CN208731334U - A kind of robot opening apparatus - Google Patents
A kind of robot opening apparatus Download PDFInfo
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- CN208731334U CN208731334U CN201821416780.8U CN201821416780U CN208731334U CN 208731334 U CN208731334 U CN 208731334U CN 201821416780 U CN201821416780 U CN 201821416780U CN 208731334 U CN208731334 U CN 208731334U
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- Prior art keywords
- cylinder
- robot
- carton
- metal plate
- sucking disk
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- 239000000463 material Substances 0.000 claims abstract description 29
- 230000009471 action Effects 0.000 claims abstract description 6
- 210000000707 wrist Anatomy 0.000 claims abstract description 6
- 239000002184 metal Substances 0.000 claims description 68
- 229910052751 metal Inorganic materials 0.000 claims description 68
- 238000001179 sorption measurement Methods 0.000 claims description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 5
- 239000010931 gold Substances 0.000 claims description 5
- 229910052737 gold Inorganic materials 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000003872 feeding technique Methods 0.000 abstract description 3
- 238000007664 blowing Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006052 feed supplement Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Abstract
The utility model discloses a kind of robot opening apparatus, including material loading platform, robot, unpack manipulator and folding machine.Material loading platform is for the unpacking carton of horizontal storage and continuous feeding and feed.Manipulator unpack for drawing the carton lain on material loading platform, and is opened carton by the inverting action of vacuum chuck.The wrist of robot is connect with unpacking manipulator, and manipulator of unpacking is driven to complete feeding and blowing action by robot.Folding machine carries out backfin to the size folding of carton under the cooperation of robot.Compared with prior art, the robot opening apparatus feeding technique of the utility model is more simple and convenient, it can be achieved that continuous feeding and feed, greatly improve unpacking efficiency.The robot opening apparatus of the utility model, has the characteristics that Flexible Production, is suitable for multi items, and the carton of more specifications is unpacked.
Description
Technical field
The utility model relates to packing technique fields, and in particular to a kind of opening apparatus.
Background technique
Automatic case unpacking machine is also automatic carton forming machine, is by high-volume automatically opening cardboard box, automatic folding lower cover, automatic
The pipelining equipment of sealing bottom adhesive tape, machine all use PLC+ display screen to control, it is primary complete carton suction box, unpack, at
The packaging processes such as type, folding bottom, back cover.Existing case unpacker is dedicated opening apparatus, in use, because being applicable in carton
Range is smaller, and artificial Attended Operation process is more, it is difficult to meet client's generalization at this stage, intelligentized demand.
Existing opening apparatus, material-uploading style be it is vertical, supplied materials carton need to be stood up on material loading platform, feeding technique
Relative complex, material loading platform smaller scope of application is unsuitable for the carton that size range changes greatly.
Existing robot opening apparatus, sheet folding mechanism can not the biggish carton of useable width change in size range, and
It can not accomplish uninterruptedly to be fed, in supplied materials carton feeding, operation need to be shut down.
Utility model content
To solve opening apparatus narrow application range in the prior art, feeding complex process, can not the technology of continuous feeding ask
Topic, the utility model provide a kind of robot opening apparatus.
The technical solution adopted in the utility model is:
A kind of robot opening apparatus, comprising:
At least two material loading platforms, by cylinder control two material loading platforms alternately stretch out retraction realize continuous feeding and
Feed；
Unpacking manipulator draws the carton lain on material loading platform by turnover vacuum chuck, and can be by true
Carton is opened in the inverting action of suction disk；
Robot, the wrist of robot are connect with unpacking manipulator, and manipulator of unpacking is driven to complete feeding by robot
And blowing action；
Folding machine, under the movement that robot drives carton, cooperation Telescopic-cylinder pushes the metallic rod at hoisting cross beam both ends
By the small folding backfin of carton bottom；By the flexible pulling sliding frame of cylinder to carton center movement, to realize carton
The backfin of the big folding in bottom.
Further, the material loading platform includes pedestal, is equipped with two elongated linear guides in parallel on pedestal, straight line is led
Rail is equipped with mobile platform, and mobile platform slides back and forth under the drive of cylinder along linear guide, and the one of the intersection of mobile platform
Short side and a long side are equipped with several locating rods.
