CN212603684U - Carton folding robot - Google Patents
Carton folding robot Download PDFInfo
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- CN212603684U CN212603684U CN202021436466.3U CN202021436466U CN212603684U CN 212603684 U CN212603684 U CN 212603684U CN 202021436466 U CN202021436466 U CN 202021436466U CN 212603684 U CN212603684 U CN 212603684U
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Abstract
The utility model discloses a carton folding robot, which comprises a double-arm robot, a first manipulator driven by the robot, a second manipulator and an auxiliary bottom sealing tool, wherein the auxiliary bottom sealing tool is positioned below the first manipulator and the second manipulator; the second mechanical arm comprises a driving arm connected with the robot body, a second mounting base plate connected with the driving arm, a sucker assembly mounted on the second mounting base plate, an auxiliary positioning mechanism and a closing mechanism, the auxiliary bottom sealing tool comprises a supporting base plate, an upper plywood, a lower plywood, an auxiliary board and a locking board, and the first mechanical arm and the second mechanical arm are clamped and matched to move back and forth on the supporting base plate so as to close and lock the bottom surface of the paper box. Snatch and open folding carton through first manipulator, then press from both sides tight location carton through the second manipulator, to the folding closure of left bottom plate and right bottom plate of carton bottom surface, supplementary back cover frock is folding to the preceding curb plate and the posterior lateral plate of carton bottom surface, realizes the quick-closure locking carton bottom surface.
Description
Technical Field
The utility model belongs to the technical field of the carton processing equipment, especially, relate to a carton folding robot.
Background
As a packaging material, a paper box is widely used in various links of industrial production, but after the paper box or the paper box itself is produced, the paper box or the paper box is usually stored in a folding manner for easy transportation and storage, and the paper box in a folded state needs to be opened before being packed in the next step in production and use. As shown in fig. 6, the paper box includes an upper cover plate, a left side plate, a right side plate, a front side plate, a rear side plate and a bottom plate, the left side plate, the right side plate, the front side plate and the rear side plate enclose the side face of the paper box, the upper cover plate and the bottom plate are respectively arranged above and below the side face of the paper box, the paper box in a folded state is in a planar state, the left side plate and the right side plate are spread to open the paper box, and then the bottom plate is processed to.
In recent years, the Chinese packaging machinery industry has developed rapidly, but the technical level is still far from foreign countries. At present, in automatic production, a special carton opening mechanism is generally adopted to open a carton in a folded state, and then the carton is placed in a working area by manual or mechanical means to carry out bottom sealing and carton packing procedures. The operation has high space requirement, and a separate carrying procedure is required to be added, so that a large amount of manpower and material resources are consumed.
In addition, the box opening mechanism is expensive, the use and maintenance cost is high, and medium-sized and small enterprises are difficult to bear the cost of using the machine.
Therefore, in order to solve the above-described technical problems, it is necessary to provide a robot for folding a paper cassette.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simple structure, easy operation, quick unpacking, folding accurate, that production efficiency is high, carton folding robot.
The technical scheme of the utility model as follows:
a carton folding robot comprises a double-arm robot, a first manipulator, a second manipulator and an auxiliary bottom sealing tool, wherein the first manipulator and the second manipulator are driven by the double-arm robot, the first manipulator and the second manipulator are respectively arranged on a driving arm of the double-arm robot and used for driving the first manipulator and the second manipulator to move, and the auxiliary bottom sealing tool is positioned below a position between the first manipulator and the second manipulator;
the second manipulator comprises a second mounting base plate connected with the robot, a sucker assembly mounted on the second mounting base plate, an auxiliary positioning mechanism and a closing mechanism, the auxiliary positioning mechanism is used for positioning and clamping the paper box, and the closing mechanism is used for closing a left bottom plate and a right bottom plate of the bottom surface of the paper box; the auxiliary positioning mechanism comprises a positioning slide rail, two positioning cylinders symmetrically arranged on two sides of the positioning slide rail and two driven positioning plates, the positioning slide rail is mounted on the second mounting base plate, the output end of each positioning cylinder is connected with one positioning plate, each positioning plate is slidably mounted on the positioning slide rail through a positioning connecting plate, and the two positioning plates are relatively folded along the positioning slide rail to clamp a paper box conveyed by the first manipulator under the driving of the positioning cylinders;
the closing mechanism comprises a guide slide rail, two driving cylinders symmetrically arranged on two sides of the guide slide rail, two driven roller mounting plates and rollers mounted on the roller mounting plates, the guide slide rail is mounted on the second mounting substrate, the output end of each driving cylinder is connected with one roller mounting plate, each roller mounting plate is slidably mounted on the guide slide rail, and the two roller mounting plates move relatively along the guide slide rail under the driving of the driving cylinders so as to close a left bottom plate and a right bottom plate of the bottom surface of the carton;
the auxiliary bottom sealing tool is matched with the first mechanical arm and the second mechanical arm to drive the clamped paper box to move back and forth on the auxiliary bottom sealing tool so as to enable the bottom surface of the paper box to be closed and locked, the auxiliary bottom sealing tool comprises a supporting base plate, an upper plywood, a lower plywood, an auxiliary board and a locking board, the upper plywood is matched with the auxiliary board to be used for closing the front bottom plate of the bottom surface of the paper box, and the lower plywood is matched with the locking board to be used for closing the rear bottom plate of the bottom surface of the paper box.
