abroad. Currently, in automated production, a special unpacking mechanism is generally adopted to open a folded paper box, and then the paper box is placed in a working area by a manual or mechanical means to carry out bottom sealing and packing procedures. The above operation not only requires high space requirements, but also requires the addition of a separate handling process, which consumes a large amount of manpower and material resources.
In addition, the price of the box opening mechanism is high, the use and maintenance costs are high, and small and medium enterprises are difficult to bear the cost of using the machine.
Accordingly, in order to solve the above-described problems, it is necessary to provide a robot for folding a paper cassette.
Disclosure of Invention
The invention aims to provide a paper box folding robot and a folding method thereof, which have the advantages of simple structure, simple operation, rapid box opening, accurate folding and high production efficiency.
The technical scheme of the invention is as follows:
The carton folding robot comprises a double-arm robot, a first driven manipulator, a second manipulator and an auxiliary bottom sealing tool, wherein the first manipulator and the second manipulator are respectively arranged on driving arms of the double-arm robot and used for driving the first manipulator and the second manipulator to move, and the auxiliary bottom sealing tool is positioned below between the first manipulator and the second manipulator;
The second manipulator comprises a second mounting substrate connected with the robot, a sucker assembly arranged on the second mounting substrate, an auxiliary positioning mechanism and a closing mechanism, wherein the auxiliary positioning mechanism is used for positioning and clamping the paper box, and the closing mechanism is used for closing a left bottom plate and a right bottom plate of the bottom surface of the paper box; the auxiliary positioning mechanism comprises a positioning slide rail, two positioning cylinders and two driven positioning plates, wherein the two positioning cylinders are symmetrically arranged on two sides of the positioning slide rail, the positioning slide rail is arranged on the second mounting substrate, the output end of each positioning cylinder is respectively connected with one positioning plate, each positioning plate is slidably arranged on the positioning slide rail through a positioning connecting plate, and the two positioning plates are relatively folded along the positioning slide rail to clamp a paper box conveyed by the first manipulator under the driving of the positioning cylinders;
the closing mechanism comprises a guide sliding rail, two driving air cylinders symmetrically arranged on two sides of the guide sliding rail, two driven roller mounting plates and rollers arranged on the roller mounting plates, the guide sliding rail is arranged on the second mounting substrate, the output end of each driving air cylinder is respectively connected with one roller mounting plate, each roller mounting plate is slidably arranged on the guide sliding rail, and the two roller mounting plates relatively move along the guide sliding rail under the driving of the driving air cylinders to enable the left bottom plate and the right bottom plate on the bottom surface of the paper box to be closed;
the auxiliary bottom sealing tool is matched with the first mechanical arm and the second mechanical arm, and drives the clamped paper box to move back and forth on the auxiliary bottom sealing tool so as to enable the bottom surface of the paper box to be closed and locked.
In the above technical scheme, the upper plate and the lower plate are respectively arranged at two ends of the supporting substrate, the locking plate and the auxiliary plate are arranged between the upper plate and the lower plate, the locking plate is arranged at one side close to the lower plate, and the auxiliary plate is arranged at one side close to the upper plate.
In the above technical scheme, the upper plywood comprises a first horizontal section and a first folding section, the first horizontal section is located at the top of the first folding section, an included angle is formed between the first folding section and the horizontal plane, when the paper box is folded, a front bottom plate of the bottom surface of the paper box is inserted between the upper plywood and the auxiliary board, and the front bottom plate is attached to the first folding section.
In the above technical scheme, the lower plywood comprises a second horizontal section and a second folding section, the second horizontal section is located at the top of the second folding section, an included angle is formed between the second folding section and the horizontal plane, when the paper box is folded, the rear bottom plate of the bottom surface of the paper box is attached to the second folding section, and meanwhile the auxiliary board props against the front bottom plate.
In the above technical solution, the first folding section of the upper plywood is opposite to the second folding section of the lower plywood.
