CN117326146A

CN117326146A - Automatic box sleeving machine

Info

Publication number: CN117326146A
Application number: CN202311630463.1A
Authority: CN
Inventors: 朱亮; 景健; 叶晓彪; 林卫国; 崔泰磊; 李宏
Original assignee: Hangzhou Zhongwei Photoelectricity Co Ltd
Current assignee: Hangzhou Zhongwei Photoelectricity Co Ltd
Priority date: 2023-12-01
Filing date: 2023-12-01
Publication date: 2024-01-02
Anticipated expiration: 2043-12-01
Also published as: CN117326146B

Abstract

The utility model relates to a photovoltaic module case is equipped technical field and an automatic case packer is disclosed, through propping case subassembly cooperation manipulator and trade the hand and accomplish jointly to wait to prop the case action of case product, prop the case subassembly and can prop the lower mouth size accuracy of carton, let the carton remain all the time and be greater than the peripheral size of waiting the case product and slip around, the suit precision is high, the carton does not have crease and damage. The box supporting assembly moves downwards to drive the box part to be sleeved on the product to be sleeved, and the box supporting assembly is matched with the manipulator in a hand-changing mode, so that the box supporting assembly can be perfectly withdrawn from the inner wall of the box, the box is sleeved at the bottom of the product to be sleeved by the manipulator, the whole set of action is finally completed, the box sleeving efficiency is high, and labor cost is greatly saved.

Description

Automatic box sleeving machine

Technical Field

The application relates to the technical field of photovoltaic module box sleeving equipment, in particular to an automatic box sleeving machine.

Background

After the production of the photovoltaic panels is completed, a plurality of photovoltaic panels are generally stacked and placed on a tray, and then the photovoltaic panels on the tray are subjected to box packing treatment so as to be convenient for storage and transportation. Specifically, when the carton is sleeved, the carton to be opened is manually unfolded to be in an upright state, and then the carton is lifted to an adjusting position to be sleeved on the photovoltaic panel on the tray.

In the related art, because the clearance left between the carton and the photovoltaic panel is smaller, a plurality of workers are required to lift the carton to repeatedly adjust the lower sleeve position, so that the carton can be sleeved on the photovoltaic panel, the labor cost is wasted, the efficiency of the carton is lower, and even the carton can be damaged.

Disclosure of Invention

The present application aims to solve, at least to some extent, one of the technical problems in the related art. To this end, embodiments of the present application provide an automatic box-jacking machine.

The automatic box sleeving machine comprises a conveying frame, a moving frame, a manipulator and a box supporting assembly, wherein the moving frame is arranged above the conveying frame and is movably connected with the conveying frame along the vertical direction; the mechanical arm is provided with a carton clamp, the carton clamp is used for grabbing a carton to be opened and expanding the carton to be opened, and the mechanical arm is used for conveying the expanded carton to the upper part of the movable frame;

the box supporting assembly is arranged on the movable frame and comprises a plurality of box supporting pieces which are arranged along the circumferential direction of the movable frame, the box supporting pieces are adjustable relative to the movable frame, so that the box supporting pieces are switched between a box receiving position and a box supporting position, the box supporting pieces are provided with box receiving parts and box supporting parts, the box receiving parts support the cartons upwards in the box receiving position, and the box supporting parts support the inner walls of the cartons in the box supporting position;

when the moving frame moves downwards to the position that the paper box part is sleeved on the product to be sleeved, the box supporting piece is separated from the paper box and withdraws from the paper box, and the mechanical arm drives the paper box clamp to grasp the paper box to move downwards continuously and enable the paper box to be completely sleeved on the product to be sleeved.

In some embodiments, the box supporting assembly comprises a first cross beam, a second cross beam, a first longitudinal beam and a second longitudinal beam, the first cross beam and the second cross beam are adjustably arranged on two sides of the movable frame along the length direction of the movable frame, the first longitudinal beam and the second longitudinal beam are adjustably arranged on two sides of the movable frame along the width direction of the movable frame, and at least one box supporting piece is arranged on the first cross beam, the second cross beam, the first longitudinal beam and the second longitudinal beam.

In some embodiments, the box receiving portion and the box supporting portion are both plate-shaped, the box receiving portion and the box supporting portion are in an L-shaped arrangement, the box receiving portion extends in a horizontal direction, and the box supporting portion extends in a vertical direction.