In the above technical solution, the upper plywood and the lower plywood are respectively arranged at two ends of the supporting substrate, the locking board and the auxiliary board are arranged between the upper plywood and the lower plywood, the locking board is arranged at one side close to the lower plywood, and the auxiliary board is arranged at one side close to the upper plywood.
In the technical scheme, the upper plywood comprises a first horizontal section and a first folding section, the first horizontal section is located at the top of the first folding section, an included angle is formed between the first folding section and the horizontal plane, when the carton is folded, the front bottom plate of the bottom surface of the carton is inserted between the upper plywood and the auxiliary board, and the front bottom plate is attached to the first folding section.
In the technical scheme, the lower folding plate comprises a second horizontal section and a second folding section, the second horizontal section is located at the top of the second folding section, an included angle is formed between the second folding section and the horizontal plane, when the paper box is folded, the rear bottom plate of the bottom surface of the paper box is attached to the second folding section, and meanwhile, the auxiliary plate abuts against the front bottom plate.
In the above technical scheme, the first folding section of upper plywood and the second folding section of lower plywood set up relatively.
In the technical scheme, one end of the positioning plate is connected with the positioning connecting plate, the positioning connecting plate is in an inverted L shape, and the positioning connecting plate is slidably mounted on the positioning slide rail so that the two positioning plates are relatively folded along the positioning slide rail to position and clamp the paper box.
In the technical scheme, the roller mounting plate is provided with the second roller carrier, and the rollers are mounted on the second roller carrier and used for rolling friction between the rollers and the paper box to avoid scratching the paper box when the bottom of the paper box is pushed.
In the technical scheme, the positioning cylinder and the driving cylinder are both provided with magnetic switches for feeding back the execution states of the positioning cylinder and the driving cylinder in real time.
In the above technical solution, the suction cup assembly includes a plurality of suction cups, and each suction cup is mounted on the second mounting substrate, and is used for adsorbing and fixing the paper box, and is matched with the auxiliary positioning mechanism to form the paper box.
In the above technical solution, the first manipulator includes a first mounting substrate connected to the robot, a grabbing mechanism for grabbing the carton, and an ejection mechanism for opening the folded carton, the grabbing mechanism is installed on one side of the first mounting substrate, and the ejection mechanism is installed on the other side of the first mounting substrate, wherein: snatch mechanism includes revolving cylinder, sucking disc mounting panel and sucking disc, revolving cylinder installs on a mounting substrate, revolving cylinder's output and sucking disc mounting panel are connected, the sucking disc is installed in the lower part of sucking disc mounting panel in order to be used for snatching the carton of fold condition, ejection mechanism includes craspedodrome cylinder and wheel components, craspedodrome cylinder installs on a mounting substrate, craspedodrome cylinder's output with wheel components connects.
In the above technical scheme, the roller assembly includes first gyro wheel frame, roller shaft and gyro wheel, first gyro wheel frame with the output of craspedodrome cylinder is adorned admittedly, the roller shaft is vertical to be installed on the first gyro wheel frame, the gyro wheel is installed on the roller shaft, the roller shaft is installed and is close to at first gyro wheel frame on one side of first installation base plate for under the drive of craspedodrome cylinder, the gyro wheel moves forward along the left and right curb plate of carton and opens the carton of fold condition.