In the technical scheme, one end of the positioning plate is connected with the positioning connecting plate, the positioning connecting plate is in an inverted L shape, and the positioning connecting plate is slidably mounted on the positioning slide rail, so that the two positioning plates are relatively folded along the positioning slide rail to position and clamp the paper box.
In the technical scheme, the second roller frame is arranged on the roller mounting plate, and the rollers are arranged on the second roller frame and used for rolling friction between the rollers and the paper box to avoid scratching the paper box when pushing the bottom surface of the paper box.
In the technical scheme, the positioning cylinder and the driving cylinder are respectively provided with a magnetic switch for feeding back the execution states of the positioning cylinder and the driving cylinder in real time.
In the above technical scheme, the sucking disc subassembly includes a plurality of sucking discs, and every sucking disc is installed on the second mounting base plate for adsorb fixed carton, and with auxiliary positioning mechanism cooperation comes the carton.
In the above technical scheme, first manipulator includes the first mounting base plate that is connected with the robot, is used for snatching the snatching mechanism of carton and is used for opening folding carton ejection mechanism, the one side of first mounting base plate is installed snatch mechanism, the opposite side is installed ejection mechanism, wherein: the grabbing mechanism comprises a rotary cylinder, a sucker mounting plate and a sucker, wherein the rotary cylinder is mounted on a first mounting substrate, the output end of the rotary cylinder is connected with the sucker mounting plate, the sucker is mounted on the lower portion of the sucker mounting plate so as to be used for grabbing a paper box in a folded state, the ejection mechanism comprises a straight cylinder and a roller assembly, the straight cylinder is mounted on the first mounting substrate, and the output end of the straight cylinder is connected with the roller assembly.
In the above technical scheme, the roller assembly comprises a first roller frame, a roller shaft and a roller, wherein the first roller frame is fixedly arranged with the output end of the straight cylinder, the roller shaft is vertically arranged on the first roller frame, the roller is arranged on the roller shaft, and the roller shaft is arranged on one side of the first roller frame, which is close to the first mounting substrate, and is used for moving forwards along the left side plate and the right side plate of the paper box under the driving of the straight cylinder so as to open the paper box in a folded state.
Another object of the present invention is to provide a folding method using the paper box folding robot, comprising the steps of:
(1) The suction cups of the first manipulator grasp the folded state paper box (the folded paper box is in a horizontal state, and 4 suction cups grasp the rear side plate of the paper box) on the feeding station;
(2) The rotary cylinder drives the sucker of the first manipulator to rotate 90 degrees, so that the paper box in a horizontal state rotates to be in a vertical state, at the moment, the left side plate and the right side plate of the paper box are in vertical positions, then the straight-going cylinder drives the roller frame to move forwards, and the rollers move forwards along the right side plate of the paper box (so that the paper box is opened;
(3) The robot adjusts the position of the second manipulator to enable the second manipulator to rotate to a position opposite to the first manipulator, a sucking disc component of the second manipulator is started to assist in sucking the front side plate of the paper box, and a positioning cylinder of the auxiliary positioning mechanism drives the two positioning plates to be folded relatively to clamp the left side plate and the right side plate of the paper box in the step (2);
(4) The robot drives the first mechanical arm and the second mechanical arm to move the paper box to the auxiliary bottom sealing tool, so that the paper box moves towards the lower closing plate direction, the rear bottom plate of the bottom surface of the paper box is positioned at the front side of the lower closing plate, the front bottom plate is positioned at the front side of the locking plate, and then the paper box is driven to move backwards, so that the rear bottom plate is folded inwards, and the locking plate plays a limiting role on the front bottom plate of the bottom surface of the paper box to prevent the rear bottom plate from touching the front bottom plate in the inwards folding process;
(5) The robot drives the first mechanical arm and the second mechanical arm to lift the paper box, and in the lifting process, the two driving cylinders of the closing mechanism of the second mechanical arm 2 drive the roller mounting plates to move relatively so as to enable the left bottom plate and the right bottom plate of the paper box to fold inwards and close;
(6) The robot drives the first mechanical arm and the second mechanical arm to move to the next station of the auxiliary bottom sealing tool, so that the front bottom plate of the paper box extends between the upper plywood and the auxiliary plate, and then the paper box is driven to move forwards and downwards; the front bottom plate, the rear bottom plate, the left bottom plate and the right bottom plate of the bottom surface of the paper box are closed, and the bottom surface of the paper box is closed.