Locating rod group becomes semi open model structure, the positioning for the carton that applicable size range changes greatly.Cylinder drives
The movement of material loading platform is reliable, and exquisite degree is high.
Further, the unpacking mechanical hand includes fixing sucking disk portion and movable suction disc portion, fixing sucking disk portion with it is removable
Dynamic sucking disk part is hinged by hinged seat, and fixing sucking disk portion and movable suction disc portion are equipped with vacuum chuck and connect with vacuum chuck
Vacuum system, fixing sucking disk portion and mobile sucking disk part are by the parallel of the flexible realization vacuum chuck of the first cylinder or 90 degree are turned over
Turn.
Further, the tail portion of first cylinder is fixedly mounted on fixing sucking disk portion, the piston on head by pedestal
Bar is connect with movable suction disc portion；Cylinder, which stretches out, pushes movable suction disc portion inwardly to overturn around the articulated shaft of hinged seat, fixed to inhale
Pan portion and mobile sucking disk part are in 90 degree of angles；Cylinder retraction pulls mobile sucking disk part to flip outward around the articulated shaft of hinged seat, Gu
Determine sucking disk part and mobile sucking disk part is in same plane.
Movement by controlling cylinder accurately controls the rotary movement of mobile sucking disk part, to realize fixed vacuum chuck
Or 90 degree overturnings parallel with Mobile vacuum sucker, realize the crawl and opening of carton.Control is simple, high reliablity.
Further, the fixing sucking disk portion includes the first metal plate, and the trailing flank of the first metal plate is equipped with flanged joint
Seat, manipulator of unpacking are connected by the wrist of flanged joint seat and robot；The leading flank of first metal plate is equipped with the first metal
Frame, the first metal framework are equipped with several first vacuum chucks, the adsorption plane of all first vacuum chucks towards front side and
It is generally aligned in the same plane, forms fixed adsorption plane A.
Further, the movable suction disc portion includes the second metal plate, third metal plate, linear guide and the second gas
Cylinder；Third metal plate is equipped with the second metal framework, several second vacuum chucks on the second metal framework, and all second vacuum are inhaled
The adsorption plane of disk towards front side and is in the same plane, and forms removable adsorption plane B；Third metal plate passes through linear guide
It is slidingly disposed at the front end of the second metal plate, the second metal plate is connect with the first cylinder, and the tail portion of the second cylinder passes through pedestal
It is fixedly mounted on the second metal plate, the piston rod on head is fixedly connected with third metal plate；The flexible drive of second cylinder
Third metal plate slides back and forth on the second metal plate along linear guide.
Second metal plate drives vacuum chuck to slide along the first metal plate, can adjust the position of the second vacuum chuck, is suitble to
The unpacking movement of the biggish carton of change in size.
Further, the folding machine includes fixed frame, be mounted on two sliding frames in fixed frame, two it is straight
Line guide rail, two pulling cylinders, a hoisting cross beam and lifting cylinder；Two linear guides are set to the bottom of fixed frame in parallel
And it is parallel with the short side of fixed frame, two sliding frames slide respectively to be set in two linear guides, and the tail of cylinder is pulled
Portion is fixedly mounted on fixed frame, and the piston rod on head is connected with two sliding frames respectively, and Telescopic-cylinder is pulled to drive
Two sliding frames along linear guide to carton center close to or far from；The side on the top of fixed frame is equipped with and turns down outward
First supporting surface, the top of two sliding frames are respectively equipped with second, third supporting surface, the first, second, third horizontal support surface
In same plane；Hoisting cross beam is liftably set to the center of fixed frame by lifting cylinder and is located at two slider boxes
Between frame, the left and right ends at the top of hoisting cross beam are equipped with two metallic rods at intervals, and when lifting cylinder stretches out, metallic rod is higher than
First level supporting surface, when lifting cylinder retracts, metallic rod is lower than first level supporting surface.
Movement by controlling cylinder accurately controls the sliding of sliding frame and the lifting action of hoisting cross beam, thus real
The backfin of existing carton size folding.Control is simple, high reliablity.
