CN115384876A

CN115384876A - Automatic packing carton unpacking device of nursing and attending to robot

Info

Publication number: CN115384876A
Application number: CN202211006275.7A
Authority: CN
Inventors: 李俊言
Original assignee: Shandong Ailin Intelligent Technology Co Ltd
Current assignee: Shandong Ailin Intelligent Technology Co Ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2022-11-25

Abstract

The application discloses an automatic carton unpacking device for a packaging box of an old-aged care robot, which belongs to the technical field of a dismounting device and comprises an automatic carton unpacking assembly line and a control system of the automatic carton unpacking assembly line; automatic unpacking case assembly line includes feed mechanism, disassembly body, transport mechanism and joint sealing mechanism, the control system of automatic unpacking case assembly line includes main power module, relay control module, PLC module and motor drive module, and the packing carton of unpacking is often artifical to be unpacked or some devices are unpacked, and some big packing carton are difficult to accomplish alone, and artifical the unpacking is wasted time and energy, and equipment unpacking case also often is some semi-automatization's equipment, and it is not very ideal in replacing artificial operation, and this device is unpacked the packing carton and need not the manual unpacking of operating personnel, and the packing carton can realize full automatization completion from flattening state bottom joint sealing, can replace manual work's characteristics completely.

Description

Automatic packing carton unpacking device of nursing and attending to robot

Technical Field

The invention discloses an automatic box unpacking device for a packing box of an old-age accompanying and attending robot, and belongs to the technical field of disassembling devices.

Background

The packing box is used for loading objects, facilitates the transportation and storage of objects, and is usually in a flat state before goods are packaged, people usually disassemble the packing box, the two sides of the bottom are folded, the bottom end is pasted with an adhesive tape for sealing, and the packing box is usually disassembled manually or some devices are disassembled manually before the packing box is used.

For example, on 23/11/2021, a semi-automatic carton sealing device with publication number CN214824608U is disclosed, which comprises a workbench, a fixing mechanism, a carton sealing mechanism and a limiting mechanism, wherein the workbench is provided with a mounting hole, the fixing mechanism is connected to the workbench and located in the mounting hole, the fixing mechanism is connected with the carton sealing mechanism, the fixing mechanism is provided with an assembling hole matched with the carton sealing mechanism, the carton sealing mechanism is detachably mounted on the fixing mechanism, the fixing mechanism is detachably mounted on the workbench, the carton sealing mechanism can be mounted on the workbench through the first connecting piece and the second connecting piece, the carton sealing mechanism has fewer parts and low cost, manpower and material resources are saved, the carton sealing mechanism is conveniently mounted, the carton sealing mechanism is detachably mounted, the carton sealing mechanism is convenient to maintain or clean, the limiting mechanism is used for limiting packaging boxes with various sizes, so that the carton sealing mechanism seals the adhesive tapes, and the device can realize carton sealing of paper cases, but still has the following defects:

1. the adhesive tape sealing mechanism only has a packaging box, does not have the automatic feeding, the dismounting and the transporting mechanism of the packaging box, is single in structure, has the defects that the packaging box of the nursing and accompanying robot is too large, if the manual feeding, the dismounting and the transporting are adopted, the manpower saving is not good, the requirement for full-automatic packaging of the nursing and accompanying robot is not met, and the packaging efficiency of the nursing and accompanying robot is low.

2. When the joint sealing is carried out, manual intervention operation is needed, the labor degree of replacing manual operation is extremely limited, the automation degree is low, and especially if the product package with large volume facing to the nursing and accompanying robot can not be automatically sealed, a plurality of persons are needed to cooperate to carry out joint sealing, so that time and labor are wasted.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the automatic box unpacking device for the packing box of the nursing and attending robot, which is suitable for the full-automatic packing of products with large volume of the nursing and attending robot, realizes the full-automatic loading, dismantling, transporting and box sealing processes of the packing box, has high automation degree, does not need manual intervention in the packing process, is convenient to use, has high packing efficiency of the nursing and attending robot, and saves time and labor in the packing process.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic packing box unpacking device of an old care robot comprises an automatic packing box unpacking assembly line and a control system of the automatic packing box unpacking assembly line;

the automatic unpacking assembly line comprises a feeding mechanism, a unpacking mechanism, a conveying mechanism and a packing mechanism; the feeding mechanism is used for orderly conveying the packing boxes to the disassembling mechanism, the disassembling mechanism is used for separating the flattened packing boxes to form a three-dimensional packing box, the bottoms of the packing boxes are subjected to front and back folding embedding on two sides, the folded and embedded packing boxes are pushed to the conveying mechanism, the conveying mechanism is used for conveying the packing boxes to the sealing position of the adhesive tape and fixing and conveying the packing boxes at the sealing position of the adhesive tape, and the sealing mechanism is used for automatically sealing the packing boxes with the bottom folded and embedded;

feed mechanism is equipped with the flitch including storing the piece in the storage, and the flitch of going up is inlayed in storing the piece, and the flitch below of going up is connected with packing carton screw track, is equipped with 3# limit switch and 4# limit switch on the storage piece, disassembly body includes the separator, and the separator is located the top of storing the piece, and the top of separator is equipped with and snatchs the cylinder, and the end of snatching the cylinder is equipped with a plurality of sucking discs, it is equipped with 1# limit switch and 2# limit switch on the cylinder to snatch.

Furthermore, the dismounting mechanism comprises a separating part (4), the separating part (4) is located above the storage part (5), a grabbing cylinder (1) is arranged above the separating part (4), a plurality of suckers (15) are arranged at the tail end of the grabbing cylinder (1), a 1# limit switch (2) and a 2# limit switch (3) are arranged on the grabbing cylinder (1), the dismounting mechanism further comprises a front and back turning cylinder, the front and back turning cylinder is located obliquely below the grabbing cylinder, the front and back turning cylinder is connected with a front and back turning device, one end of the front and back turning device is connected with the tail ends of two sides of the front and back turning cylinder, the tail end of the other side of the front and back turning cylinder is provided with two parallel iron rods, and the front and back turning cylinder is provided with a 19# limit switch and a 20# limit switch;

the disassembling mechanism further comprises two-side turning cylinders, the two-side turning cylinders are located obliquely below the grabbing cylinder and connected with two-side turning devices, one ends of the two-side turning devices are connected with two side tail ends of the two-side turning cylinders, two parallel iron rods are arranged at the tail end of the other side of the two-side turning devices, and the two-side turning cylinders are provided with 21# limit switches and 22# limit switches;

the disassembly mechanism further comprises a push-out cylinder, the push-out cylinder is located between the separating piece and the grabbing cylinder, and a 5# limit switch and a 6# limit switch are arranged on the push-out cylinder.