The invention has the advantages and positive effects that:
1. The paper box folding robot grabs and opens the folded paper box through the first manipulator, then clamps the positioning paper box through the second manipulator, folds and closes left bottom plate and right bottom plate of paper box bottom surface, then cooperates supplementary back cover frock to fold the preceding curb plate and the posterior lateral plate of paper box bottom surface again, realizes quick closure locking paper box bottom surface.
2. Along with the grabbing, feeding and folding of two manipulators of the double-arm robot, the paper boxes are opened and placed at random, stacking of raw materials cannot be generated, and the utilization rate of an operation space is effectively improved.
3. The paper box folding robot can fold the paper box rapidly, so that a large amount of manpower and material resources are avoided, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a paper cassette folding robot of the present invention;
FIG. 2 is a schematic view of a second manipulator according to the present invention;
FIG. 3 is a schematic structural view of an auxiliary bottom sealing tool in the invention;
FIG. 4 is a schematic view of a first manipulator according to the present invention;
fig. 5 is a schematic structural view of the carton of the present invention (the carton in a folded state);
fig. 6 is a schematic structural view of the carton of the present invention (the carton in an open side state);
Fig. 7 is a schematic structural view of the paper cassette of the present invention (paper cassette in a closed bottom state).
In the figure:
1. First manipulator 2, second manipulator 3, supplementary back cover frock
4. Second mounting substrate 5, suction cup 6 and positioning cylinder
7. Positioning slide rail 8, positioning plate 9 and positioning connecting plate
10. Driving cylinder 11, roller mounting plate 12 and roller
13. A second roller frame 14, a protective shell 15 and a second connecting end
16. Support substrate 17, upper plate 18, and auxiliary plate
19. Locking plate 20, lower plate 21 and sucker mounting plate
22. Bar-shaped groove 23, reinforcing rib 24 and rotary cylinder
25. A first roller frame 26, a straight cylinder 27, and a first mounting substrate
28. Connecting plate 29, positioning pin hole 30 and upper cover plate
31. Left side plate 32, rear bottom plate 33, left bottom plate
34. Front floor 35, right floor 36, front side panels
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1 to 3, the carton folding robot comprises a double-arm robot, a driven first manipulator 1, a driven second manipulator 2 and an auxiliary bottom sealing tool 3, wherein the first manipulator 1 and the second manipulator 2 are respectively arranged on driving arms of the double-arm robot and used for driving the first manipulator and the second manipulator to move, and the auxiliary bottom sealing tool 3 is positioned below a position between the first manipulator 1 and the second manipulator 2;
The second manipulator 2 comprises a second mounting substrate 4 connected with the robot, a suction disc assembly arranged on the second mounting substrate 4, an auxiliary positioning mechanism and a closing mechanism, wherein the auxiliary positioning mechanism is used for positioning and clamping the paper box, the closing mechanism is used for closing a left bottom plate and a right bottom plate on the bottom surface of the paper box, the auxiliary positioning mechanism comprises a positioning slide rail 7, two positioning air cylinders 6 symmetrically arranged on two sides of the positioning slide rail and two driven positioning plates 8, the positioning slide rail 7 is arranged on the second mounting substrate 4, the output end of each positioning air cylinder 6 is respectively connected with one positioning plate 8, and each positioning plate 8 is slidably arranged on the positioning slide rail 7 through a positioning connecting plate 9 and is used for relatively folding along the positioning slide rail 7 to clamp the paper box conveyed by the first manipulator 1 under the driving of the positioning air cylinders 6;
The closing mechanism comprises a guide sliding rail, two driving air cylinders 10, two driven roller mounting plates 11 and rollers 12 mounted on the roller mounting plates 11, wherein the guide sliding rail is mounted on the second mounting substrate 4, the output end of each driving air cylinder 10 is connected with one roller mounting plate 11, one end of each roller mounting plate 11 is slidably mounted on the guide sliding rail, and under the driving of the driving air cylinders 10, the two roller mounting plates 11 move relatively along the guide sliding rail to enable the left bottom plate and the right bottom plate of the bottom surface of the paper box to be closed.