Further, one end close to another metallic rod of a wherein metallic rod tilts down, horizontal with lifting
Beam forms the angle less than 90 degree.The backfin quality of the small folding of carton can be improved in the metallic rod being obliquely installed.
Further, the lifting cylinder is equipped with two, is symmetrical arranged.Holding is horizontal when can make beam lifting, backfin matter
Amount is high.
The utility model has the beneficial effects that
1, the robot opening apparatus of the utility model realizes the horizontal of carton by mobile platform and stores, and passes through
Robot drives manipulator crawl, and feeding technique is more simple and convenient；By the alternation of two material loading platforms, it can be achieved that even
Continuous feeding and feed, greatly improve unpacking efficiency.
2, robot opening apparatus of the invention, by the way that turnover vacuum chuck crawl on a robotic arm is arranged and beats
Body of unpacking has the characteristics that Flexible Production, is suitable for by the backfin for the folding machine progress carton size folding that cylinder drives
The carton of multi items, more specifications is unpacked.
Detailed description of the invention
Fig. 1 is the system schematic of the robot opening apparatus of embodiment 1.
Fig. 2 is the structural schematic diagram of the material loading platform of the robot opening apparatus of embodiment 1.
Fig. 3 is the structural schematic diagram (one) of the unpacking manipulator of the robot opening apparatus of embodiment 1.
Fig. 4 is the structural schematic diagram (two) of the unpacking manipulator of the robot opening apparatus of embodiment 1.
Fig. 5 is the structural schematic diagram of the folding machine of the robot opening apparatus of embodiment 1.
Fig. 6 is that robot takes carton from material loading platform during the work time for the robot opening apparatus of embodiment 1
Status diagram.
Fig. 7 is that carton is placed on folding machine by robot during the work time for the robot opening apparatus of embodiment 1,
And complete unpacking status diagram.
Specific embodiment
It is preferred below in conjunction with attached drawing and one kind to keep the purpose of this utility model, technical solution and advantage clearer
Embodiment the technical solution of the utility model is clearly and completely described.
In the following description, locating for the opening apparatus shown in FIG. 1 for orientation, folding machine 40 is located at robot 20
Front, material loading platform 10 are located at the rear of robot 20.In material loading platform 10, unpack manipulator 30 and folding machine 40 it is signified before
It is consistent with opening apparatus afterwards.
Embodiment 1
Refering to fig. 1, a kind of robot opening apparatus, including material loading platform 10, robot 20, unpack manipulator 30 and folding
Machine 40.
Referring to Fig.2, material loading platform 10 includes pedestal 11, mobile platform 12, linear guide 13 and cylinder 14.Pedestal 11 is served as reasons
The rectangular frame of fashioned iron composition, left and right ends are equipped with two elongated linear guides 13 in parallel, are equipped between linear guide 13
Cylinder 14, cylinder 14 are installed on the pedestal 11 by fastener.Linear guide 13 is equipped with mobile platform 12, the piston of cylinder 14
Bar is fixedly connected with mobile platform 12, and the movement of cylinder 14 drives mobile platform 12 to slide back and forth along linear guide 13.Mobile platform
Several locating rods 15 are equipped with along its short side on 12, are equipped with several locating rods 16 along its long side, locating rod 15,16 is elongated metal
Round bar, 15,16 groups of locating rod become semi open model structure, the positioning for the carton that applicable size range changes greatly.
The carton 01 being not switched on is lain against on mobile platform 12, and against locating rod 16, short side 011 supports the long side 012 of carton
By locating rod 15, carton 01 is positioned.In the present embodiment, material loading platform 10 is equipped with two, is arranged symmetrically in robot 20
The left and right sides at rear.
Refering to Fig. 3 and Fig. 4, manipulator 30 of unpacking includes fixing sucking disk portion 31 and movable suction disc portion 32, fixing sucking disk portion
31 is hinged by hinged seat 33 with movable suction disc portion 32.