Further, transport mechanism includes the roller conveyer belt, and roller conveyer belt both sides are provided with the slider of take the altitude, open the middle section position of roller conveyer belt has a rectangle opening, is equipped with 1# photoelectric switch below the rectangle open-ended, is equipped with in rectangle open-ended top and compresses tightly the track, compresses tightly to be equipped with on the track and compresses tightly the cylinder, it is equipped with 17# limit switch and 18# limit switch on the track to compress tightly, it is equipped with 9# limit switch and 10# limit switch on the cylinder to compress tightly.

Furthermore, the joint sealing structure is located below the opening of the roller conveying belt, and comprises an adhesive tape roller, a guide roller and an adhesive tape adsorber, wherein small pores for connecting negative pressure are distributed on the surface of the adhesive tape adsorber, an adhesive tape cylinder is arranged below the adhesive tape adsorber, an 11# limit switch and a12 # limit switch are arranged on the adhesive tape cylinder, a 2# photoelectric switch is arranged between the adhesive tape adsorber and the guide roller, a shear is further arranged at the tail end of the adhesive tape adsorber, the shear is connected with a shear moving cylinder, a 15# limit switch and a 16# limit switch are arranged on the shear moving cylinder, one side of the shear is fixed, the other side of the shear is connected with a shear cutting cylinder, and a13 # limit switch and a 14# limit switch are arranged on the shear cutting cylinder.

Furthermore, the control system of assembly line includes main power source module, relay control module, PLC module and motor drive module, and main power source module is used for providing the power supply for control system, and relay control module and motor drive module are connected to the PLC module.

Further, main power supply module, including the three-phase power cord, the three-phase power cord is connected with the one end of circuit breaker, and the circuit breaker other end is connected with driver one end, and the driver other end is connected with the motor, and the motor is used for driving the action of roller conveyer belt, the circuit breaker other end still is connected with switching power supply's one end, and switching power supply is used for converting interchange 380 into 24 direct currents for provide direct current power supply for touch-sensitive screen and PLC.

Further, relay control module, including intermediate relay normally open contact, intermediate relay normally open contact one end is connected with the solenoid valve, the 0V line is connected to the solenoid valve other end, the relay realizes through control solenoid valve that control snatchs the cylinder, release cylinder, roll over the cylinder around, roll over the cylinder, both sides roll over the cylinder, compress tightly the cylinder, scissors moving cylinder, the cylinder is tailor to the scissors, opening of sticky tape cylinder and sucker valve stops, intermediate relay normally open contact one end still is connected with pilot lamp one end, the 0V line is still connected to the pilot lamp other end for opening of control pilot lamp stops.

Further, the PLC module comprises a CPU (central processing unit) U1, is the core of the whole control system, and controls the starting and stopping of a motor, the starting and stopping of a cylinder, the starting and stopping of an indicator light, a detection limit switch, a photoelectric switch and the running state data of a detection device;

a 232 communication serial port of the CPU unit U1 is connected with a touch screen communication end and is used for communication between an automatic unpacking box assembly line control system and a touch screen, an L + pin and an M pin of the CPU unit U1 are connected with a +24V line and a 0V line, the part is used for a power supply of the CPU unit U1, the M pin, the 1M pin, the 2M pin and the 3M pin of the CPU unit U1 are connected with the 0V line, the L pin, the 1L pin, the 2L pin and the 3L pin of the CPU unit U1 are connected with the +24V line, and the part is used for public wiring of each control pin of the CPU unit U1;

the input end of the CPU unit U1 is connected with one end of a contact switch, the other end of the contact switch is connected with a +24V line, and the part is used for detecting the motor faults of the roller conveyer belt, the state of a limit switch, the state of a photoelectric switch and the state of a device knob;

the output end of the CPU unit U1 is connected with one end of an intermediate relay coil, the other end of the one end of the intermediate relay coil is connected with a 0V wire, and the part is used for starting and stopping control of a grabbing cylinder, a pushing cylinder, a front and back folding cylinder, two side folding cylinders, a pressing cylinder, a scissors moving cylinder, a scissors cutting cylinder, an adhesive tape cylinder, a sucker valve and an indicator light.

Further, the motor driving module comprises a driver Q1, a driver Q2 and a driver Q3;

the driver Q1 is connected with a roller conveyer belt servo motor and is used for controlling the starting, stopping and running speed of the roller conveyer belt servo motor and feeding back the running state of the motor to the PLC module part;

the driver Q2 is connected with a tracking roller servo motor M2 and used for controlling the starting, stopping and running speed of the tracking roller servo motor M2 and feeding back the running state of the motor to the PLC module part;

and the driver Q3 is connected with a compression track stepping motor and is used for controlling the starting, stopping and running speed of the compression track stepping motor.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

1. this device is equipped with feed mechanism, feed mechanism is including storing the piece, be used for storing the packing carton, the bottom of storing the piece is equipped with packing carton step motor, be used for lifting the packing carton and moving to the opening part of storing the piece, still be equipped with limit switch on the storage piece, be used for detecting how much of storage piece inner packing carton quantity, consequently, this device can be according to how much of storage piece inner packing carton quantity, can realize the automated inspection and the automatic feeding of the bulky packing carton of endowment attendant robot, the packing carton material loading is convenient, use manpower sparingly.

2. This device still is equipped with disassembly body, disassembly body includes the separator, a packing carton for separating into three-dimensional packing carton to shakeout, the top of separator is equipped with and snatchs the cylinder, a packing carton for automatically snatching in the storage piece, the below that snatchs the cylinder is equipped with the front and back and rolls over the utensil with the book of both sides and turn over the utensil, a packing carton bottom for will snatching the cylinder department, front and back and both sides crease department packing carton gomphosis is to one, when facing like the great packing carton of this kind of volume of nursing robot, need not a plurality of manual works and assist the unpacking, also can realize the folding around the packing carton bottom both sides, time saving and labor saving.

3. This device still is equipped with transport mechanism, a packing carton for transporting the sticky tape joint sealing department with bottom gomphosis, transport mechanism includes the roller conveyer belt, roller conveyer belt both sides are equipped with the slider of take the altitude, a packing carton is fixed for in both sides, the below of roller conveyer belt is equipped with 1# off electric switch, a position for detecting packing carton arrival sticky tape joint sealing department, top at 1# photoelectric switch is equipped with the pressure track and compresses tightly the cylinder, a fixed and removal packing carton when being used for the sticky tape joint sealing, can realize the automatic transport and the position detection of packing carton, avoided the removal because the packing carton when the joint sealing, and the sticky tape joint sealing offset that arouses with paste insecure, make the joint sealing firm in the packaging process of endowment accompanying and attending to the robot, reduce in the transportation firmly lead to the problem that endowment and attending to the robot spills from the packing carton bottom inadequately because of packing carton joint sealing, endowment and attending to the robot transportation security has improved.