In some embodiments, the box supporting assembly further comprises a clamping cylinder, a clamping piece is arranged on a push rod of the clamping cylinder, at least one of the first cross beam, the second cross beam, the first longitudinal beam and the second longitudinal beam is provided with the clamping cylinder, and the clamping piece is matched with a box supporting portion of the box supporting piece in the horizontal direction to clamp the paper box.

In some embodiments, the automatic box sleeving machine of the embodiments of the present application further comprises a first correlation sensor and a second correlation sensor, wherein the first correlation sensor comprises a first emitter, a first receiver and a first control module, the first emitter is arranged on the first beam, the first receiver is arranged on the second beam, the first emitter and the first receiver are connected through the first control module, and the first correlation sensor is used for adjusting the spacing between the first beam and the second beam and the paper box;

the second correlation sensor comprises a second emitter, a second receiver and a second control module, wherein the second emitter is arranged on the first longitudinal beam, the second receiver is arranged on the second longitudinal beam, the second emitter is connected with the second receiver through the second control module, and the second correlation sensor is used for adjusting the distance between the first longitudinal beam, the second longitudinal beam and the paper box.

In some embodiments, the conveying frame is provided with a first positioning cylinder and a second positioning cylinder for positioning the product to be sleeved, the first positioning cylinder and the second positioning cylinder are arranged at intervals in the width direction of the conveying frame, the first positioning cylinder is matched with the second positioning cylinder, and the product to be sleeved is clamped and positioned in the width direction of the conveying frame.

In some embodiments, the number of the first positioning cylinders and the second positioning cylinders is two, and the two first positioning cylinders and the two second positioning cylinders are arranged at intervals along the length direction of the conveying frame;

the automatic box sleeving machine further comprises a ranging sensor arranged on one of the first longitudinal beam and the second longitudinal beam, wherein the ranging sensor comprises a first ranging sensor and a second ranging sensor which are arranged at intervals along the length direction of the conveying frame, the first ranging sensor measures that the distance between the first ranging sensor and the product to be sleeved in the width direction of the conveying frame is a first distance, the second ranging sensor measures that the distance between the second ranging sensor and the product to be sleeved in the width direction of the conveying frame is a second distance, and the ranging sensor is in control connection with the first positioning cylinder and the second positioning cylinder through a controller;

when the error between the first distance and the second distance exceeds a preset value, the controller controls the first positioning cylinder and the second positioning cylinder to adjust the position of the product to be sleeved in a matching manner, so that the first distance and the second distance are located in the preset value.

In some embodiments, the carton clamp comprises a first support and a second support, the first support is connected with the manipulator, a first sucker used for sucking the long side of the carton is arranged on one side of the first support, the second support is arranged at least one end of the first support in the length direction of the first support, the second support is rotatably connected with the first support around a rotation axis extending along the width direction of the first support, and a second sucker used for sucking the short side of the carton is arranged on one side of the second support.

In some embodiments, the number of the first suction cups is plural, at least a part of the first suction cups are disposed at both ends of the first support in the length direction thereof, and at least a part of the first suction cups are disposed at the middle of the first support in the length direction thereof.

In some embodiments, the number of the second suction cups is a plurality, and the plurality of the second suction cups are distributed in a matrix.

In some embodiments, the automatic box sleeving machine of the embodiments of the present application further includes a plurality of feeding tables and a transfer positioning table, the plurality of feeding tables are arranged at intervals along a circumferential direction of the machine, the feeding tables are used for placing the to-be-opened cartons, and the transfer positioning table is used for carrying out secondary positioning on the to-be-opened cartons grabbed by the carton clamps.

The automatic box sleeving machine of this application embodiment is through propping the box subassembly cooperation manipulator and trade the hand and accomplish the box and sleeve the action of propping the case of waiting the case product jointly, props the box subassembly and can prop the lower mouth size accuracy of carton, lets the carton remain all the time and be greater than the peripheral size silk of waiting the case product and slip down, and the suit precision is high, and the carton does not have crease and damage. The box supporting assembly moves downwards to drive the box part to be sleeved on the product to be sleeved, and the box supporting assembly is matched with the manipulator in a hand-changing manner, so that the box supporting assembly can perfectly withdraw from the inner wall of the box, the box is sleeved at the bottom of the product to be sleeved by the manipulator, and the whole set of actions are finally completed. The box supporting assembly can automatically adapt to cartons of various specifications and sizes to carry out box supporting action, flexible production is achieved, box sleeving efficiency is high, and labor cost is greatly saved.