The auxiliary bottom sealing tool comprises a supporting substrate 16, an upper plywood 17, a lower plywood 20, an auxiliary board 18 and a locking board 19 which are arranged on the supporting substrate 16, after a left side board and a right side board of the bottom surface of a closed carton of the second manipulator 2, the front bottom board and a rear bottom board of the bottom surface of the carton are closed through the upper plywood 17, the lower plywood 20, the auxiliary board 18 and the locking board 19 through the clamping fit of the first manipulator 1 and the second manipulator 2 and the front and rear movement of the auxiliary bottom sealing tool, and then the bottom surface of the carton is closed and locked through the locking board 19.
Further, the upper and lower plates 17, 20 are respectively disposed at both ends of the support substrate 16, the locking plate 19 and the auxiliary plate 18 are disposed between the upper and lower plates 17, 20, the locking plate 19 is disposed at a side close to the lower plate 20, and the auxiliary plate 18 is disposed at a side close to the upper plate 17.
Further, the upper plate 17 includes a first horizontal section and a first folding section, the first horizontal section is located at the top of the first folding section, the first folding section is obliquely arranged (the included angle between the first folding section and the horizontal plane is 15 ° -60 °), and the upper plate 17 is matched with the auxiliary plate 18 for closing the front bottom plate of the bottom surface of the paper box.
Further, the lower plate 20 includes a second horizontal section and a second folded section, the second horizontal section is located at the top of the second folded section, the second folded section is obliquely arranged (an included angle between the second folded section and the horizontal plane is 15 ° -60 °), the first folded section is opposite to the second folded section, and the lower plate 20 is matched with the locking plate 19 to be used for propping against the front bottom plate through the locking plate 19 when folding the rear bottom plate of the bottom surface of the paper box.
Further, the height of the locking plate 19 is smaller than the height of the lower plate 20, and the height of the auxiliary plate 18 is smaller than the height of the upper plate 17.
Further, one end of the positioning plate 8 is connected with the positioning connection plate 9, and the positioning connection plate 9 is slidably mounted on the positioning slide rail 7, so that the two positioning plates 8 are relatively folded along the positioning slide rail 7 to position and clamp the paper box.
Further, the positioning connection plate 9 is in an inverted L shape.
Further, the roller mounting plate 11 is provided with a second roller frame 13, and the rollers 12 are mounted on the second roller frame 13, so that when pushing the bottom surface of the paper box, the rollers and the paper box can roll and rub to avoid scratching the paper box.
Further, the positioning cylinder 6 and the driving cylinder 10 are respectively provided with a magnetic switch for feeding back the execution states of the positioning cylinder 6 and the driving cylinder 10 in real time.
Further, the suction cup assembly includes a plurality of suction cups (at least 4 suction cups), each of which is mounted on a side of the second mounting substrate 4 facing the auxiliary positioning mechanism for cooperating with the auxiliary positioning mechanism to fix the position of the paper cassette.
The second manipulator 2 receives the paper box which is grabbed and fed by the first manipulator 1, the closing mechanism of the second manipulator 2 closes the left bottom plate 33 and the right bottom plate of the bottom surface of the paper box, the second manipulator 2 moves back and forth on the auxiliary bottom sealing tool 3, the front bottom plate 34 and the rear bottom plate 32 of the bottom surface of the paper box are respectively folded and sealed, and finally the bottom surface of the paper box is locked to finish the operation.