4. This device still is equipped with joint sealing mechanism, is located the below of roller conveyer belt, and the joint sealing structure includes that sticky tape roller, guide roll, 2# photoelectric switch, sticky tape adsorber and sticky tape cut out the ware, the sticky tape roller is used for placing the sticky tape of lapping, and the guide roll is used for correcting the direction that the sticky tape gos forward, and 2# photoelectric switch is used for detecting the sticky tape having or not, and the sticky tape adsorber is used for adsorbing the sticky tape, and the sticky tape is cut out the ware and is used for cutting out the sticky tape that the joint sealing finishes, can realize the automated inspection and the sticky tape automatic paste separation of sticky tape, improves joint sealing efficiency.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale and oriented in practice.

FIG. 1 is a schematic structural view of a box unpacking assembly line according to the present invention;

FIG. 2 is an electrical schematic diagram of a main power module portion of the control system of the automatic unpacking assembly line;

FIG. 3 is an electrical schematic diagram of a relay control module of the control system of the automatic unpacking assembly line;

FIG. 4 is an electrical schematic of the PLC module portion of the control system of the automatic unpacking assembly line;

FIG. 5 is an electrical schematic of a motor drive module portion of the control system of the automatic carton unpacking assembly line;

FIG. 6 is a partial flow chart of a method implemented in the present invention.

Detailed Description

Embodiment 1, an automatic unpacking device of packing carton of nursing and attending to robot, includes the automatic unpacking assembly line and the control system of automatic unpacking assembly line.

As shown in fig. 1, the automatic box-sealing assembly line includes a feeding mechanism, a dismounting mechanism, a transporting mechanism and a box-sealing mechanism.

The feeding mechanism is used for conveying the packing boxes to the disassembling mechanism in order;

the disassembly mechanism is used for separating the flattened packing boxes to form a three-dimensional packing box, folding and embedding the bottoms of the packing boxes from front to back at two sides, and pushing the folded and embedded packing boxes to the transportation mechanism;

the conveying mechanism is used for conveying the packaging box to the sealing position of the adhesive tape, and fixing and conveying the packaging box at the sealing position of the adhesive tape;

and the box sealing mechanism is used for automatically sealing the packing box with the bottom folded and embedded.

The feeding mechanism comprises a storage piece 5, the storage piece 5 is used for storing packing boxes, a feeding plate 45 is arranged in the storage piece 5, the feeding plate 45 is embedded in the storage piece 5, a packing box thread rail 9 is connected below the feeding plate 45, the packing box thread rail 9 is driven by a packing box stepping motor, the feeding plate 45 can move up and down in the storage piece 5, a 3# limit switch 6 and a 4# limit switch 7 are arranged on the storage piece 5, the 3# limit switch 6 and the 4# limit switch 7 are connected with a control system and used for detecting the number of the packing boxes in the storage piece 5, when the feeding plate 45 is driven by the packing box stepping motor, the thickness of the packing box is flattened each time, the packing boxes in the storage piece 5 are lifted to move to the upper opening of the storage piece 5, when the feeding plate 45 moves to the 3# limit switch 6, the control system alarms and stops, the storage piece 5 is prompted to add no material to the packing boxes, an operator packs, and the feeding plate 45 descends to the 4# limit switch 7, when the 3# limit switch 6 detects that the packing boxes are put in place and the device is started again.

The disassembling mechanism comprises a separating part 4, the separating part 4 is located above a storage part 5, the upper opening and the lower opening are in a horn shape, the lower opening is larger than the upper opening in size, the width of the upper opening is equal to the width of a cubic body separated from a packing box, a grabbing cylinder 1 is arranged above the separating part 4, a plurality of suckers 15 are arranged at the tail end of the grabbing cylinder 1, the suckers 15 are controlled by sucker valves and used for sucking the packing box, a 1# limit switch 2 and a 2# limit switch 3 are arranged on the grabbing cylinder 1, and the 1# limit switch 2 and the 2# limit switch 3 are connected with a control system and used for detecting the stretching position and retracting position of the grabbing cylinder 1, when the grabbing cylinder 1 stretches out, the suckers 15 suck the flatly-out packing box in the storage part 5 and then grab the cylinder 1 for retracting.

The dismounting mechanism further comprises a front and rear folding cylinder 13, the front and rear folding cylinder 13 is located obliquely below the grabbing cylinder 1, the front and rear folding cylinder 13 is connected with a front and rear folding device 46, the front and rear folding device 46 is similar to a scissors in shape, one end of the front and rear folding device 46 is connected with the two ends of the front and rear folding cylinder 13, the other end of the front and rear folding device 46 is provided with two parallel iron rods, the front and rear folding device 46 is driven by the front and rear folding cylinder 13, when the folding cylinder 46 retracts, the two iron rods at the end of one side of the front and rear folding device 46 are gathered together to drive the bottom end of the packaging box at the front and rear crease of the packaging box to be gathered together, when the front and rear folding cylinder 13 extends, the two iron rods at the end of one side of the front and rear folding device 46 are opened to be located on a horizontal plane, the front and rear folding cylinder 13 is provided with a 19# limit switch 38 and a 20# limit switch 39, and the 19# limit switch 38 and the 20# limit switch 39 are connected with a control system for detecting the position when the front and rear folding cylinder 13 retracts,

the disassembling mechanism further comprises two side turning cylinders 14, the two side turning cylinders 14 are located below the grabbing cylinder 1 in an inclined mode, the two side turning cylinders 14 are connected with two side turning devices 47, the two side turning devices 47 are similar to scissors in shape, one ends of the two side turning devices 47 are connected with two side ends of the two side turning cylinders 14, the other ends of the two sides are provided with two parallel iron rods, the two side turning devices 47 are driven by the two side turning cylinders 14, when the two side turning cylinders 14 retract, the two iron rods at the ends of one sides of the two side turning devices 47 are gathered together to drive the bottom ends of the packaging boxes at the creases on the two sides of the packaging boxes to be gathered together, the two gathered iron rods are also used for supporting the packaging boxes when moving towards the conveying mechanism, when the two side turning cylinders 14 extend out, the two iron rods at the ends of one sides of the two side turning devices 47 are opened to be located on a horizontal plane, the two side turning cylinders 14 are provided with 21

# limit switches

40 and 22# limit switches 41, and the 21

# limit switches

40 and 22# limit switches 41 are connected with a control system, and the 21# limit switches 41 are used for detecting positions of the two side turning cylinders 14 when the two side turning cylinders retract.