Fixing sucking disk portion 31 includes the first metal plate 311, the first metal framework 312, the first vacuum chuck 313, the first gas
The trailing flank of cylinder 314 and the first vacuum system 315, the first metal plate 311 is equipped with flanged joint seat 316, and manipulator 30 of unpacking is logical
Flanged joint seat 316 is crossed to connect with the wrist of robot 20.The leading flank of first metal plate 311 is equipped with the first metal frame of rectangle
Frame 312, the first metal framework 312 are equipped with several first vacuum chucks 313, the equal direction of adsorption plane of all first vacuum chucks
It front side and is generally aligned in the same plane, forms fixed adsorption plane A.The trailing flank of first metal plate 311 is equipped with the first vacuum system 315,
First vacuum system 315 is connect with the first vacuum chuck 313, provides the power of vacuum suction for the first vacuum chuck.
Movable suction disc portion 32 includes the second metal plate 321, third metal plate 322, linear guide 323, the second cylinder
324, the second metal framework 325, the second vacuum chuck 326 and the second vacuum system 327.Second metal plate 321 is far from the first gold medal
The leading flank for belonging to one end of plate 311 is equipped with parallel twice sliding slot, and sliding slot extends along the longitudinal direction of the second metal plate 321.Third
The trailing flank of metal plate 322 is equipped with two parallel linear guides 323, and linear guide 323 is adapted with sliding slot, third metal
Plate 322 is set on the second metal plate 321 by the sliding of linear guide 323.Third metal plate 322 is equipped with the second metal of rectangle
Frame 325, the second metal framework 325 are equipped with several second vacuum chucks 326, the equal court of adsorption plane of all second vacuum chucks
It to front side and is in the same plane, forms removable adsorption plane B.The trailing flank of second metal plate 321 is equipped with the second vacuum system
System 327, the second vacuum system 327 is connect with the second vacuum chuck 326, provides the power of vacuum suction for the second vacuum chuck.
The centre of two linear guides 323 is equipped with cylinder mounting base 326, and the tail portion of the second cylinder 324 is fixedly mounted on the second metal plate
321 trailing flank, head extend to third metal plate 322, and the extension end of piston rod is connect with cylinder mounting base 326.Pass through
Pneumatic control, the second cylinder 324 drives third metal plate 322 to stretch on the second metal plate 321, so as to adjust adsorption plane B's
Position.
The leading flank of first metal plate 311 is equipped with cylinder hinged seat 3141, and the tail portion of the first cylinder 314 is hinged by cylinder
Seat 3141 is mounted on the first metal plate 311, and head extends to the second metal plate 321, and the second metal plate 321 is close to the first gold medal
The leading flank for belonging to one end of plate 311 is equipped with cylinder mounting base 3211, the piston rod 3141 and cylinder mounting base of the first cylinder 314
3211 are rotatably connected by articulated shaft.First cylinder 314 retraction, adsorption plane A and adsorption plane B are in same plane, the first gas
Cylinder 314 stretches out, and adsorption plane A and adsorption plane B are in 90 degree of angles.
Refering to Fig. 5, folding machine 40 includes the fixed frame 41 of a rectangle, on the short side of the top side of fixed frame 41
Equipped with the metal plate 411 turned down outward, metal plate 411 is equipped with first level supporting surface 4111.It is equipped with inside fixed frame 41
Sliding frame 42,43, linear guide 44,45 pull cylinder 46,47, hoisting cross beam 48 and lifting cylinder 49.Linear guide 44,
45 is parallel with the short side of fixed frame 41, is respectively arranged on the both ends of the bottom of fixed frame 41.Sliding frame 42,43 is to set vertically
The rectangular frame set, bottom end are adapted with linear guide 44, and the other end is adapted with linear guide 45, and sliding is set to straight line
On guide rail 44,45, it can be slid back and forth along linear guide 44,45.The top of sliding frame 42 is equipped with crossbeam 421, the top of crossbeam 421
End is equipped with the second horizontal support surface 4211.The top of sliding frame 43 is equipped with crossbeam 431, and the top of crossbeam 431 is equipped with third water
Flat supporting surface 4311.First, second, third horizontal support surface 4111,4211,4311 is in same plane.Pulling cylinder 46,
47 are set between linear guide 44 and linear guide 45, and the air cylinder base of cylinder 46 is pulled to be fixed on the bottom of fixed frame 41