The robot disclosed by the invention is an industrial eight-degree-of-freedom double-arm robot so as to realize multi-angle control of the manipulator.
Example 2
On the basis of embodiment 1, as shown in fig. 4, the first manipulator 1 in the paper cassette folding robot of the present invention includes a first mounting substrate 27 connected to the robot, a gripping mechanism for gripping a paper cassette, and an ejector mechanism for opening a folded paper cassette, the gripping mechanism being mounted on one side of the first mounting substrate 27, the ejector mechanism being mounted on the other side, wherein: the grabbing mechanism comprises a rotary air cylinder 24, a sucker mounting plate 21 and a sucker, wherein the rotary air cylinder 24 is mounted on the first mounting base plate 27, the output end of the rotary air cylinder 24 is connected with the sucker mounting plate 21, and the sucker is mounted on the lower part of the sucker mounting plate 21 and used for grabbing a folding paper box; the ejection mechanism comprises a straight cylinder 26 and a roller assembly, the straight cylinder 26 is mounted on a first mounting substrate 27, the output end of the straight cylinder 26 is connected with the roller assembly, and the roller assembly moves forwards along the left side plate and the right side plate of the paper box to open the paper box under the driving of the straight cylinder.
Further, the roller assembly comprises a first roller frame 25, a roller shaft and a roller, wherein the first roller frame 25 is fixedly arranged at the output end of the straight cylinder 26, the roller shaft is vertically arranged on the first roller frame 25, and the roller is arranged on the roller shaft; the roller shaft is mounted on a side of the first roller frame 25 adjacent to the first mounting base plate 27 for moving the rollers forward along the left and right side plates of the paper box to open the paper box in a folded state by driving of the straight cylinder 26.
Further, the suction cup mounting plate 21 is L-shaped, a vertical section of the L-shape is connected with the output end of the rotary cylinder 24, a plurality of suction cup mounting holes matched with suction cups are formed in a horizontal section of the L-shape, and the top of each suction cup is fixedly mounted on the L-shaped suction cup mounting plate 21 through the suction cup mounting holes.
Further, an L-shaped reinforcing rib 23 is installed in the middle of the suction cup mounting plate 21 for reinforcing the strength of the suction cup mounting plate 21.
Further, a horizontal section of the sucker mounting plate 21 is provided with a bar-shaped groove 22 for reducing the dead weight of the first manipulator 1.
Further, a connecting plate 28 is mounted on top of the first mounting substrate 27, the first mounting substrate 27 is perpendicular to the connecting plate 28, and the connecting plate 28 is located above the ejection mechanism.
Further, a positioning pin hole 29 is formed in the center of the connecting plate 28 for connecting with the robot body.
Further, the rotary cylinder 24 is formed with a first groove, in which a magnetic switch is installed for feeding back the execution state of the rotary cylinder 24 in real time, and the straight cylinder 26 is formed with a second groove, in which a magnetic switch is installed for feeding back the execution state of the straight cylinder 26 in real time.
Further, a protective housing 14 is mounted on one side of the second mounting substrate 4, and a second connection end 15 (cylindrical) is provided on the top of the protective housing 14 for connection with a flange of the robot.
Further, the protective shell 14 is hollow, and an opening is formed at the top of the protective shell 14 for connecting an external control cable and an air pipe loop with the components of the second manipulator 2.
The first manipulator 1 is used for grabbing a folded paper box (the initial state of the folded paper box is horizontal) on the feeding station, grabbing the folded paper box through the sucker, rotating by 90 degrees towards the direction located in the second manipulator 2, facilitating the cooperation with the second manipulator 2 to simulate the action of manually holding the paper box, and completing the closing of the bottom surface of the paper box through the working cooperation with the auxiliary bottom sealing tool 3.