The dismounting mechanism further comprises a pushing-out air cylinder 11, the pushing-out air cylinder 11 is located between the separating piece 4 and the grabbing air cylinder 1 and used for pushing the packaging box to the conveying mechanism, a 5# limit switch 10 and a 6# limit switch 12 are arranged on the pushing-out air cylinder 11, the 5# limit switch 10 and the 6# limit switch 12 are connected with a control system and used for detecting the retracting position and the extending position of the pushing-out air cylinder 11, when the grabbing air cylinder 1 grabs the packaging box to retract, the front and rear folding air cylinders 13 extend after the front and rear folding air cylinders 13 retract in place, then the two side folding air cylinders 14 retract, the suckers 15 are closed after the two side folding air cylinders 14 retract in place, the pushing-out air cylinder 11 pushes the packaging box to the conveying mechanism, after the pushing-out air cylinder 11 pushes out in place, the two side folding air cylinders 14 extend out, the suckers 15 are opened, the pushing-out air cylinder 11 retracts, and the next packaging box arrives.

The transportation mechanism comprises a roller conveyer belt 36, sliders with a certain height are arranged on two sides of the roller conveyer belt 36 and used for fixing the position of a packaging box and facilitating the movement and transportation of the packaging box, a rectangular opening is formed in the middle position of the roller conveyer belt 36, a 1# photoelectric switch 22 is arranged below the rectangular opening, the 1# photoelectric switch 22 is connected with a control system and used for detecting the position of the packaging box, a pressing track 37 is arranged above the rectangular opening, a pressing air cylinder 16 is arranged on the pressing track 37, the pressing track 37 is driven by a pressing track stepping motor and can enable the pressing air cylinder 16 to move back and forth on the

pressing track

37, 17

# limit switches

19 and 18# limit switches 20 are arranged on the pressing track 37, the 17

# limit switches

19 and 18# limit switches 20 are connected with the control system and used for detecting the limit positions of the back and forth movement of two sides of the pressing air cylinder 16, 9

# limit switches

17 and 10# limit switches 18 are connected with the control system and used for detecting the retracted and extended positions of the packaging box, when the packaging box is pushed out by a push-out air cylinder 11, the packaging box reaches the position of the packaging box, and the packaging box, the packaging box is prevented from moving box from moving under the packaging box by the pressing air cylinder 16 and the packaging box from moving cylinder 16, and the packaging box.

The box sealing structure is positioned below an opening of a roller conveying belt 36 and comprises an adhesive tape roller 23, a guide roller 24 and an adhesive tape absorber 26, wherein the adhesive tape roller 23 is used for placing a coiled adhesive tape, the guide roller 24 is used for correcting the advancing direction of the adhesive tape, small pores connected with negative pressure are distributed on the surface of the adhesive tape absorber 26 and can absorb the adhesive tape to the surface of the adhesive tape absorber, an adhesive tape cylinder 34 is arranged below the adhesive tape absorber 26 and is used for pushing out the adhesive tape absorber 26, an 11# limit switch 28 and a12 # limit switch 29 are arranged on the adhesive tape cylinder 34, the 11# limit switch 28 and the 12# limit switch 29 are connected with a control system and are used for detecting the extending and retracting positions of the adhesive tape cylinder 34, a 2# photoelectric switch 25 is arranged between the adhesive tape absorber 26 and the guide roller 24, the 2# photoelectric switch 25 is connected with the control system and is used for detecting the existence of the adhesive tape, scissors 35 are further arranged at the tail end of the adhesive tape absorber 26, the scissors 35 is connected with a scissors moving cylinder 42, a 15# limit switch 43 and a 16# limit switch 44 are arranged on the scissors moving cylinder 42, the 15# limit switch 43 and the 16# limit switch 44 are connected with a control system and used for detecting the extending and retracting positions of the scissors 35, one side of the scissors 35 is fixed, the other side of the scissors 35 is connected with a scissors cutting cylinder 32, a13 # limit switch 30 and a 14# limit switch 31 are arranged on the scissors cutting cylinder 32, the 13# limit switch 30 and the 14# limit switch 31 are connected with the control system and used for detecting the extending and retracting positions of the scissors cutting cylinder 32, when a packaging box is conveyed to a 1# photoelectric switch 22, the pressing cylinder 16 extends out, the adhesive tape cylinder 34 extends out at the same time, the adhesive tape is pasted in the middle of the packaging box, the roller conveyor belt 36 and the pressing cylinder 16 stop after moving to the distance of one packaging box, the scissors moving cylinder 42 extends out, the scissors 35 are moved to the position where the packaging box and the adhesive tape are connected, after the control system judges that the scissors 35 are moved in place, the scissors cutting air cylinder 32 extends out to cut the adhesive tape, then the scissors cutting air cylinder 32, the scissors moving air cylinder 42, the adhesive tape air cylinder 34 and the pressing air cylinder 16 retract, and then the roller conveyer belt 36 conveys the packaging box which is sealed to move to the packing position of the packaging box.

The control system of the automatic unpacking box assembly line comprises a main power supply module, a relay control module, a PLC module and a motor driving module, wherein the main power supply module supplies power for the control system, the relay control module controls the opening and the closing of a loop for the control system, the PLC module is connected with the relay control module and the motor driving module, the PLC module is the core part of the system, the PLC module is the center for receiving and sending signals of the control system, and the motor driving module is a mechanism for driving and acquiring information of the system.

The main power module comprises a three-phase power line, the three-phase power line is connected with one end of a circuit breaker, the other end of the circuit breaker is connected with one end of a driver, the other end of the driver is connected with a roller conveyer belt servo motor and used for providing power for the roller conveyer belt servo motor, the other end of the circuit breaker is further connected with one end of a switch power supply, the other end of the switch power supply is connected with a touch screen and a PLC (programmable logic controller), the touch screen and the PLC are used for providing power for the touch screen and the PLC, and the switch power supply is further used for providing a 24V power supply for other electrical appliances.

As shown in fig. 2, the three-phase power supply includes an R line, an S line, a T line and an N line, the R line, the S line, the T line and the N line of the three-phase power supply are connected with one end of a breaker QF1, the other end of the breaker QF1 is connected with an L1 line, an L2 line, an L3 line and an N line of the three-phase power supply, the L1 line, the L2 line and the L3 line of the three-phase power supply are connected with one end of a breaker QF2, the other end of the breaker QF2 is connected with one end of a driver Q1, the other end of the driver Q1 is connected with a roller conveyer belt servo motor, the part is used for providing power to the roller conveyer belt servo motor, the part is used for providing power to one end of a breaker QF3, the other end of the breaker QF3 is connected with one end of a switching power supply LRS-200-24, the other end of the switching power supply is connected with a +24V line and a 0V line, the +24V line and the 0V line are connected with one end of a touch screen and a PLC, the part is used for providing power to other electrical appliances, and the +24V line is also used for providing power supply for providing a direct current 24V to other electrical appliances.