Rear side, piston rod are fixedly connected with block 461 is pulled, and are pulled the medial surface of block 461 against the lateral surface of sliding frame 43, are pulled
The piston rod of cylinder 46 bounces back, and drives the center for pulling block 461 that sliding frame 43 is pulled to fixed frame 41.Pull cylinder 47
Air cylinder base is fixed on the front side of the bottom of fixed frame 41, and piston rod is fixedly connected with block 471 is pulled, and pulls block 471
Medial surface pulls the piston rod retraction of cylinder 47, drives and pull block 471 by sliding frame 42 against the lateral surface of sliding frame 42
Pull to the center of fixed frame 41.Hoisting cross beam 48 is parallel with the long side of fixed frame 41, set on the middle part of fixed frame 41, and
Between sliding frame 42,43, the lower section of hoisting cross beam 48 is equipped with lifting cylinder 49, in the present embodiment, lifting cylinder 49
If there are two, it is arranged symmetrically.Lifting cylinder 49 is vertically arranged, and pedestal is fixed on fixed frame 41, piston rod and lifting
Crossbeam 48 connects, and the piston rod of lifting cylinder 49 stretches out, and hoisting cross beam 48 is driven to rise.First gold medal is installed on hoisting cross beam 48
Belong to bar 50 and the second metallic rod 51, the first metallic rod 50 and the second metallic rod 51 are divided into the two of hoisting cross beam 48 at intervals
The one end close to the second metallic rod 51 at end, the first metallic rod 50 tilts down, and forms the folder less than 90 degree with hoisting cross beam 48
Angle.When lifting cylinder 49 stretches out, metallic rod 50,51 is higher than first level supporting surface 4111, when lifting cylinder 49 retracts, gold
Belong to bar 50,51 and is lower than first level supporting surface 4111.
The working method of present embodiment 1 is:
Refering to Fig. 6, unpacking carton 01 is not overlayed on mobile platform 12, and the long side 012 of carton is short against locating rod 16
Line 011 is positioned against locating rod 15, carton 01.First cylinder 314 retraction, the stretching, extension of movable suction disc portion 32 and fixing sucking disk portion
31 is parallel, and the adsorption plane A of the first vacuum chuck 313 composition and the adsorption plane B of the second vacuum chuck 326 composition are in same flat
Face, robot 20 drive manipulator 30 of unpacking to move to feeding position, and the first vacuum system 315 and the second vacuum system 327 open
Dynamic, a carton that do not unpack is attracted on the first vacuum chuck 313 and the second vacuum chuck 326, completes manipulator of unpacking
The work of 30 crawl cartons 01.When one of 10 upper paper box of material loading platform, the mobile platform of another material loading platform is retracted
(being stretching state in figure) carries out feed supplement process.Two material loading platforms are alternately stretched out, are retracted, and realize uninterrupted feed technique.
Refering to Fig. 7, robot 20 grabs the top that carton 01 places it in folding machine 40, and the first cylinder 314 stretches out, removable
The dynamic retraction of sucking disk part 32 and fixing sucking disk portion 31 are in 90 degree of angles, at this point, being opened by the carton 01 that vacuum chuck adsorbs, are formed
" mouth " word structure.Lifting cylinder 49 on folding machine 40 stretches out, and metallic rod 50,51 rises, and robot 20 adsorbs carton 01 with one
Tilt angle moves from left to right on fixed frame 41, when metallic rod 51 is encountered in the one small folding 42 of carton 01, small folding
015 backfin of page, robot 20 adsorb the right-to-left on fixed frame 41 of carton 01 and move, and metallic rod 50 is encountered in small folding 016
When, first time backfin is completed in small 016 backfin of folding.By pneumatic control, pull cylinder 46,47 drive respectively sliding frame 42,
43 to 01 center movement of carton, after contacting with the big folding 013,014 of carton 01, pushes big folding 013,014 into carton 01
The heart completes second of backfin.After the completion of second of backfin, the first cylinder 314 is retracted, and the decline of metallic rod 50,51 is detached from carton 01,
It is grabbed carton by robot 20, manipulator 30 of unpacking and is moved downward, so that big folding 013,014 and first, second on carton,
Third horizontal support surface 4111,4211,4311 contacts, and completes third time backfin.Backfin finishes three times, and 01 Case opening operation of carton is complete
At, and push carton 01 to move to 411 direction of metal plate from robot 20, manipulator 30 of unpacking, carry out next procedure.