Drawings

Fig. 1 is a schematic structural view of an automatic box sleeving machine according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a mobile rack and box-stay assembly of an automatic box-jacking machine according to an embodiment of the present application.

Fig. 3 is a schematic structural view of a carton clamp of an automatic carton sleeving machine according to an embodiment of the present application.

Fig. 4 is a front view of a carton clamp of an automatic box threading machine according to an embodiment of the present application.

Reference numerals:

100. automatically sleeving a camera; 200. a carton; 1. a carriage; 2. a moving rack; 3. a manipulator; 4. a carton clamp; 401. a first bracket; 402. a second bracket; 5. a box supporting assembly; 501. a box supporting member; 5011. a box receiving part; 5012. a box supporting part; 502. a first cross beam; 503. a second cross beam; 504. a first stringer; 505. a second stringer; 506. a clamping cylinder; 6. a clamping member; 7. a first suction cup; 8. a second suction cup; 901. a first ranging sensor; 902. a second ranging sensor; 10. a feed table; 11. and (5) transferring the positioning table.

Detailed Description

Embodiments of the present application, examples of which are illustrated in the accompanying drawings, are described in detail below. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

The technical solutions of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 4, an automatic box packing machine 100 of the embodiment of the present application includes a carriage 1, a moving rack 2, a robot 3, and a box packing assembly 5. The movable frame 2 is arranged above the conveying frame 1 and is movably connected with the conveying frame 1 along the vertical direction, a carton clamp 4 is arranged on the manipulator 3, the carton clamp 4 is used for grabbing the carton 200 to be opened and expanding the carton 200 to be opened, and the manipulator 3 is used for conveying the expanded carton 200 to the upper side of the movable frame 2.

The box supporting assembly 5 is provided on the moving frame 2 and includes a plurality of box supporting members 501 arranged in the circumferential direction of the moving frame 2, and the box supporting members 501 are position-adjustable with respect to the moving frame 2 so that the box supporting members 501 are switched between a box receiving position and a box supporting position. The box supporter 501 has a box receiving portion 5011 and a box supporting portion 5012, and in the box receiving position, the box receiving portion 5011 supports the carton 200 upward, and in the box supporting position, the box supporting portion 5012 is supported on the inner wall of the carton 200.

When the moving frame 2 moves downwards to the position that the paper box 200 is partially sleeved on the product to be sleeved, the box supporting piece 501 is separated from the paper box 200 and withdraws from the paper box 200, and the mechanical arm 3 drives the paper box clamp 4 to clamp the paper box 200 to move downwards continuously and enable the paper box 200 to be completely sleeved on the product to be sleeved.

In use, the automatic box-packing machine 100 of the embodiment of the present application conveys a product to be packed (e.g., a stacked photovoltaic module) to a position directly below the movable rack 2 via the conveying rack 1. The carton clamp 4 clamps the carton 200 to be opened and expands the carton 200 so that the opening of the carton 200 is vertically downward, and transfers the expanded carton 200 to the upper side of the moving frame 2 by the robot 3. The position of the box supporting member 501 is adjusted and the box supporting member 501 is positioned at the box receiving position, and the robot 3 separates the transported carton 200 from the carton 200 after placing the carton 200 on the box receiving portion 5011 of the box supporting member 501. The position of the box supporting piece 501 is adjusted, the box supporting piece 501 is positioned at the box supporting position, the box supporting parts 5012 are supported on the four inner walls of the paper box 200, the moving frame 2 is moved downwards, and the moving frame 2 drives the opened paper box 200 to move downwards and partially sleeve the paper box 200 on a product to be sleeved. At this time, the carton clamp 4 clamps the carton 200 again, and after the box supporting piece 501 is separated from the inner wall of the carton 200 and the carton 200 is withdrawn, the manipulator 3 drives the carton 200 to move downwards until the carton 200 is completely sleeved on the product to be sleeved.