Relay control module, including intermediate relay normally open contact, intermediate relay normally open contact is connected with the solenoid valve coil for control snatchs the cylinder, releases the cylinder, rolls over cylinder, both sides around, rolls over cylinder, compresses tightly cylinder, scissors removal cylinder, scissors and cuts out opening of cylinder, sticky tape cylinder and sucking disc valve and open, intermediate relay normally open contact still is connected with the pilot lamp, is used for opening of control pilot lamp and stops.

As shown in FIG. 3, the relay control module comprises an intermediate relay KA1 normally open contact, one end of the intermediate relay KA1 normally open contact is connected with a +24V line, the other end of the intermediate relay KA1 normally open contact is connected with one end of a solenoid valve YV1 coil, the other end of the solenoid valve YV1 coil is connected with a 0V line, the normally open contact is used for controlling the starting and stopping of the grabbing cylinder, the relay control module comprises an intermediate relay KA2 normally open contact, one end of the intermediate relay KA2 normally open contact is connected with a +24V line, the other end of the intermediate relay KA2 normally open contact is connected with one end of a solenoid valve YV2 coil, the other end of the solenoid valve YV2 coil is connected with a 0V line, the normally open contact is used for controlling the starting and stopping of the pushing cylinder, the relay control module comprises an intermediate relay KA3 normally open contact, one end of the intermediate relay KA3 normally open contact is connected with a +24V line, the other end of the intermediate relay KA3 contact is connected with one end of a solenoid valve YV3 coil, the other end of the solenoid valve YV3 coil is connected with a 0V wire, the part is used for controlling the start and stop of the front and back turnover cylinders, the relay control module comprises an intermediate relay KA4 normally open contact, one end of the intermediate relay KA4 normally open contact is connected with a +24V wire, the other end of the intermediate relay KA4 normally open contact is connected with one end of the solenoid valve YV4 coil, the other end of the solenoid valve YV4 coil is connected with a 0V wire, the part is used for controlling the start and stop of the two side turnover cylinders, the relay control module comprises an intermediate relay KA5 normally open contact, one end of the intermediate relay KA5 normally open contact is connected with a +24V wire, the other end of the intermediate relay KA5 normally open contact is connected with one end of the solenoid valve YV5 coil, the other end of the solenoid valve YV5 coil is connected with a 0V wire, the part is used for controlling the start and stop of the compression cylinder, the relay control module comprises an intermediate relay KA6 contact, intermediate relay KA6 normally open contact one end is connected with +24V line, the intermediate relay KA6 normally open contact other end is connected with the one end of solenoid valve YV6 coil, 0V line is connected to the other end of solenoid valve YV6 coil, this part is used for controlling opening and stopping of scissors moving cylinder, relay control module includes intermediate relay KA7 normally open contact, intermediate relay KA7 normally open contact one end is connected with +24V line, the intermediate relay KA7 normally open contact other end is connected with the one end of solenoid valve YV7 coil, 0V line is connected to the other end of solenoid valve YV7 coil, this part is used for controlling opening and stopping of scissors cutting cylinder, relay control module includes intermediate relay KA8 normally open contact, intermediate relay KA8 normally open contact one end is connected with +24V line, the intermediate relay KA8 normally open contact other end is connected with the one end of solenoid valve YV8 coil, the other end of solenoid valve YV8 coil is connected with 0V line, this part is used for controlling opening and stopping of sticky tape cylinder, relay control module includes intermediate relay KA9 normally open contact, intermediate relay KA9 normally open contact one end is connected with +24V line, the other end of intermediate relay YV9 coil is connected with the solenoid valve connection dish, this part is used for opening and stops.

The relay control module further comprises an intermediate relay KA10 normally open contact, one end of the intermediate relay KA10 normally open contact is connected with a +24V line, the other end of the intermediate relay KA4 normally open contact is connected with one red end of an indicator light, the other red end of the indicator light is connected with a 0V line, the part is used for controlling the red start and stop of the indicator light, the relay control module further comprises an intermediate relay KA11 normally open contact, one end of the intermediate relay KA11 normally open contact is connected with a +24V line, the other end of the intermediate relay KA11 normally open contact is connected with one green end of the indicator light, the other end of the indicator light is connected with a 0V line, the part is used for controlling the green start and stop of the indicator light, the relay control module further comprises an intermediate relay KA12 normally open contact, one end of the intermediate relay KA12 normally open contact is connected with a +24V line, the other end of the intermediate relay KA12 normally open contact is connected with one yellow end of the indicator light, the other yellow end of the indicator light is connected with a KA 0V line, the part is used for controlling the yellow start and stop of the indicator light, the relay control module further comprises an intermediate relay 13 normally open contact, one end of the buzzer, and the buzzer connection of the indicator light is connected with a buzzer.

The PLC module comprises a CPU unit U1, is the core of the whole control system, and controls the starting and stopping of a motor, the starting and stopping of a cylinder, the starting and stopping of an indicator light, a detection limit switch, a photoelectric switch and the running state data of a detection device.

As shown in fig. 4, a 232 communication serial port of the CPU unit U1 is connected to a touch screen communication end for communication between an automatic unpacking box assembly line control system and the touch screen, an L + pin and an M pin of the CPU unit U1 are connected to a +24V line and a 0V line, which are used for a power supply of the CPU unit U1, the M pin, the 1M pin, the 2M pin and the 3M pin of the CPU unit U1 are connected to a 0V line, the L pin, the 1L pin, the 2L pin and the 3L pin of the CPU unit U1 are connected to a +24V line, which are used for common connection of each control pin of the CPU unit U1.

The input end of the CPU unit U1 is connected with a contact switch, and the input end of the CPU unit U1 detects the states of the roller conveyor belt motor, the limit switch, the photoelectric switch and the device knob through the contact switch.

