CN215098434U - Box opening and sealing robot - Google Patents

Abstract

The utility model relates to an unpacking and sealing robot, include: a carton transport mechanism; the first box cover uncovering mechanism is arranged at the entrance end of the carton conveying mechanism and is used for uncovering two long-edge box covers of the carton; the cover uncovering and holding mechanisms are arranged on two opposite sides of the carton conveying mechanism and are used for holding the uncovering states of the two long-edge box covers; and the second box cover uncovering mechanism comprises a follow-up guide rail and a box cover uncovering execution module, the box cover uncovering execution module is movably arranged on the follow-up guide rail and can be matched with the moving speed of the carton on the carton conveying mechanism, and the box cover uncovering execution module is used for uncovering two short-edge box covers of the carton. This scheme is with the help of carton transport mechanism, first case lid uncovering mechanism, take off cooperation of covering retaining mechanism and second case lid uncovering mechanism, can realize the full automatic unpacking operation to the carton, can alleviate workman intensity of labour by a wide margin, alleviate the human cost expenditure of enterprise, help improving unpacking operating efficiency simultaneously, promote economic nature.

Description

Box opening and sealing robot

Technical Field

The utility model relates to a equipment for packing technical field especially relates to an unpacking and packing robot.

Background

At present, in the packing trade, adopt square carton to be used for packing splendid attire product usually to guarantee safety in the follow-up circulation transportation of product. The carton is generally provided for a packaging manufacturer by a carton manufacturer, and the covers of the cartons are in a closed state, so that before a packer carries out product boxing operation, the cover of each carton needs to be opened by manually turning the carton, then the products are manually loaded into the cartons, and finally the cartons are manually sealed. Not only can cause workman intensity of labour big like this, lead to the human cost of enterprise to rise, unpacking operating efficiency is low simultaneously, influences product vanning production efficiency, and then influences economic nature.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a unpacking and sealing robot, and the problem that the unpacking operation efficiency is low, the labor intensity is large, and the production efficiency and the economy are influenced in the prior art is solved.

The application provides a carton opening and sealing robot, carton opening and sealing robot includes:

a carton transport mechanism;

the first box cover uncovering mechanism is arranged at the entrance end of the carton conveying mechanism and is used for uncovering two long-edge box covers of the carton;

the cover uncovering and holding mechanisms are arranged on two opposite sides of the carton conveying mechanism and are used for holding the uncovering state of the two long-side box covers; and

the second box cover uncovering mechanism comprises a follow-up guide rail and a box cover uncovering execution module, the box cover uncovering execution module is movably arranged on the follow-up guide rail and can be matched with the moving speed of the carton on the carton conveying mechanism, and the box cover uncovering execution module is used for uncovering two short-edge box covers of the carton;

the material grabbing manipulator is arranged on one side of the carton conveying mechanism and is used for loading products into the opened carton; and

and the carton sealing mechanism is arranged at the delivery end of the carton conveying mechanism and is used for sealing the carton after the product is boxed.

The carton opening and sealing robot is applied to production occasions for packing and packing products, and can automatically open the carton cover of the carton in a sealing state instead of manpower, so that the purposes of cost reduction and efficiency improvement are achieved. Specifically, the carton in the closed state is placed in a carton conveying mechanism, and the carton conveying mechanism drives the carton to move. When the carton is placed at the entrance end position of the carton conveying mechanism, the first box cover uncovering mechanism acts and grabs the two long-edge box covers of the carton and drives the two long-edge box covers to turn upwards and uncover a certain angle; then, as the carton moves on the carton conveying mechanism, the two long-side box covers opened at a certain angle move into the cover-opening retaining mechanism, and the cover-opening retaining mechanism retains the fully opened state of the two long-side box covers. Meanwhile, the second box cover uncovering mechanism starts to move along the follow-up guide rail, the moving speed of the second box cover uncovering mechanism is synchronous with the moving speed of the carton on the carton conveying mechanism, the second box cover uncovering mechanism uncovers the remaining two short-edge box covers of the carton at the moment, automatic box opening operation is completed, the material grabbing mechanical arm automatically grabs products and loads the products into the carton, the carton moves to the box sealing mechanism after the products are filled, and the box sealing mechanism automatically seals the carton. Compared with the traditional manual unpacking operation mode, the scheme has the advantages that the full-automatic unpacking, product packing and carton sealing operation of the carton can be realized by means of the cooperative matching of the carton conveying mechanism, the first box cover uncovering mechanism, the uncovering retaining mechanism, the second box cover uncovering mechanism, the material grabbing mechanical arm and the carton sealing mechanism, the labor intensity of workers can be greatly reduced, the labor cost expenditure of enterprises is reduced, the unpacking operation efficiency is improved, and the economy is improved.