Example 3
On the basis of embodiment 2, as shown in fig. 5 to 7, the bottom surface of the paper box comprises a front bottom plate, a rear bottom plate, a left bottom plate and a right bottom plate, wherein a socket is formed on the rear bottom plate, and a tongue matched with the rear bottom plate is formed on the front bottom plate.
A folding method using the paper cassette folding robot of embodiment 2, comprising the steps of:
(1) The suction cups of the first robot 1 grasp the folded state of the paper cassette (the folded paper cassette is in a horizontal state, and 4 suction cups grasp the rear side plate (the opposite surface of the front side plate 36 in fig. 5) of the paper cassette) on the loading station, as shown in fig. 5;
(2) The rotary cylinder 24 drives the suction cup of the first manipulator 1 to rotate 90 degrees, so that the paper box in a horizontal state rotates to be in a vertical state, at the moment, the left side plate 31 and the right side plate of the paper box are in vertical positions, then the straight-going cylinder 26 drives the roller frame to move forwards, and the roller moves forwards along the right side plate (the opposite surface of the left side plate 31 in fig. 5) of the paper box, so that the paper box is opened (as shown in fig. 6, namely, the four side surfaces of the paper box are unfolded to be rectangular);
(3) The robot adjusts the position of the second manipulator 2 to enable the second manipulator 2 to rotate to the positive position with the first manipulator 1, a sucking disc component of the second manipulator 2 is started to assist in sucking a front side plate 36 of the paper box, and a positioning cylinder 6 of an auxiliary positioning mechanism drives two positioning plates 8 to be relatively folded to clamp a left side plate 31 and a right side plate of the paper box in the step (2);
(4) The robot drives the first mechanical arm 1 and the second mechanical arm 2 to move the paper box to the auxiliary bottom sealing tool, so that the paper box moves towards the lower plate 20, the rear bottom plate 32 of the bottom surface of the paper box is positioned at the front side of the lower plate 20, the front bottom plate 34 is positioned at the front side of the locking plate 19, and then the paper box is driven to move backwards, so that the rear bottom plate 32 is folded inwards, and the locking plate 19 plays a limiting role on the front bottom plate 34 of the bottom surface of the paper box to prevent the rear bottom plate from touching the front bottom plate in the inward folding process;
(5) The robot drives the first mechanical arm and the second mechanical arm to lift the paper box, and in the lifting process, the two driving cylinders 10 of the closing mechanism of the second mechanical arm 2 drive the roller mounting plates 11 to move relatively so as to enable the left bottom plate 33 and the right bottom plate 35 of the paper box to fold inwards and close;
(6) The robot drives the first manipulator 1 and the second manipulator 2 to move to the next station of the auxiliary bottom sealing tool, so that the front bottom plate 34 of the paper box extends between the upper plywood 17 and the auxiliary plate 18, and then drives the paper box to move forwards and downwards, in the moving process, the upper plywood 17 folds the front bottom plate inwards, and simultaneously the auxiliary plate 18 props against the left bottom plate 33 and the right bottom plate 34 to be used for exposing the inserting holes of the rear bottom plate 32, so that the inserting tongues of the front bottom plate 34 are inserted into the inserting holes of the rear bottom plate 32; the front 34, rear 32, left 33 and right 35 bottom panels of the carton bottom are closed, completing the closure of the carton bottom (as shown in fig. 7).