The I0.0 pin of the CPU unit U1 is connected with one end of a contact switch K1, the other end of the contact switch K1 is connected with a +24V line, the part is used for detecting faults of a roller conveyor belt motor, the I0.1 pin of the CPU unit U1 is connected with one end of a contact switch K2, the other end of the contact switch K2 is connected with the +24V line, the part is used for detecting faults of a 1# limit switch, the I0.2 pin of the CPU unit U1 is connected with one end of a contact switch K3, the other end of the contact switch K3 is connected with the +24V line, the part is used for detecting a 2# limit switch, the I0.3 pin of the CPU unit U1 is connected with one end of a contact switch K4, the other end of the contact switch K4 is connected with the +24V line, the I0.4 pin of the CPU unit U1 is connected with one end of a contact switch K5, the other end of the contact switch K5 is connected with the +24V line, and the part is used for detecting a 4# limit switch, the pin I0.5 of the CPU unit U1 is connected with one end of a contact switch K6, the other end of the contact switch K6 is connected with a +24V line, the other end of the contact switch K6 is used for detecting a 5# limit switch, the pin I0.6 of the CPU unit U1 is connected with one end of a contact switch K7, the other end of the contact switch K7 is connected with a +24V line, the pin I0.7 of the CPU unit U1 is connected with one end of a contact switch K8, the other end of the contact switch K8 is connected with a +24V line, the pin I1.0 of the CPU unit U1 is connected with one end of a contact switch K9, the other end of the contact switch K9 is connected with a +24V line, the other end of the contact switch K10 is used for detecting an 8# limit switch, the pin I1.1 of the CPU unit U1 is connected with one end of a contact switch K10, the other end of the contact switch K10 is connected with a +24V line, the pin I1.2 of the CPU unit U1 is connected with one end of a contact switch K11, the other end of the contact switch K11 is connected with a +24V line, the other end of the contact switch K12 is connected with a11 # limit switch for detection, the pin I1.3 of the CPU unit U1 is connected with one end of a contact switch K13, the other end of the contact switch K13 is connected with a +24V line, the other end of the contact switch K12 is connected with a12 # limit switch for detection, the pin I1.5 of the CPU unit U1 is connected with one end of a contact switch K14, the other end of the contact switch K14 is connected with a +24V line, the other end of the contact switch K13 is connected with a13 # limit switch for detection, the pin I1.6 of the CPU unit U1 is connected with one end of a contact switch K15, the other end of the contact switch K15 is connected with a +24V line, the pin I1.7 of the CPU unit U1 is connected with one end of a contact switch K16, the other end of the contact switch K16 is connected with a +24V line, the part is used for detecting a 15# limit switch, the pin I2.0 of the CPU unit U1 is connected with one end of a contact switch K17, the other end of the contact switch K17 is connected with a +24V line, the part is used for detecting a 16# limit switch, the pin I2.1 of the CPU unit U1 is connected with one end of a contact switch K18, the other end of the contact switch K18 is connected with a +24V line, the part is used for detecting a 17# limit switch, the pin I2.2 of the CPU unit U1 is connected with one end of a contact switch K19, the other end of the contact switch K19 is connected with a +24V line, the part is used for detecting a 18# limit switch, the pin I2.3 of the CPU unit U1 is connected with one end of a contact switch K20, the other end of the contact switch K20 is connected with a +24V line, the part is used for detecting a 19# limit switch, the pin I2.4 of the CPU unit U1 is connected with one end of a contact switch K21, the other end of the contact switch K21 is connected with a +24V line, the detection part is used for detection of a 20# limit switch, the pin I2.5 of the CPU unit U1 is connected with one end of a contact switch K22, the other end of the contact switch K22 is connected with a +24V line, the detection part is used for detection of a 21# limit switch, the pin I2.6 of the CPU unit U1 is connected with one end of a contact switch K23, the other end of the contact switch K23 is connected with a +24V line, the detection part is used for detection of a 22# limit switch, the pin I2.7 of the CPU unit U1 is connected with one end of a contact switch K24, the other end of the contact switch K24 is connected with a +24V line, the detection part is used for detection of a 2# photoelectric switch, the pin I3.1 of the CPU unit U1 is connected with one end of a switch S1, the other end of the knob switch S1 is connected with a +24V line, the detection part is used for detection of equipment manual/automatic, the pin I3.1 of the CPU unit U1 is connected with one end of a switch S1, and the detection part is connected with a button S2V line.

The output end of the CPU unit U1 is connected with an intermediate relay coil, and the output end of the CPU unit U1 controls the intermediate relay coil to realize the starting and stopping of a grabbing cylinder, a pushing cylinder, a front and back folding cylinder, two side folding cylinders, a pressing cylinder, a scissors moving cylinder, a scissors cutting cylinder, a rubber belt cylinder, a sucker valve and an indicator light.

One end of a Q0.6 pin of the CPU unit U1 is connected with one end of an intermediate relay coil KA1, the other end of the intermediate relay coil KA1 is connected with a 0V line, the other end of the intermediate relay coil KA1 is used for controlling the grabbing of the starting of the air cylinder, a Q0.7 pin of the CPU unit U1 is connected with one end of an intermediate relay coil KA2, the other end of the intermediate relay coil KA2 is connected with the 0V line, the other end of the intermediate relay coil KA2 is used for controlling the pushing of the starting of the air cylinder, the Q1.1 pin of the CPU unit U1 is connected with one end of an intermediate relay coil KA4, the other end of the intermediate relay coil KA4 is connected with the 0V line, the other end of the intermediate relay coil KA3 is used for controlling the starting of the two-side overturning air cylinders, the Q1.2 pin of the CPU unit U1 is connected with one end of an intermediate relay coil KA5, and the other end of the intermediate relay coil 5 is connected with the 0V line, the part is used for controlling the starting of a pressing cylinder, a pin Q1.3 of the CPU unit U1 is connected with one end of a coil of an intermediate relay KA6, the other end of the coil of the intermediate relay KA6 is connected with a 0V wire, the part is used for controlling the starting of a scissor moving cylinder, a pin Q1.4 of the CPU unit U1 is connected with one end of a coil of the intermediate relay KA7, the other end of the coil of the intermediate relay KA7 is connected with the 0V wire, the part is used for controlling the starting of a scissor cutting cylinder, a pin Q1.5 of the CPU unit U1 is connected with one end of a coil of the intermediate relay KA8, the other end of the coil of the intermediate relay KA8 is connected with the 0V wire, the part is used for controlling the starting of a rubber belt cylinder, a pin Q1.6 of the CPU unit U1 is connected with one end of a coil of the intermediate relay KA9, the other end of the coil of the intermediate relay KA9 is connected with the 0V wire, the part is used for controlling the starting of a sucker valve, a pin Q1.7 of the CPU unit U1 is connected with one end of a coil of the intermediate relay KA10, the other end of intermediate relay KA10 coil is connected with 0V line, and this part is used for the red control of starting of pilot lamp, CPU unit U1's Q2.0 foot is connected with the one end of intermediate relay KA11 coil, and the other end of intermediate relay KA11 coil is connected with 0V line, and this part is used for the green control of starting of pilot lamp, CPU unit U1's Q2.1 foot is connected with the one end of intermediate relay KA12 coil, and the other end of intermediate relay KA12 coil is connected with 0V line, and this part is used for the yellow control of starting of pilot lamp, CPU unit U1's Q2.2 foot is connected with the one end of intermediate relay KA13 coil, and the other end of intermediate relay KA13 coil is connected with 0V line, and this part is used for the control of pilot lamp buzzer start.