The utility model has the advantages and positive effects that:
1. the carton folding robot grabs and opens folding carton through first manipulator, then presss from both sides tight location carton through the second manipulator, and is folding closed to the left bottom plate and the right bottom plate of carton bottom surface, and then cooperates supplementary back cover frock and fold the preceding curb plate and the posterior lateral plate of carton bottom surface again, realizes the quick closure locking carton bottom surface.
2. Two manipulators along with the robot of both arms snatch, material loading and folding, along with opening, along with putting the carton, can not produce the piling up of raw and other materials, the effectual utilization ratio that improves the operating space.
3. The carton folding robot can fold the carton fast, avoids using a large amount of manpower and material resources, and improves the production efficiency.
Drawings
Fig. 1 is a schematic structural view of a carton folding robot of the present invention;
fig. 2 is a schematic structural diagram of a second manipulator in the present invention;
FIG. 3 is a schematic structural view of the auxiliary bottom sealing tool of the present invention;
fig. 4 is a schematic structural diagram of a first manipulator of the present invention;
fig. 5 is a schematic structural view of the carton of the present invention (the carton in a folded state);
fig. 6 is a schematic structural view of the paper cassette of the present invention (paper cassette in an open side state);
fig. 7 is a schematic structural view of the carton of the present invention (the carton in a closed bottom state).
In the figure:
1. first manipulator 2, second manipulator 3, supplementary back cover frock
4. Second mounting substrate 5, sucking disc 6, location cylinder
7. Positioning slide rail 8, positioning plate 9 and positioning connecting plate
10. Drive cylinder 11, roller mounting plate 12, roller
13. Second roller carrier 14, protective shell 15 and second connecting end
16. Support base plate 17, upper plywood 18, accessory plate
19. Locking plate 20, lower plywood 21, sucking disc mounting panel
22. Strip-shaped groove 23, reinforcing rib 24 and rotary cylinder
25. A first roller frame 26, a straight cylinder 27, a first mounting substrate
28. Connecting plate 29, positioning pin hole 30 and upper cover plate
31. Left side plate 32, rear bottom plate 33 and left bottom plate
34. Front bottom plate 35, right bottom plate 36, front side plate
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure, as defined by the following claims.
Example 1
As shown in fig. 1-3, the carton folding robot of the present invention comprises a two-arm robot, a first driven manipulator 1, a second driven manipulator 2 and an auxiliary bottom sealing tool 3, wherein the first and second manipulators 1 and 2 are respectively mounted on a driving arm of the two-arm robot for driving the first and second manipulators to move, and the auxiliary bottom sealing tool 3 is located below the first and second manipulators 1 and 2;
the second manipulator 2 comprises a second mounting base plate 4 connected with the robot, a sucker component arranged on the second mounting base plate 4, an auxiliary positioning mechanism and a closing mechanism, the auxiliary positioning mechanism is used for positioning and clamping the paper box, the closing mechanism is used for closing the left bottom plate and the right bottom plate of the bottom surface of the paper box, wherein the auxiliary positioning mechanism comprises a positioning slide rail 7, two positioning cylinders 6 symmetrically arranged at two sides of the positioning slide rail and two driven positioning plates 8, the positioning slide rails 7 are arranged on the second mounting base plate 4, the output end of each positioning cylinder 6 is respectively connected with one positioning plate 8, each positioning plate 8 is arranged on the positioning slide rail 7 in a sliding way through a positioning connecting plate 9, the two positioning plates 8 are oppositely folded along the positioning slide rails 7 under the driving of the positioning air cylinders 6 so as to clamp the paper box conveyed by the first manipulator 1;
closing mechanism drives actuating cylinder 10, receives two driven gyro wheel mounting panels 11 and installs gyro wheel 12 on gyro wheel mounting panel 11 including direction slide rail, two, the direction slide rail is installed on second mounting substrate 4, every drive actuating cylinder 10's output respectively with one gyro wheel mounting panel 11 is connected, every the one end slidable mounting of gyro wheel mounting panel 11 is in on the direction slide rail, under the drive that drives actuating cylinder 10, two gyro wheel mounting panels 11 make the left bottom plate and the right bottom plate of carton bottom surface closed along direction slide rail relative movement.