According to the automatic box sleeving machine 100, the box supporting and sleeving actions of the box sleeving product to be sleeved are completed together through the box supporting assembly 5 matched with the manipulator 3, the box supporting assembly 5 can accurately open the size of the lower opening of the paper box 200, the paper box 200 is always kept to be larger than the peripheral size of the box sleeving product to be sleeved in a sliding manner, the sleeving accuracy is high, and the paper box 200 is not folded or damaged. The box supporting assembly 5 moves downwards to drive the paper box 200 to be partially sleeved on the product to be sleeved, and the box supporting assembly 5 can be perfectly withdrawn from the inner wall of the paper box 200 through the cooperation of the box supporting assembly with the manipulator 3 in a switching manner, and finally the paper box 200 is sleeved at the bottom of the product to be sleeved by the manipulator 3 for the final distance, so that the whole set of actions is finally completed. The box supporting assembly 5 can automatically adapt to the cartons 200 with various specifications and sizes to carry out box supporting action, flexible production is realized, box sleeving efficiency is high, and labor cost is greatly saved.

Alternatively, the moving frame 2 may be connected to the carriage 1 by a rack and pinion transmission mechanism or other transmission mechanism such as a screw transmission mechanism to control the movement of the adjusting moving frame 2 in the vertical direction.

In some embodiments, the box supporting assembly 5 includes a first cross member 502, a second cross member 503, a first longitudinal member 504 and a second longitudinal member 505, where the first cross member 502 and the second cross member 503 are adjustably disposed on two sides of the moving frame 2 along a longitudinal direction of the moving frame 2, and the first longitudinal member 504 and the second longitudinal member 505 are adjustably disposed on two sides of the moving frame 2 along a width direction of the moving frame 2, and at least one box supporting member 501 is disposed on the first cross member 502, the second cross member 503, the first longitudinal member 504 and the second longitudinal member 505.

Specifically, two box supporting members 501 are disposed on the first cross member 502 at intervals along the length direction of the first cross member 502, two box supporting members 501 are disposed on the second cross member 503 at intervals along the length direction of the second cross member 503, three box supporting members 501 are disposed on the first longitudinal member 504 at intervals along the length direction of the first longitudinal member 504, and three box supporting members 501 are disposed on the second longitudinal member 505 at intervals along the length direction of the second longitudinal member 505.

The automatic box sleeving machine 100 of the embodiment of the application can be provided with the plurality of box supporting pieces 501 on the first cross beam 502 and the second cross beam 503 by arranging the first cross beam 502 and the second cross beam 503, and the first cross beam 502 and the second cross beam 503 drive the plurality of box supporting pieces 501 to synchronously move, so that the contact area between the box supporting pieces 501 and the short sides of the paper box 200 can be increased, and the supporting stability of the box supporting pieces 501 to the paper box 200 can be improved. The automatic box sleeving machine 100 of the embodiment of the application can be provided with the plurality of box supporting pieces 501 on the first longitudinal beam 504 and the second longitudinal beam 505 by arranging the first longitudinal beam 504 and the second longitudinal beam 505, and the first longitudinal beam 504 and the second longitudinal beam 505 drive the plurality of box supporting pieces 501 to synchronously move, so that the contact area between the box supporting pieces 501 and the long sides of the paper box 200 can be increased, and the supporting stability of the box supporting pieces 501 to the paper box 200 can be improved.

Optionally, the first cross member 502, the second cross member 503, the first longitudinal member 504, and the second longitudinal member 505 may be adjusted in position by a stepper motor, so as to improve the accuracy of adjustment.

In some embodiments, the box-receiving portion 5011 and the box-supporting portion 5012 are both plate-shaped, the box-receiving portion 5011 and the box-supporting portion 5012 are provided in an L-shape, the box-receiving portion 5011 extends in the horizontal direction, and the box-supporting portion 5012 extends in the vertical direction.

For example, as shown in fig. 1 and 2, when the carton 200 grasped by the carton clamp 4 is placed opening down on the box-receiving section 5011, the box-supporting sections 5012 of the plurality of box-supporting members 501 support the carton 200 upward, and by arranging the box-receiving section 5011 in a plate shape, the contact area between the box-receiving section 5011 and the carton 200 is increased to improve the box-receiving reliability of the box-receiving section 5011. When the box-supporting portion 5012 is made to abut against four inner wall surfaces of the carton 200 to support the carton 200, by arranging the box-supporting portion 5012 in a plate shape, the contact area between the box-supporting portion 5012 and the inner wall of the carton 200 is increased to improve the reliability of the box-supporting. In addition, the box receiving portion 5011 and the box supporting portion 5012 are L-shaped, and the box supporting member 501 can be switched between the box receiving position and the box supporting position only by moving the box supporting member 501 in the horizontal direction, which is beneficial to improving the position conversion efficiency of the box supporting member 501.