The motor driving module comprises a driver Q1, a driver Q2 and a driver Q3.

The driver Q1 is connected with a roller conveyer belt servo motor and used for controlling the starting, stopping and running speed of the roller conveyer belt servo motor and feeding back the running state of the motor to the PLC module part.

As shown in fig. 5, the L1 pin, the L2 pin and the L3 pin of the driver Q1 are connected with the L1 line, the L2 line and the L3 line, which provide power to the driver Q1, the U pin, the V pin and the W pin of the driver Q1 are connected with the encoder by the roller conveyor belt servo motor, the PPI pin of the driver Q1 is connected with the +24V line, the CA pin of the driver Q1 is connected with the Q0.1 pin of the CPU unit U1, the CB pin of the driver Q1 is connected with the Q0.0 pin of the CPU unit U1, the ALM pin of the driver Q1 is connected with the I0.0 pin of the CPU unit U1, the ALMCOM pin of the driver Q1 is connected with the 0V line, and the driver Q1 is used for driving the roller conveyor belt servo motor to operate, so as to control different speeds of the roller conveyor belt servo motor and feed back the motor operating state to the PLC module.

The driver Q2 is connected with a tracking roller servo motor M2 and used for controlling the starting, stopping and running speed of the tracking roller servo motor M2 and feeding back the running state of the motor to the PLC module part.

The driver Q2 is connected with a packaging box stepping motor and used for controlling the starting, stopping and running speed of the packaging box stepping motor.

As shown in fig. 5, the AC1 pin and the AC2 pin of the driver Q2 are connected to a +24V line and a 0V line, respectively, and this portion is used to provide power to the driver Q2, the DIR-pin of the driver Q2 is connected to a 0V line, the DIR + pin of the driver Q2 is connected to a Q0.3 pin of the CPU unit U1, the PLS-pin of the driver Q2 is connected to a 0V line, the PLS + pin of the driver Q2 is connected to a Q0.2 pin of the CPU unit U1, the a +, a-, B +, and B-pins of the driver Q2 are connected to a package stepper motor, and the driver Q2 is used to control the start, stop, and the operation speed of the package stepper motor.

And the driver Q3 is connected with a compaction track stepping motor and is used for controlling the starting, stopping and running speed of the compaction track stepping motor.

As shown in fig. 5, pins AC1 and AC2 of the driver Q3 are connected to +24V line and 0V line, respectively, which are used to provide power to the driver Q3, pins DIR-of the driver Q3 are connected to 0V line, pins DIR + of the driver Q3 are connected to pins Q0.5 of the CPU unit U1, pins PLS-of the driver Q3 are connected to 0V line, pins PLS + of the driver Q3 are connected to pins Q0.4 of the CPU unit U1, pins a +, a-, B +, and B-of the driver Q3 are connected to the compacting track stepping motor, and the driver Q3 is used to control the start, stop, and running speed of the rotor compacting track stepping motor.

To further explain the automatic box unpacking device for the packing box of the old nursing robot, the steps of the implementation method will be described as follows.

As shown in fig. 6, the process starts at step S100, and the process starts to execute step S101;

step S101, a control system judges whether a packaging box and an adhesive tape are arranged at a 3# limit switch and a 2# photoelectric switch; if yes, executing step S103; if not, executing step S102;

step S102, stopping the equipment, adding a packaging box by an operator, and threading an adhesive tape; after the completion, executing step S101;

step S103, the grabbing cylinder extends out, and the sucking disc valve is opened; after the completion, executing step S104;

step S104, judging whether the grabbing cylinder extends in place by a control system; if yes, go to step S105; if not, executing step S103;

step S105, retracting the grabbing cylinder; after the completion, executing step S106;

step S106, judging whether the grabbing cylinder retracts in place by the control system; if yes, go to step S107; if not, executing step S105;

step S107, retracting the front and rear turnover cylinders; after completion, step S108 is executed;

step S108, the control system judges whether the front and rear turnover cylinders retract in place; if yes, go to step S109; if not, executing step S107;

step S109, the front and rear folding cylinders extend out, and the folding cylinders on the two sides retract; after completion, step S110 is executed;

step S110, the control system judges whether the folding cylinders on the two sides retract in place; after completion, executing step S111;

step S111, closing the suction disc valve, and pushing out the air cylinder to extend out; after completion, step S112 is executed;

step S112, the control system judges whether the push-out cylinder extends in place; if yes, go to step S113; if not, executing step S111;

step S113, starting the roller conveyer belt, pushing the air cylinder to retract, and extending the turning air cylinders on the two sides; after completion, step S114 is executed;

step S114, the control system judges whether a packing box is arranged at the 1# photoelectric switch; if yes, executing step S115; if step S113 is not executed;

step S115, extending out a pressing cylinder and a rubber belt cylinder; after completion, step S116 is executed;

step S116, the control system judges whether the pressing cylinder and the adhesive tape cylinder extend in place or not; if yes, go to step S117; if not, executing step S115;

step 117, starting a compaction track stepping motor and advancing for a set distance; after completion, step S118 and step S119 are executed;

step S118, retracting the pressing cylinder and retracting the adhesive tape cylinder;

step S119, stopping the compaction track stepping motor and stopping the roller conveyer belt; after completion, step S120 is executed;

step S120, judging whether the pressing cylinder and the adhesive tape cylinder retract in place by the control system; if yes, go to step S121; if not, executing step S1118 and step S119;

step S121, the scissors moving cylinder extends out, the compaction track motor is started, and the compaction cylinder returns to the starting position; after completion, step S122 is executed;

step S122, the control system judges whether the scissors moving cylinder extends in place; if yes, go to step S123; if not, go to step S121;

step S123, extending out a scissors cutting cylinder; after completion, step S124 is executed;

step S124, the control system judges whether the scissors moving cylinder extends out in place; if yes, go to step S125; if not, executing step S123;

step S125, retracting the scissors cutting cylinder and retracting the scissors moving cylinder; after completion, executing step S101;

the description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides an automatic case device of unsealing of packing carton of nursing and attending to robot which characterized in that: the automatic box unpacking assembly line and the control system of the automatic box unpacking assembly line are included;

feed mechanism is equipped with flitch (45) in storage piece (5) including storing piece (5), goes up flitch (45) and inlays in storage piece (5), goes up flitch (45) below and is connected with packing carton screw thread track (9), is equipped with 3# limit switch (6) and 4# limit switch (7) on storage piece (5).

2. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 1, which is characterized in that: the disassembling mechanism comprises a separating part (4), the separating part (4) is located above a storage part (5), a grabbing cylinder (1) is arranged above the separating part (4), a plurality of suckers (15) are arranged at the tail end of the grabbing cylinder (1), a 1# limit switch (2) and a 2# limit switch (3) are arranged on the grabbing cylinder (1), the disassembling mechanism further comprises a front folding and overturning cylinder (13) and a rear folding and overturning cylinder (13), the front folding and overturning cylinder (13) and the rear folding and overturning cylinder (13) are located below the grabbing cylinder (1) in an inclined mode, the front folding and overturning cylinder (13) is connected with a front folding and overturning part (46), one end of the front folding and overturning part (46) is connected with the tail ends of the two sides of the front folding and overturning cylinder (13), two parallel iron rods are arranged at the other end of the front folding and overturning part (46) and the rear folding and overturning cylinder (13), and a 19# limit switch (38) and a # limit switch (39) are arranged on the front folding and rear folding and overturning cylinder (13);

the disassembling mechanism further comprises two-side turning cylinders (14), the two-side turning cylinders (14) are located obliquely below the grabbing cylinder (1), the two-side turning cylinders (14) are connected with two-side turning pieces (47), one ends of the two-side turning pieces (47) are connected with the two-side tail ends of the two-side turning cylinders (14), the other ends of the two-side turning pieces (47) are provided with two parallel iron rods, and the two-side turning cylinders (14) are provided with a 21# limit switch (40) and a 22# limit switch (41);

the dismounting mechanism further comprises a pushing cylinder (11), the pushing cylinder (11) is located between the separating piece (4) and the grabbing cylinder (1), and a 5# limit switch (10) and a 6# limit switch (12) are arranged on the pushing cylinder (11).

3. The automatic unpacking device for the packing box of the nursing and accompanying robot as claimed in claim 1, characterized in that: transport mechanism includes roller conveyer belt (36), and roller conveyer belt (36) both sides are provided with the slider of take the altitude, the middle section position of roller conveyer belt (36) is opened there is a rectangle opening, is equipped with 1# photoelectric switch (22) in rectangle open-ended below, is equipped with in rectangle open-ended top and compresses tightly track (37), compresses tightly and is equipped with on track (37) and compresses tightly cylinder (16), it is equipped with 17# limit switch (19) and 18# limit switch (20) on track (37) to compress tightly, it is equipped with 9# limit switch (17) and 10# limit switch (18) on cylinder (16) to compress tightly.

4. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 1, which is characterized in that: the box sealing structure is located below an opening of a roller conveying belt (36), and comprises an adhesive tape roller (23), a guide roller (24) and an adhesive tape adsorber (26), small pores for connecting negative pressure are distributed on the surface of the adhesive tape adsorber (26), an adhesive tape cylinder (34) is arranged below the adhesive tape adsorber (26), 11# limit switches (28) and 12# limit switches (29) are arranged on the adhesive tape cylinder (34), a 2# photoelectric switch (25) is arranged between the adhesive tape adsorber (26) and the guide roller (24), a shear (35) is further arranged at the tail end of the adhesive tape adsorber (26), the shear (35) is connected with a shear moving cylinder (42), 15# limit switches (43) and 16# limit switches (44) are arranged on the shear moving cylinder (42), one side of the shear (35) is fixed, the other side of the shear moving cylinder is connected with a shear cutting cylinder (32), and 13# limit switches (30) and 14# limit switches (31) are arranged on the shear moving cylinder (32).

5. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 1, which is characterized in that: the control system of the automatic unpacking box assembly line comprises a main power supply module, a relay control module, a PLC module and a motor driving module, wherein the main power supply module is used for supplying power for the control system, and the PLC module is connected with the relay control module and the motor driving module.

6. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 5, wherein: the main power module comprises a three-phase power line, the three-phase power line is connected with one end of a breaker, the other end of the breaker is connected with one end of a driver, the other end of the driver is connected with a motor, the motor is used for driving a roller conveying belt to move, the other end of the breaker is further connected with one end of a switch power supply, and the switch power supply is used for converting alternating current 380V into direct current 24V and providing direct current power supply for a touch screen and a PLC.

7. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 5, wherein: relay control module, including intermediate relay normally open contact, intermediate relay normally open contact one end is connected with the solenoid valve, the 0V line is connected to the solenoid valve other end, the relay realizes through control solenoid valve that control snatchs the cylinder, release cylinder, front and back roll over the cylinder, both sides roll over the cylinder, compress tightly the cylinder, scissors removes the cylinder, the cylinder is tailor to the scissors, opening of sticky tape cylinder and sucking disc valve stops, intermediate relay normally open contact one end still is connected with pilot lamp one end, the 0V line is still connected to the pilot lamp other end for opening of control pilot lamp stops.

8. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 5, wherein: the PLC module comprises a CPU unit U1, is the core of the whole control system, and controls the starting and stopping of a motor, the starting and stopping of a cylinder, the starting and stopping of an indicator light, a detection limit switch, a photoelectric switch and the running state data of a detection device;

a 232 communication serial port of the CPU unit U1 is connected with a touch screen communication end and is used for communication between an automatic unpacking box assembly line control system and a touch screen, an L + pin and an M pin of the CPU unit U1 are connected with a +24V line and a 0V line, the L + pin, the 1M pin, the 2M pin and the 3M pin of the CPU unit U1 are connected with a 0V line, the L pin, the 1L pin, the 2L pin and the 3L pin of the CPU unit U1 are connected with a +24V line, and the L +24V line is used for public wiring of each control pin of the CPU unit U1;

the input end of the CPU unit U1 is connected with one end of a contact switch, the other end of the contact switch is connected with a +24V line, and the part is used for detecting the motor fault of the roller conveyer belt, the state of a limit switch, the state of a photoelectric switch and the state of a device knob;

the output end of the CPU unit U1 is connected with one end of an intermediate relay coil, the other end of one end of the intermediate relay coil is connected with a 0V wire, and the part is used for grabbing a cylinder, pushing out the cylinder, folding and turning over the cylinder in the front and back direction, folding and turning over the cylinders on two sides, pressing the cylinder, moving the cylinder by scissors, cutting the cylinder by the scissors, controlling the start and stop of an adhesive tape cylinder, a sucker valve and an indicator light.

9. The automatic box unpacking device for the packing box of the nursing and attending robot as claimed in claim 5, wherein: the motor driving module comprises a driver Q1, a driver Q2 and a driver Q3;