The auxiliary bottom sealing tool comprises a supporting base plate 16, an upper combination plate 17, a lower combination plate 20, an auxiliary plate 18 and a locking plate 19, wherein the upper combination plate 17, the lower combination plate 20, the auxiliary plate 18 and the locking plate 19 are installed on the supporting base plate 16, after the left side plate and the right side plate of the bottom surface of the carton are closed by the second mechanical hand 2, the front bottom plate and the rear bottom plate of the bottom surface of the carton are closed by the upper combination plate 17, the lower combination plate 20, the auxiliary plate 18 and the locking plate 19 through the clamping fit of the first mechanical hand 1 and the second mechanical hand 2 in the front-back movement of the auxiliary bottom sealing tool, and then.
Further, the upper board 17 and the lower board 20 are respectively disposed at two ends of the supporting substrate 16, the locking board 19 and the auxiliary board 18 are disposed between the upper board 17 and the lower board 20, the locking board 19 is disposed at a side close to the lower board 20, and the auxiliary board 18 is disposed at a side close to the upper board 17.
Further, the upper plate 17 comprises a first horizontal section and a first folding section, the first horizontal section is located at the top of the first folding section, the first folding section is obliquely arranged (the included angle between the first folding section and the horizontal plane is 15-60 degrees), and the upper plate 17 and the auxiliary plate 18 are matched for closing the front bottom plate of the bottom surface of the carton.
Further, the lower plywood 20 comprises a second horizontal section and a second folding section, the second horizontal section is located at the top of the second folding section, the second folding section is arranged in an inclined mode (the included angle between the second folding section and the horizontal plane is 15-60 degrees), the first folding section and the second folding section are arranged oppositely, and the lower plywood 20 is matched with the locking plate 19 to be used for abutting against the front bottom plate through the locking plate 19 when the rear bottom plate of the bottom surface of the paper box is folded.
Further, the locking plate 19 has a height smaller than that of the lower plate 20, and the auxiliary plate 18 has a height smaller than that of the upper plate 17.
Furthermore, one end of the positioning plate 8 is connected to the positioning connecting plate 9, and the positioning connecting plate 9 is slidably mounted on the positioning slide rail 7, so that the two positioning plates 8 are relatively folded along the positioning slide rail 7 to position and clamp the carton.
Further, the positioning connection plate 9 is in an inverted L shape.
Further, the roller mounting plate 11 is provided with a second roller frame 13, and the roller 12 is mounted on the second roller frame 13, so that when the bottom surface of the carton is pushed, the roller and the carton are in rolling friction to avoid scratching the carton.
Furthermore, the positioning cylinder 6 and the driving cylinder 10 are both provided with a magnetic switch for feeding back the execution states of the positioning cylinder 6 and the driving cylinder 10 in real time.
Further, the suction cup assembly comprises a plurality of suction cups (the number of the suction cups is at least 4), and each suction cup (adopting an organ type large-caliber suction cup) is installed on one side, facing the auxiliary positioning mechanism, of the second installation base plate 4, so as to be matched with the auxiliary positioning mechanism to fix the position of the paper box.
The second mechanical arm 2 receives the carton which is grabbed and fed by the first mechanical arm 1, a left bottom plate 33 and a right bottom plate of the bottom surface of the carton are closed by a closing mechanism of the second mechanical arm 2, the second mechanical arm 2 moves back and forth on the auxiliary bottom sealing tool 3 to respectively fold and seal the front bottom plate 34 and the rear bottom plate 32 of the bottom surface of the carton, and finally the bottom surface of the carton is locked to finish the operation.
The utility model discloses a what robot adopted is eight degree of freedom double-armed robots of industry to the realization is controlled the multi-angle of manipulator.