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (6)
1. A robot is folded to carton, its characterized in that: the automatic sealing device comprises a double-arm robot, a driven first manipulator, a driven second manipulator and an auxiliary bottom sealing tool, wherein the first manipulator and the second manipulator are respectively arranged on a driving arm of the double-arm robot and used for driving the first manipulator and the second manipulator to move, and the auxiliary bottom sealing tool is positioned below between the first manipulator and the second manipulator;
The second manipulator comprises a second mounting substrate connected with the robot, a sucker assembly arranged on the second mounting substrate, an auxiliary positioning mechanism and a closing mechanism, wherein the auxiliary positioning mechanism is used for clamping the paper box, and the closing mechanism is used for closing a left bottom plate and a right bottom plate on the bottom surface of the paper box; the auxiliary positioning mechanism comprises a positioning slide rail, two positioning cylinders and two driven positioning plates, wherein the two positioning cylinders are symmetrically arranged on two sides of the positioning slide rail, the positioning slide rail is arranged on a second mounting substrate, the output end of each positioning cylinder is respectively connected with one positioning plate, each positioning plate is slidably arranged on the positioning slide rail through a positioning connecting plate, and the two positioning plates are relatively folded along the positioning slide rail and clamp a paper box conveyed by a first manipulator under the driving of the positioning cylinders;
the closing mechanism comprises a guide slide rail, two driving cylinders symmetrically arranged at two sides of the guide slide rail, two driven roller mounting plates and rollers arranged on the roller mounting plates, the guide slide rail is arranged on the second mounting substrate,
The output end of each driving cylinder is respectively connected with one roller mounting plate, each roller mounting plate is slidably mounted on the guide slide rail, and the two roller mounting plates relatively move along the guide slide rail under the driving of the driving cylinder to enable the left bottom plate and the right bottom plate on the bottom surface of the paper box to be closed;
The auxiliary bottom sealing tool is matched with the first mechanical arm and the second mechanical arm and drives the clamped paper box to move back and forth on the auxiliary bottom sealing tool so as to enable the bottom surface of the paper box to be closed and locked;
The upper plywood and the lower plywood are respectively arranged at two ends of the supporting substrate, the locking plate and the auxiliary plate are arranged between the upper plywood and the lower plywood, the locking plate is positioned at one side close to the lower plywood, and the auxiliary plate is positioned at one side close to the upper plywood;
The upper plate comprises a first horizontal section and a first folding section, the first horizontal section is positioned at the top of the first folding section, an included angle is formed between the first folding section and the horizontal plane, when the paper box is folded, a front bottom plate of the bottom surface of the paper box is inserted between the upper plate and the auxiliary plate, and the front bottom plate is attached to the first folding section;
the lower plywood comprises a second horizontal section and a second folding section, the second horizontal section is positioned at the top of the second folding section, an included angle is formed between the second folding section and the horizontal plane, when the paper box is folded, a rear bottom plate of the bottom surface of the paper box is attached to the second folding section, and meanwhile, the auxiliary board is propped against the front bottom plate;
the first manipulator comprises a first mounting substrate connected with the robot, a grabbing mechanism for grabbing the paper box and an ejection mechanism for opening the folding paper box, wherein the grabbing mechanism is arranged on one side of the first mounting substrate, and the ejection mechanism is arranged on the other side of the first mounting substrate;
the grabbing mechanism comprises a rotary air cylinder, a sucker mounting plate and a sucker, wherein the rotary air cylinder is mounted on the first mounting substrate, the output end of the rotary air cylinder is connected with the sucker mounting plate, and the sucker is mounted at the lower part of the sucker mounting plate and used for grabbing a paper box in a folded state;
The ejection mechanism comprises a straight cylinder and a roller assembly, the straight cylinder is arranged on the first mounting substrate, the output end of the straight cylinder is connected with the roller assembly, and the roller assembly moves forwards along the left side plate and the right side plate of the paper box under the driving of the straight cylinder so as to open the paper box in a folded state.
2. The carton folding robot of claim 1, wherein: one end of the positioning plate is connected with the positioning connecting plate, the positioning connecting plate is in an inverted L shape, and the positioning connecting plate is slidably mounted on the positioning slide rail, so that the two positioning plates are relatively folded along the positioning slide rail to position and clamp the paper box.
3. The carton folding robot of claim 2, wherein: the second roller frame is arranged on the roller mounting plate, and the rollers are arranged on the second roller frame and used for rolling friction between the rollers and the paper box to avoid scratching the paper box when pushing the bottom surface of the paper box.