The technical solution of the present application is further described below:

in one embodiment, the first box cover uncovering mechanism comprises a support, a driving part and a first cover uncovering executing part, wherein the driving part is arranged on the support and can output telescopic power, the first cover uncovering executing part is in driving connection with the driving part, and the driving part can drive the first cover uncovering executing part to grab the long-edge box cover and then lift and open the long-edge box cover by a preset angle.

In one embodiment, the first cover opening mechanism further includes a first push-open arm and a second push-open arm, the first push-open arm and the second push-open arm are both disposed on the bracket and both inclined downward, and the first push-open arm and the second push-open arm are directly intersected or have their extension lines intersected.

In one embodiment, the uncovering and retaining mechanism comprises a first limit guide rod and a second limit guide rod which are arranged side by side at intervals, and a sliding channel for accommodating and retaining the long-side box cover is defined between the first limit guide rod and the second limit guide rod.

In one embodiment, the material grabbing mechanical arm comprises a fixed seat, a multi-axis flexible mechanical arm and a hand grip, wherein the multi-axis flexible mechanical arm is arranged on the fixed seat, and the hand grip is mounted at the tail end of the multi-axis flexible mechanical arm.

In one embodiment, the box cover uncovering execution module comprises a sliding seat arranged on the follow-up guide rail in a sliding mode, a first rotary driving component arranged on the sliding seat, a second rotary driving component connected with the first rotary driving component, and a second cover uncovering execution piece connected with the second rotary driving component; the first rotary driving component is used for driving the second cover-opening executing component to rotate in a horizontal plane to be close to the short-side box cover of the carton, and the second rotary driving component is used for driving the second cover-opening executing component to rotate in a vertical plane to be turned over to the position above the short-side box cover, so that the second cover-opening executing component can grab the short-side box cover.

In one embodiment, the first rotation driving assembly includes a first rotation driver and a first rotating body, the first rotation driver is in driving connection with the first rotating body, the first rotating body is connected with the second rotation driving assembly, and the first rotating body is used for driving the second rotation driving assembly to rotate in a horizontal plane.

In one embodiment, the second rotating assembly includes a rotating base, a second rotating driver and a second rotating body, the rotating base is connected to the first rotating body, the second rotating driver is disposed on the rotating base, and the second rotating body is connected to the second uncovering actuator.

In one embodiment, the two second cover uncovering mechanisms are arranged on the left side and the right side of the carton conveying mechanism respectively, and the two second cover uncovering mechanisms are used for alternately uncovering short side covers of different cartons.

In one embodiment, the box sealing mechanism comprises a box sealing support, a box sealing pressure rod and a box sealing adhesive execution module, wherein the box sealing pressure rod is arranged on the box sealing support, and the box sealing adhesive execution module is arranged on the box sealing support and is positioned at the rear end of the box sealing pressure rod.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a box opening and sealing robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic bottom view of the structure of FIG. 2;

FIG. 4 is a left side view of the structure of FIG. 3;

FIG. 5 is a schematic structural view of a first cover uncovering mechanism according to the present invention;

fig. 6 is a schematic structural view of the middle box cover uncovering actuator module according to the present invention.

Description of reference numerals:

10. a carton transport mechanism; 20. a first cover uncovering mechanism; 21. a support; 22. a drive member; 23. a first uncovering executing piece; 24. an in-position sensor; 25. a first cushioning shock assembly; 26. a first push-open arm; 27. a second push-open arm; 28. a slipping channel; 30. a cover uncovering and holding mechanism; 31. a first limit guide rod; 32. a second limit guide rod; 40. a second cover uncovering mechanism; 41. a follow-up guide rail; 42. uncovering the executing module of the box cover; 421. a sliding seat; 422. a first rotary drive assembly; 423. a second rotary drive assembly; 424. a second uncovering executing piece; 424a, overturning the bracket; 424b, a second suction cup; 425. a second cushioning vibration reduction assembly; 50. a carton; 51. a long-side box cover; 52. short-side box covers.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