Example 2
On the basis of embodiment 1, as shown in fig. 4, in the carton folding robot of the present invention, the first manipulator 1 includes a first mounting substrate 27 connected to the robot, a grabbing mechanism for grabbing the carton, and an ejection mechanism for opening the folding carton, one side of the first mounting substrate 27 is provided with the grabbing mechanism, and the other side is provided with the ejection mechanism, wherein: the grabbing mechanism comprises a rotary cylinder 24, a sucker mounting plate 21 and a sucker, the rotary cylinder 24 is mounted on the first mounting substrate 27, the output end of the rotary cylinder 24 is connected with the sucker mounting plate 21, and the sucker is mounted at the lower part of the sucker mounting plate 21 and used for grabbing the folding paper box; the ejection mechanism comprises a straight cylinder 26 and a roller assembly, the straight cylinder 26 is mounted on a first mounting substrate 27, the output end of the straight cylinder 26 is connected with the roller assembly, and the roller assembly moves forwards along the left and right side plates of the carton to open the carton under the driving of the straight cylinder.
Further, the roller assembly comprises a first roller frame 25, a roller shaft and a roller, wherein the first roller frame 25 is fixedly mounted with the output end of the straight cylinder 26, the roller shaft is vertically mounted on the first roller frame 25, and the roller is mounted on the roller shaft; the roller shaft is mounted on a side of the first roller frame 25 adjacent to the first mounting base plate 27 for forward movement of the rollers along the left and right side panels of the paper cassette to open the paper cassette in a folded state, driven by the straight cylinder 26.
Furthermore, the sucker mounting plate 21 is L-shaped, the vertical section of the L-shaped sucker mounting plate is connected with the output end of the rotating cylinder 24, a plurality of sucker mounting holes matched with the suckers are formed in the horizontal section of the L-shaped sucker mounting plate, and the tops of the suckers penetrate through the sucker mounting holes and are fixedly mounted on the L-shaped sucker mounting plate 21.
Further, an L-shaped reinforcing rib 23 is installed in the middle of the suction cup mounting plate 21 to reinforce the strength of the suction cup mounting plate 21.
Further, a horizontal segment of the suction cup mounting plate 21 is provided with a strip-shaped groove 22 for reducing the self weight of the first manipulator 1.
Further, a connecting plate 28 is mounted on the top of the first mounting substrate 27, the first mounting substrate 27 and the connecting plate 28 are perpendicular to each other, and the connecting plate 28 is located above the ejection mechanism.
Further, the center of the connecting plate 28 is opened with a positioning pin hole 29 for connecting with the robot body.
Further, a first groove is formed on the rotary cylinder 24, a magnetic switch is installed in the first groove for feeding back the execution state of the rotary cylinder 24 in real time, a second groove is formed on the straight cylinder 26, and a magnetic switch is installed in the second groove for feeding back the execution state of the straight cylinder 26 in real time.
Further, a protective shell 14 is installed on one side of the second installation substrate 4, and a second connection end 15 (cylindrical) is arranged at the top of the protective shell 14 and used for being connected with a flange of the robot.
Further, the protective shell 14 is hollow, and an opening is formed in the top of the protective shell 14, so that an external control cable and an air pipe loop are connected with the components of the second manipulator 2 through the opening.
Example 3
On the basis of the embodiment 2, as shown in fig. 5 to 7, the bottom surface of the paper box comprises a front bottom plate, a rear bottom plate, a left bottom plate and a right bottom plate, wherein the rear bottom plate is provided with a socket, and the front bottom plate is provided with a tongue matched with the rear bottom plate.