Not doing the part illustrated in above instructions is the prior art, or has both been able to achieve by the prior art.
Claims (9)
1. a kind of robot opening apparatus characterized by comprising
At least two material loading platforms control two material loading platforms by cylinder and alternately stretch out the continuous feeding of retraction realization and confession
Material；
Unpacking manipulator draws the carton lain on material loading platform by turnover vacuum chuck, and passes through vacuum chuck
Inverting action carton is opened；
Robot, the wrist of robot are connect with unpacking manipulator, and manipulator of unpacking is driven to complete feeding and put by robot
Material movement；
Folding machine, under the movement that robot drives carton, cooperation Telescopic-cylinder pushes the metallic rod at hoisting cross beam both ends by paper
The small folding backfin in bottom portion；By the flexible pulling sliding frame of cylinder to carton center movement, to realize carton bottom
The backfin of big folding.
2. opening apparatus as described in claim 1, which is characterized in that the material loading platform includes pedestal, is set in parallel on pedestal
There are two elongated linear guides, linear guide is equipped with mobile platform, and mobile platform is under the drive of cylinder along linear guide
It slides back and forth, a short side of the intersection of mobile platform and a long side are equipped with several locating rods.
3. opening apparatus as described in claim 1, which is characterized in that the unpacking mechanical hand includes fixing sucking disk portion and removable
Dynamic sucking disk part, fixing sucking disk portion is hinged by hinged seat with movable suction disc portion, and fixing sucking disk portion and movable suction disc portion are all provided with
The vacuum system for having vacuum chuck and connecting with vacuum chuck, fixing sucking disk portion and mobile sucking disk part pass through the flexible of the first cylinder
Realize parallel or 90 degree of overturnings of vacuum chuck.
4. opening apparatus as claimed in claim 3, which is characterized in that the tail portion of first cylinder is fixedly mounted by pedestal
In fixing sucking disk portion, the piston rod on head is connect with movable suction disc portion；Cylinder, which stretches out, pushes movable suction disc portion around hinged
The articulated shaft of seat is inwardly overturn, and fixing sucking disk portion and mobile sucking disk part are in 90 degree of angles；Cylinder retraction pull mobile sucking disk part around
The articulated shaft of hinged seat flips outward, and fixing sucking disk portion and mobile sucking disk part are in same plane.
5. opening apparatus as claimed in claim 3, which is characterized in that the fixing sucking disk portion include the first metal plate, first
The trailing flank of metal plate is equipped with flanged joint seat, and manipulator of unpacking is connected by the wrist of flanged joint seat and robot；First
The leading flank of metal plate is equipped with the first metal framework, and the first metal framework is equipped with several first vacuum chucks, and all first is true
The adsorption plane of suction disk towards front side and is generally aligned in the same plane, and forms fixed adsorption plane A.
6. opening apparatus as claimed in claim 3, which is characterized in that the movable suction disc portion includes the second metal plate, the
Three metal plates, linear guide and the second cylinder；Third metal plate is equipped with the second metal framework, several the on the second metal framework
The adsorption plane of two vacuum chucks, all second vacuum chucks towards front side and is in the same plane, and forms removable absorption
Face B；Third metal plate is slidingly disposed at the front end of the second metal plate by linear guide, and the second metal plate and the first cylinder connect
It connects, the tail portion of the second cylinder is fixedly mounted on the second metal plate by pedestal, and the piston rod and third metal plate on head are solid
Fixed connection；The flexible drive third metal plate of second cylinder slides back and forth on the second metal plate along linear guide.