In some embodiments, the box-supporting assembly 5 further includes a clamping cylinder 506, a clamping member 6 is disposed on a push rod of the clamping cylinder 506, and at least one of the first cross member 502, the second cross member 503, the first longitudinal member 504, and the second longitudinal member 505 is disposed on the clamping cylinder 506, and the clamping member 6 cooperates with the box-supporting portion 5012 of the box-supporting member 501 in a horizontal direction to clamp the carton 200.

At least one of the first cross member 502, the second cross member 503, the first longitudinal member 504 and the second longitudinal member 505 is provided with a clamping cylinder 506, and it is understood that one or more clamping cylinders 506 may be provided on each of the first cross member 502, the second cross member 503, the first longitudinal member 504 and the second longitudinal member 505 to cooperate with the box supporting member 501 to clamp the carton 200.

Specifically, as shown in fig. 1 and 2, two clamping cylinders 506 are disposed on the first beam 502 and the second beam 503, and when the box supporting portion 5012 of the carton 200 is supported on the inner wall surface of the carton 200, the push rod of the clamping cylinder 506 drives the clamping member 6 to move and cooperate with the box supporting portion 5012 to clamp the carton 200, so as to improve the stability of the carton 200. When the moving frame 2 drives the carton 200 to move downwards, the risk of falling off the carton supporting component 5 when the carton 200 is sleeved downwards can be effectively avoided.

In some embodiments, the automatic box threading machine 100 of embodiments of the present application further includes a first correlation sensor and a second correlation sensor. The first correlation sensor comprises a first emitter, a first receiver and a first control module, wherein the first emitter is arranged on the first beam 502, the first receiver is arranged on the second beam 503, the first emitter is connected with the first receiver through the first control module, and the first correlation sensor is used for adjusting the distance between the first beam 502 and the carton 200 and between the second beam 503 and the carton 200. The second correlation sensor comprises a second emitter, a second receiver and a second control module, wherein the second emitter is arranged on the first longitudinal beam 504, the second receiver is arranged on the second longitudinal beam 505, the second emitter is connected with the second receiver through the second control module, and the second correlation sensor is used for adjusting the distance between the first longitudinal beam 504 and the carton 200 and between the second longitudinal beam 505 and the carton 200.

It should be noted that, the box supporting assembly 5 searches the box supporting position of the box supporting member 501 through the first correlation sensor and the second correlation sensor before the formal box sleeving, so that the distance between the box supporting member 501 and the paper box 200 is not easy to be too large or too small, and can meet the preset value, thereby facilitating the position adjustment of the box supporting member 501.

Specifically, when in use, the first emitter emits laser to the first receiver, when the moving frame 2 moves downwards, the laser between the first emitter and the first receiver is blocked by the box to be sleeved product, at this time, the first control module receives the blocking signal and transmits the blocking signal to the control system of the automatic box sleeving machine 100, and then the control system controls the driving parts of the first beam 502 and the second beam 503 to adjust the distance between the first beam 502 and the second beam 503 and the box to be sleeved product, so that the box supporting parts 501 on the first beam 502 and the second beam 503 are positioned at the box supporting positions, and the first beam 502 and the second beam 503 can sleeve according to the box supporting positions searched at this time in the formal box sleeving.

Similarly, the second transmitter transmits laser to the second receiver, when the moving frame 2 moves downwards, the laser between the second transmitter and the second receiver is blocked by the product to be sleeved, at this time, the second control module receives the blocking signal and transmits the blocking signal to the control system of the automatic box sleeving machine 100, and then the control system controls the second cross beam 503 and the driving part of the second cross beam 503 to adjust the distance between the first longitudinal beam 504 and the second longitudinal beam 505 and the product to be sleeved, so that the box supporting parts 501 on the first longitudinal beam 504 and the second longitudinal beam 505 are located at the box supporting positions, and in the formal box sleeving, the first longitudinal beam 504 and the second longitudinal beam 505 can sleeve according to the box supporting positions searched at this time.