The paper box folding method using the paper box folding robot of embodiment 2 includes the steps of:
(1) the suction cups of the first manipulator 1 grab the folded paper box at the feeding station (the folded paper box is in a horizontal state, and 4 suction cups grab the rear side plate (the opposite surface of the front side plate 36 in fig. 5) of the paper box, as shown in fig. 5);
(2) the rotary cylinder 24 drives the suction cup of the first manipulator 1 to rotate 90 degrees, so that the horizontal carton rotates to be in a vertical state, the left side plate 31 and the right side plate of the carton are in vertical positions, the straight cylinder 26 drives the roller frame to move forwards, and the rollers move forwards along the right side plate (the opposite surface of the left side plate 31 in fig. 5) of the carton, so that the carton is opened (as shown in fig. 6, four sides of the carton are opened to be rectangular);
(3) the robot adjusts the position of the second manipulator 2, so that the second manipulator 2 rotates to a position opposite to the first manipulator 1, the suction disc assembly of the second manipulator 2 is started to assist in adsorbing the front side plate 36 of the carton, and meanwhile, the positioning cylinder 6 of the auxiliary positioning mechanism drives the two positioning plates 8 to be relatively folded to clamp the left side plate 31 and the right side plate of the carton in the step (2);
(4) the robot drives the first mechanical arm 1 and the second mechanical arm 2 to move the paper box to the auxiliary bottom sealing tool, so that the paper box moves towards the direction of the lower plywood 20, the rear bottom plate 32 of the bottom surface of the paper box is positioned on the front side of the lower plywood 20, the front bottom plate 34 is positioned on the front side of the locking plate 19, then the paper box is driven to move backwards, so that the rear bottom plate 32 is folded inwards, and the locking plate 19 plays a role in limiting the front bottom plate 34 of the bottom surface of the paper box to prevent the rear bottom plate from touching the front bottom plate in the inward folding process;
(5) the robot drives the first mechanical hand and the second mechanical hand to lift the paper box, and in the lifting process, two driving cylinders 10 of a closing mechanism of the second mechanical hand 2 drive the roller mounting plate 11 to move relatively, so that a left bottom plate 33 and a right bottom plate 35 of the paper box are folded and closed inwards;
(6) the robot drives the first mechanical arm 1 and the second mechanical arm 2 to move to the next station of the auxiliary bottom sealing tool, so that the front bottom plate 34 of the paper box extends between the upper plate 17 and the auxiliary plate 18, then the paper box is driven to move forwards and downwards, in the moving process, the upper plate 17 folds the front bottom plate inwards, meanwhile, the auxiliary plate 18 props against the left bottom plate 33 and the right bottom plate 34 to expose the socket of the rear bottom plate 32, and then the inserting tongue of the front bottom plate 34 is inserted into the socket of the rear bottom plate 32; the front 34, rear 32, left 33 and right 35 bottom panels of the carton bottom are closed to complete the closure of the carton bottom (as shown in figure 7).
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.
Claims (10)
1. A carton folding robot which is characterized in that: the mechanical hand device comprises a double-arm robot, a first mechanical hand, a second mechanical hand and an auxiliary bottom sealing tool, wherein the first mechanical hand and the second mechanical hand are driven by the double-arm robot, the first mechanical hand and the second mechanical hand are respectively arranged on a driving arm of the double-arm robot to be used for driving the first mechanical hand and the second mechanical hand to move, and the auxiliary bottom sealing tool is positioned below a position between the first mechanical hand and the second mechanical hand;
the second manipulator comprises a second mounting base plate connected with the robot, a sucker assembly mounted on the second mounting base plate, an auxiliary positioning mechanism and a closing mechanism, the auxiliary positioning mechanism is used for clamping the paper box, and the closing mechanism is used for closing a left bottom plate and a right bottom plate of the bottom surface of the paper box; the auxiliary positioning mechanism comprises a positioning slide rail, two positioning cylinders symmetrically arranged on two sides of the positioning slide rail and two driven positioning plates, the positioning slide rail is mounted on a second mounting base plate, the output end of each positioning cylinder is connected with one positioning plate, each positioning plate is slidably mounted on the positioning slide rail through a positioning connecting plate, and under the driving of the positioning cylinders, the two positioning plates are relatively folded along the positioning slide rail and clamp a paper box conveyed by the first manipulator;
the closing mechanism comprises a guide slide rail, two driving cylinders symmetrically arranged on two sides of the guide slide rail, two driven roller mounting plates and rollers mounted on the roller mounting plates, the guide slide rail is mounted on the second mounting substrate, the output end of each driving cylinder is connected with one roller mounting plate, each roller mounting plate is slidably mounted on the guide slide rail, and the two roller mounting plates move relatively along the guide slide rail under the driving of the driving cylinders so as to close a left bottom plate and a right bottom plate of the bottom surface of the carton;
the auxiliary bottom sealing tool is matched with the first mechanical arm and the second mechanical arm to drive the clamped paper box to move back and forth on the auxiliary bottom sealing tool so as to enable the bottom surface of the paper box to be closed and locked, the auxiliary bottom sealing tool comprises a supporting base plate, an upper plywood, a lower plywood, an auxiliary board and a locking board, the upper plywood is matched with the auxiliary board to be used for closing the front bottom plate of the bottom surface of the paper box, and the lower plywood is matched with the locking board to be used for closing the rear bottom plate of the bottom surface of the paper box.