7. opening apparatus as described in claim 1, which is characterized in that the folding machine includes fixed frame, is mounted on fixation
Two sliding frames, two linear guides, two pulling cylinders, a hoisting cross beam and lifting cylinder in frame；Two straight
Line guide rail is set to the bottom of fixed frame and parallel with the short side of fixed frame in parallel, and two sliding frames slide respectively to be set to
In two linear guides, the tail portion of cylinder is pulled to be fixedly mounted on fixed frame, the piston rod on head respectively with two cunnings
Dynamic frame is connected, pull Telescopic-cylinder drive two sliding frames along linear guide to carton center close to or far from；Fixed frame
The side on the top of frame is equipped with the first supporting surface turned down outward, and the top of two sliding frames is respectively equipped with second, third branch
Support face, the first, second, third horizontal support surface are in same plane；Hoisting cross beam is liftably set to by lifting cylinder
The center of fixed frame and it is located between two sliding frames, the left and right ends at the top of hoisting cross beam are equipped with two gold at intervals
Belong to bar, when lifting cylinder stretches out, metallic rod is higher than first level supporting surface, and when lifting cylinder retracts, metallic rod is lower than the first water
Flat supporting surface.
8. opening apparatus as claimed in claim 7, which is characterized in that the wherein close another metal of a metallic rod
One end of bar tilts down, and forms the angle less than 90 degree with hoisting cross beam.
9. opening apparatus as claimed in claim 7, which is characterized in that the lifting cylinder is equipped with two, is symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821416780.8U CN208731334U (en) | 2018-08-30 | 2018-08-30 | A kind of robot opening apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821416780.8U CN208731334U (en) | 2018-08-30 | 2018-08-30 | A kind of robot opening apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208731334U true CN208731334U (en) | 2019-04-12 |
Family
ID=66032086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821416780.8U Withdrawn - After Issue CN208731334U (en) | 2018-08-30 | 2018-08-30 | A kind of robot opening apparatus |
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| Country | Link |
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| CN (1) | CN208731334U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945614A (en) * | 2018-08-30 | 2018-12-07 | 南京埃斯顿智能系统工程有限公司 | A kind of robot opening apparatus and opening method |
| CN113636252A (en) * | 2021-08-30 | 2021-11-12 | 大连职业技术学院 | Box body taking and placing manipulator for intelligent manufacturing |
| CN114803490A (en) * | 2022-04-27 | 2022-07-29 | 交通运输部公路科学研究所 | Vacuum adsorption type loading and unloading equipment for assembled concrete pavement slab |
| CN114986553A (en) * | 2022-07-11 | 2022-09-02 | 安徽三联学院 | Intelligent manufacturing is with unpacking assembly robot |
| CN115196096A (en) * | 2022-09-01 | 2022-10-18 | 霍浦维（广东顺德）自动化设备有限公司 | Large carton opening equipment |
| CN108945614B (en) * | 2018-08-30 | 2024-04-30 | 南京埃斯顿智能系统工程有限公司 | Robot box opening equipment and box opening method |
-
2018
- 2018-08-30 CN CN201821416780.8U patent/CN208731334U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945614A (en) * | 2018-08-30 | 2018-12-07 | 南京埃斯顿智能系统工程有限公司 | A kind of robot opening apparatus and opening method |
| WO2020042667A1 (en) * | 2018-08-30 | 2020-03-05 | 南京埃斯顿智能系统工程有限公司 | Robot unpacking device and unpacking method |
| CN108945614B (en) * | 2018-08-30 | 2024-04-30 | 南京埃斯顿智能系统工程有限公司 | Robot box opening equipment and box opening method |
| CN113636252A (en) * | 2021-08-30 | 2021-11-12 | 大连职业技术学院 | Box body taking and placing manipulator for intelligent manufacturing |
| CN114803490A (en) * | 2022-04-27 | 2022-07-29 | 交通运输部公路科学研究所 | Vacuum adsorption type loading and unloading equipment for assembled concrete pavement slab |
| CN114986553A (en) * | 2022-07-11 | 2022-09-02 | 安徽三联学院 | Intelligent manufacturing is with unpacking assembly robot |
| CN114986553B (en) * | 2022-07-11 | 2023-12-01 | 安徽三联学院 | Intelligent manufacturing is with unpacking assembly robot |
| CN115196096A (en) * | 2022-09-01 | 2022-10-18 | 霍浦维（广东顺德）自动化设备有限公司 | Large carton opening equipment |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190412 Effective date of abandoning: 20240430 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190412 Effective date of abandoning: 20240430 |