In some embodiments, a first positioning cylinder (not shown in the figure) and a second positioning cylinder (not shown in the figure) for positioning the product to be sleeved are arranged on the conveying frame 1, the first positioning cylinder and the second positioning cylinder are arranged on the conveying frame 1 at intervals in the width direction of the conveying frame 1, and the first positioning cylinder is matched with the second positioning cylinder to clamp and position the product to be sleeved in the width direction of the conveying frame 1.

Specifically, when the product to be sleeved is conveyed to the position right below the movable frame 2 through the conveying frame 1, the first positioning cylinder and the second positioning cylinder clamp the product to be sleeved in the width direction of the conveying frame 1, and the positions of the product to be sleeved in the width direction of the conveying frame 1 are adjusted by adjusting the telescopic lengths of the push rods of the first positioning cylinder and the second positioning cylinder, so that the box supporting piece 501 corresponds to the position of the product to be sleeved in the up-down direction, the absolute consistency of the product to be sleeved and the position of the paper box 200 is ensured, the positioning precision is improved, the quick box sleeving is facilitated, and the box sleeving efficiency is improved.

In some embodiments, the number of the first positioning cylinders and the second positioning cylinders is two, and the two first positioning cylinders and the two second positioning cylinders are arranged at intervals along the length direction of the conveying frame 1.

The automatic box-jacking machine 100 further includes a ranging sensor provided on one of the first side member 504 and the second side member 505, the ranging sensor including a first ranging sensor 901 and a second ranging sensor 902 arranged at intervals along the length direction of the carriage 1. The first distance measuring sensor 901 measures the distance between the first distance measuring sensor and the product to be sleeved in the width direction of the conveying frame 1, the second distance measuring sensor measures the distance between the second distance measuring sensor and the product to be sleeved in the width direction of the conveying frame 1, and the distance measuring sensor is connected with the first positioning cylinder and the second positioning cylinder through the controller.

When the error between the first distance and the second distance exceeds a preset value, the controller controls the first positioning cylinder and the second positioning cylinder to adjust the position of the product to be sleeved in a matched mode, and therefore the first distance and the second distance are located in the preset value.

It can be understood that when the product to be sleeved is conveyed to the lower side of the moving rack 2 through the conveying rack 1, the moving rack 2 is firstly moved downwards by a certain distance, the first distance measuring sensor 901 and the second distance measuring sensor 902 measure the first distance and the second distance between the product to be sleeved and the product to be sleeved, and when the difference between the first distance and the second distance is within the preset value, the parallelism between the position positioning of the product to be sleeved and the conveying rack 1 is better, so that the problem that the carton 200 is askew after the carton 200 is sleeved on the product to be sleeved is avoided, and the quality requirement of the sleeve cannot be met.

In some embodiments, the carton clamp 4 includes a first support 401 and a second support 402, the first support 401 is connected with the manipulator 3, one side of the first support 401 is provided with a first suction cup 7 for sucking the long side of the carton 200, and the second support 402 is provided at least one end of the first support 401 in the length direction thereof. The second bracket 402 is rotatably connected to the first bracket 401 about a rotation axis extending in the width direction of the first bracket 401, and one side of the second bracket 402 is provided with a second suction cup 8 for sucking a short side of the carton 200.

The second brackets 402 are provided at least one end of the first brackets 401 in the length direction thereof, and it is understood that the second brackets 402 may be provided one or two, and when one is provided, the second brackets 402 are provided at one end of the first brackets 401 in the length direction thereof, and when two are provided, the two second brackets 402 are provided at both ends of the first brackets 401 in the length direction thereof.

It will be appreciated that when the carton 200 is in a lying state when not unfolded, when the carton clamp 4 is used for clamping the carton 200, the second bracket 402 is rotated and the second bracket 402 is arranged in parallel with the first bracket 401, so that the first suction cup 7 on the first bracket 401 adsorbs the long side of the carton 200, the second suction cup 8 on the second bracket 402 is used for desorbing the short side of the carton 200, then the second bracket 402 is rotated and the second bracket 402 is perpendicular to the first bracket 401, so that the long side and the short side of the carton 200 are unfolded, the whole action cycle can be independently completed, the forming is stable and attractive, the four corner folding is accurate, and the carton clamp 4 can be automatically adapted to various specifications and sizes to realize flexible production.