2. A carton folding robot as claimed in claim 1, characterized in that: the upper plywood and the lower plywood are respectively arranged at two ends of the supporting base plate, the locking board and the auxiliary board are arranged between the upper plywood and the lower plywood, the locking board is positioned at one side close to the lower plywood, and the auxiliary board is positioned at one side close to the upper plywood.
3. A carton folding robot as claimed in claim 2, characterized in that: go up the plywood and include first horizontal segment and first folding section, first horizontal segment is located the top of first folding section, form the contained angle between first folding section and the horizontal plane, when folding carton, the preceding bottom plate of carton bottom surface inserts between plywood and the accessory plate, and just preceding bottom plate and the laminating of first folding section.
4. A carton folding robot as claimed in claim 3, characterized in that; the lower plywood comprises a second horizontal section and a second folding section, the second horizontal section is located at the top of the second folding section, an included angle is formed between the second folding section and the horizontal plane, when the carton is folded, the rear bottom plate of the bottom surface of the carton is attached to the second folding section, and meanwhile the auxiliary board abuts against the front bottom plate.
5. A carton folding robot as claimed in claim 1, characterized in that: one end of each positioning plate is connected with the corresponding positioning connecting plate, each positioning connecting plate is of an inverted L shape, and the positioning connecting plates are slidably mounted on the positioning slide rails so that the two positioning plates are relatively folded along the positioning slide rails to position and clamp the paper box.
6. A carton folding robot as claimed in claim 5, characterized in that: the idler wheel mounting plate is provided with a second idler wheel frame, the idler wheel is mounted on the second idler wheel frame and used for preventing the paper box from being scratched due to rolling friction between the idler wheel and the paper box when the bottom of the paper box is pushed.
7. A carton folding robot as claimed in claim 6, characterized in that: the sucker assembly comprises a plurality of suckers, and each sucker is mounted on the second mounting base plate and used for sucking the paper box and is matched with the auxiliary positioning mechanism to position the paper box.
8. A carton folding robot as claimed in claim 1, characterized in that: the first manipulator comprises a first mounting base plate connected with the robot, a grabbing mechanism used for grabbing the paper box and an ejection mechanism used for opening the folded paper box, the grabbing mechanism is mounted on one side of the first mounting base plate, and the ejection mechanism is mounted on the other side of the first mounting base plate;
the grabbing mechanism comprises a rotary cylinder, a sucker mounting plate and a sucker, the rotary cylinder is mounted on a first mounting substrate, the output end of the rotary cylinder is connected with the sucker mounting plate, and the sucker is mounted at the lower part of the sucker mounting plate and used for grabbing the folded paper box;
the ejection mechanism comprises a straight cylinder and a roller assembly, the straight cylinder is mounted on the first mounting base plate, the output end of the straight cylinder is connected with the roller assembly, and the roller assembly moves forwards along the left side plate and the right side plate of the paper box under the driving of the straight cylinder so as to open the folded paper box.
9. A carton folding robot as claimed in claim 8, characterized in that: the roller assembly comprises a first roller carrier, a roller shaft and a roller, the first roller carrier is fixedly mounted with the output end of the straight cylinder, the roller shaft is vertically mounted on the first roller carrier, the roller is mounted on the roller shaft, the roller shaft is mounted on one side of the first roller carrier, which is close to the first mounting base plate, and is used for being driven by the straight cylinder to move forward along the left and right side plates of the paper box so as to open the paper box in a folded state.
10. A carton folding robot as claimed in claim 9, characterized in that: the sucking disc mounting panel is the L type, and the vertical section of L type is connected with revolving cylinder's output, is formed with a plurality of sucking disc mounting holes with sucking disc matched with on the horizontal segment of L type, the top of sucking disc passes this sucking disc mounting hole and adorns admittedly on the sucking disc mounting panel of L type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021436466.3U CN212603684U (en) | 2020-07-20 | 2020-07-20 | Carton folding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021436466.3U CN212603684U (en) | 2020-07-20 | 2020-07-20 | Carton folding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212603684U true CN212603684U (en) | 2021-02-26 |
Family
ID=74720052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021436466.3U Active CN212603684U (en) | 2020-07-20 | 2020-07-20 | Carton folding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212603684U (en) |
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2020
- 2020-07-20 CN CN202021436466.3U patent/CN212603684U/en active Active
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