4. A carton folding robot as claimed in claim 3, wherein: the sucker assembly comprises a plurality of suckers, and each sucker is mounted on the second mounting substrate to be used for sucking the paper box and is matched with the auxiliary positioning mechanism to position the paper box.
5. The carton folding robot of claim 1, wherein: the roller assembly comprises a first roller frame, a roller shaft and rollers, wherein the first roller frame is fixedly arranged at the output end of the straight cylinder, the roller shaft is vertically arranged on the first roller frame, the rollers are arranged on the roller shaft, the roller shaft is arranged on one side, close to the first mounting substrate, of the first roller frame, and the rollers are used for moving forwards along the left side plate and the right side plate of the paper box under the driving of the straight cylinder so as to open the paper box in a folded state.
6. A method of folding a carton using the carton folding robot of any one of claims 1 to 5, comprising the steps of:
(1) The sucking disc of the first manipulator grabs the paper box in a folded state on the feeding station;
(2) The rotary cylinder drives the sucker of the first manipulator to rotate 90 degrees, so that the paper box in a horizontal state rotates to be in a vertical state, at the moment, the left side plate and the right side plate of the paper box are in vertical positions, and then the straight-going cylinder drives the roller frame to move forwards, and the roller moves forwards along the right side plate of the paper box so as to open the paper box;
(3) The robot adjusts the position of the second manipulator to enable the second manipulator to rotate to a position opposite to the first manipulator, a sucking disc component of the second manipulator is started to assist in sucking the front side plate of the paper box, and a positioning cylinder of the auxiliary positioning mechanism drives the two positioning plates to be folded relatively to clamp the left side plate and the right side plate of the paper box in the step (2);
(4) The robot drives the first mechanical arm and the second mechanical arm to move the paper box to the auxiliary bottom sealing tool, so that the paper box moves towards the direction of the lower plate, the rear bottom plate of the bottom surface of the paper box is positioned at the front side of the lower plate, the front bottom plate is positioned at the front side of the locking plate, and then the paper box is driven to move backwards, so that the rear bottom plate is folded inwards, and the locking plate plays a limiting role on the front bottom plate of the bottom surface of the paper box to prevent the rear bottom plate from touching the front bottom plate in the inwards folding process;
(5) The robot drives the first mechanical arm and the second mechanical arm to lift the paper box, and the two driving cylinders of the closing mechanism of the second mechanical arm drive the roller mounting plates to move relatively in the lifting process so that the left bottom plate and the right bottom plate of the paper box are folded inwards to be closed;
(6) The robot drives the first mechanical arm and the second mechanical arm to move to the next station of the auxiliary bottom sealing tool, so that the front bottom plate of the paper box extends between the upper plywood and the auxiliary plate, and then the paper box is driven to move forwards and downwards; the front bottom plate, the rear bottom plate, the left bottom plate and the right bottom plate of the bottom surface of the paper box are closed, and the bottom surface of the paper box is closed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010700716.8A CN111823645B (en) | 2020-07-20 | 2020-07-20 | Carton folding robot and folding method thereof |
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| CN202010700716.8A CN111823645B (en) | 2020-07-20 | 2020-07-20 | Carton folding robot and folding method thereof |
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| KR101596481B1 (en) * | 2014-03-20 | 2016-02-22 | 승리산업(주) | Automatic bending device of box |
| CN106829007B (en) * | 2017-03-22 | 2022-11-25 | 中北大学 | Tongue inserting packaging robot suitable for tray-type paper boxes with multiple specifications |
| CN207077823U (en) * | 2017-07-21 | 2018-03-09 | 深圳市安耐节科技有限公司 | A kind of carton making machine |
| CN208325774U (en) * | 2018-06-11 | 2019-01-04 | 深圳创维数字技术有限公司 | A kind of automatic box-folding machine |
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