In some embodiments, the number of the first suction cups 7 is plural, at least a part of the first suction cups 7 are provided at both ends of the first frame 401 in the length direction thereof, and at least a part of the first suction cups 7 are provided at the middle of the first frame 401 in the length direction thereof.

For example, as shown in fig. 3 and fig. 4, a plurality of first suckers are disposed at both ends and middle portion of the first support 401, so that the long-side weak points of the carton 200 can be forcefully absorbed, so as to improve the absorption stability of the carton 200, and prevent the carton 200 from falling off due to large gravity in the unfolding process.

Optionally, the number of the second sucking discs 8 is multiple, and the second sucking discs 8 are distributed in matrix, so that the suction force to the short sides of the carton 200 is improved, and the risk of falling off of the carton 200 due to large gravity in the unfolding process is further prevented.

Optionally, the first suction cup 7 and the second suction cup 8 are corrugated organ suction cups, so that the corrugated organ suction cups can better adapt to the non-horizontal surface of the carton 200 and can bear the gravity of the vertically opened carton 200.

In some embodiments, the automatic box sleeving machine 100 of the embodiments of the present application further includes a plurality of feeding tables 10 and a transit positioning table 11, where the plurality of feeding tables 10 are arranged at intervals along the circumferential direction of the manipulator 3, the feeding tables 10 are used for placing the cartons to be opened, and the transit positioning table 11 is used for performing secondary positioning on the cartons to be opened, which are grabbed by the carton clamps 4.

For example, as shown in fig. 1, two or more feeding tables 10 may be provided, one of the feeding tables 10 is used for normal feeding, the other feeding tables 10 are used for standby, and by providing a plurality of feeding tables 10, cartons 200 of different specifications and models can be placed for packing a plurality of products to be packed of different specifications and models, so as to improve packing efficiency. In addition, the manipulator 3 drives the carton clamp 4 to clamp and convey the to-be-opened carton 200 on the feeding table 10 to the transfer positioning table 11, and after the secondary positioning and normalization on the transfer positioning table 11, the carton clamp 4 clamps and rotates the carton 200 again and the second bracket 402 is perpendicular to the first bracket 401, so that the carton 200 is in an unfolded state. Through setting up transfer positioning table 11, be favorable to improving the box precision of propping of box subassembly 5.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

The terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., in this application, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present application, and that variations, modifications, alternatives, and variations of the above embodiments will be within the scope of the present application by those of ordinary skill in the art.

Claims

1. An automatic case sealer, comprising:

the conveying device comprises a conveying frame (1) and a moving frame (2), wherein the moving frame (2) is arranged above the conveying frame (1) and is movably connected with the conveying frame (1) along the vertical direction;

the mechanical arm (3), be equipped with carton anchor clamps (4) on the mechanical arm (3), carton anchor clamps (4) are used for snatching and wait to open the carton and expand the carton of waiting to open, mechanical arm (3) are used for carrying the carton of expanding to the top of moving frame (2);

a box supporting assembly (5), wherein the box supporting assembly (5) is arranged on the movable frame (2) and comprises a plurality of box supporting pieces (501) which are arranged along the circumference of the movable frame (2), the box supporting pieces (501) are adjustable relative to the movable frame (2) so as to enable the box supporting pieces (501) to be switched between a box receiving position and a box supporting position, the box supporting pieces (501) are provided with box receiving parts (5011) and box supporting parts (5012), in the box receiving position, the box receiving parts (5011) support cartons upwards, and in the box supporting position, the box supporting parts (5012) are supported on the inner walls of the cartons;

when the movable frame (2) moves downwards to the position that the paper box part is sheathed on a product to be sheathed, the box supporting piece (501) is separated from the paper box and withdraws from the paper box, and the mechanical arm (3) drives the paper box clamp (4) to grasp the paper box to move downwards continuously and enable the paper box to be completely sheathed on the product to be sheathed.

2. The automatic box jacking machine according to claim 1, wherein the box jacking assembly (5) comprises a first cross beam (502), a second cross beam (503), a first longitudinal beam (504) and a second longitudinal beam (505), the first cross beam (502) and the second cross beam (503) are adjustably arranged on two sides of the movable frame (2) along the length direction position of the movable frame (2), the first longitudinal beam (504) and the second longitudinal beam (505) are adjustably arranged on two sides of the movable frame (2) along the width direction position of the movable frame (2), and at least one box jacking piece (501) is arranged on the first cross beam (502), the second cross beam (503), the first longitudinal beam (504) and the second longitudinal beam (505).

3. The automatic box jacking machine according to claim 2, wherein the box receiving portion (5011) and the box supporting portion (5012) are both plate-shaped, the box receiving portion (5011) and the box supporting portion (5012) are L-shaped, the box receiving portion (5011) extends in a horizontal direction, and the box supporting portion (5012) extends in a vertical direction.

4. The automatic box-jacking machine according to claim 3, wherein the box-supporting assembly (5) further comprises a clamping cylinder (506), a clamping piece (6) is arranged on a push rod of the clamping cylinder (506), at least one of the first cross beam (502), the second cross beam (503), the first longitudinal beam (504) and the second longitudinal beam (505) is provided with the clamping cylinder (506), and the clamping piece (6) is matched with the box-supporting portion (5012) of the box-supporting piece (501) in the horizontal direction to clamp the carton.

5. The automatic box-jacking machine of claim 2, further comprising:

the first correlation sensor comprises a first emitter, a first receiver and a first control module, wherein the first emitter is arranged on the first beam (502), the first receiver is arranged on the second beam (503), the first emitter is connected with the first receiver through the first control module, and the first correlation sensor is used for adjusting the intervals between the first beam (502) and the paper box and between the second beam (503);

the second correlation sensor, the second correlation sensor includes second transmitter, second receiver and second control module, the second transmitter is located on the first longeron (504), the second receiver is located on the second longeron (505), the second transmitter with the second receiver passes through second control module links to each other, the second correlation sensor is used for adjusting interval between first longeron (504) and second longeron (505) and the carton.

6. The automatic box-packing machine according to claim 5, wherein the conveying frame (1) is provided with a first positioning cylinder and a second positioning cylinder for positioning the box-packing product, the first positioning cylinder and the second positioning cylinder are arranged at intervals in the width direction of the conveying frame (1), the first positioning cylinder is matched with the second positioning cylinder, and the box-packing product is clamped and positioned in the width direction of the conveying frame (1).

7. The automatic box jacking machine according to claim 6, wherein the number of the first positioning cylinders and the second positioning cylinders is two, and the two first positioning cylinders and the two second positioning cylinders are arranged at intervals along the length direction of the conveying frame (1);

the automatic box sleeving machine further comprises a distance measuring sensor arranged on one of the first longitudinal beam (504) and the second longitudinal beam (505), wherein the distance measuring sensor comprises a first distance measuring sensor (901) and a second distance measuring sensor (902) which are arranged at intervals along the length direction of the conveying frame (1), the distance between the first distance measuring sensor (901) and a product to be sleeved in the width direction of the conveying frame (1) is a first distance, the distance between the second distance measuring sensor (902) and the product to be sleeved in the width direction of the conveying frame (1) is a second distance, and the distance measuring sensor is in control connection with the first positioning cylinder and the second positioning cylinder through a controller;

8. The automatic box sleeving machine according to claim 1, wherein the carton clamp (4) comprises a first support (401) and a second support (402), the first support (401) is connected with the manipulator (3), a first sucker (7) for sucking the long side of the carton is arranged on one side of the first support (401), the second support (402) is arranged at least one end of the first support (401) in the length direction of the first support, the second support (402) is rotatably connected with the first support (401) around a rotation axis extending along the width direction of the first support (401), and a second sucker (8) for sucking the short side of the carton is arranged on one side of the second support (402).

9. The automatic box-jacking machine according to claim 8, wherein the number of the first suction cups (7) is plural, at least a part of the first suction cups (7) are provided at both end portions of the first frame (401) in the length direction thereof, and at least a part of the first suction cups (7) are provided at the middle portion of the first frame (401) in the length direction thereof;

and/or the number of the second suckers (8) is a plurality, and the second suckers (8) are distributed in a matrix.

10. The automatic box-jacking machine of any one of claims 1-9, further comprising:

a plurality of feeding tables (10), wherein the feeding tables (10) are arranged at intervals along the circumferential direction of the manipulator (3), and the feeding tables (10) are used for placing cartons to be opened; and

the transfer positioning table (11), transfer positioning table (11) are used for carrying out the secondary location with waiting to open the carton that carton anchor clamps (4) snatched.