As shown in fig. 1, a box opening and sealing robot is shown for replacing manual opening of a box, so as to automatically open a box cover of a carton 50. In addition, this unpacking and sealing robot constitutes a part of vanning equipment, can with grab material manipulator cooperation work, after carton 50 is opened by unpacking and sealing robot, grab material manipulator alright immediately alright with automatic product of grabbing and transfer into the incasement, treat that the product vanning finishes, carton 50 just circulates and gets into the joint sealing station, treat that automatic joint sealing finishes, show that the product is wrapped, can transport to in the user's hand.

Continuing to refer to fig. 1-4, the box opening and sealing robot illustratively includes: the automatic box cover opening and closing device comprises a carton conveying mechanism 10, a first box cover opening mechanism 20, a cover opening retaining mechanism 30, a second box cover opening mechanism 40, a material grabbing manipulator and a box sealing mechanism.

The first cover uncovering mechanism 20 is arranged at the entrance end of the carton conveying mechanism 10 and is used for uncovering two long-side covers 51 of the cartons 50; the cover-uncovering holding mechanisms 30 are arranged on two opposite sides of the carton conveying mechanism 10 and are used for holding the uncovering state of the two long-side box covers 51; the second cover uncovering mechanism 40 includes a following rail 41 and a cover uncovering executing module 42, the cover uncovering executing module 42 is movably disposed on the following rail 41 and can match the moving speed of the carton 50 on the carton conveying mechanism 10, and the cover uncovering executing module 42 is used for uncovering two short side covers 52 of the carton 50. The material grabbing manipulator is arranged on one side of the carton conveying mechanism 10 and is used for loading products into the opened carton 50; the carton sealing mechanism is disposed at the output end of the carton conveying mechanism 10, and is used for sealing the carton 50 after the product is boxed.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the carton opening and sealing robot is applied to production occasions for packing and packing products, and can automatically open the carton cover of the carton 50 in a sealing state instead of manpower, so that the purposes of cost reduction and efficiency improvement are achieved. Specifically, the carton 50 in the closed state is set in the carton conveying mechanism 10, and the carton conveying mechanism 10 drives the carton 50 to move. When the carton 50 is put on the entering end position of the carton conveying mechanism 10, the first cover uncovering mechanism 20 acts and grabs the two long-edge covers 51 of the carton 50 and drives the two long-edge covers 51 to turn upwards and uncover a certain angle; subsequently, as the carton 50 moves on the carton conveying mechanism 10, the two long-side flaps 51 opened at a certain angle move into the lid lifting holding mechanism 30, and the two long-side flaps 51 are held in the fully opened state by the lid lifting holding mechanism 30. Meanwhile, the second cover opening mechanism 40 starts to move along the following guide rail 41, the moving speed of the second cover opening mechanism 40 is synchronous with the moving speed of the carton 50 on the carton conveying mechanism 10, at this time, the second cover opening mechanism 40 opens the remaining two short-side covers 52 of the carton 50, so that the automatic box opening operation is completed, the material grabbing manipulator automatically grabs the products to be loaded into the carton 50, the carton 50 moves to the box sealing mechanism after the products are fully loaded, and the box sealing mechanism automatically seals the carton 50. Compared with the traditional manual carton opening operation mode, the full-automatic carton opening, product boxing and sealing operation of the carton 50 can be realized by means of the cooperative matching of the carton conveying mechanism 10, the first carton uncovering mechanism 20, the cover uncovering retaining mechanism 30, the second carton uncovering mechanism 40, the material grabbing manipulator and the carton sealing mechanism, the labor intensity of workers can be greatly reduced, the labor cost expenditure of enterprises is reduced, meanwhile, the carton opening operation efficiency is improved, and the economy is improved.

The long-side box cover 51 of the carton 50 is overlapped on the short-side box cover 52, so that the first step of the carton opening and sealing robot adopting the scheme is to turn over and open the two long-side box covers 51 which are oppositely arranged during working, and the second step is to open the two short-side box covers 52, so that the two-step carton opening step is reasonable in design, and the carton opening action is simple and reliable.

The material grabbing manipulator comprises a fixing seat, a multi-shaft flexible mechanical arm and a hand grip, the multi-shaft flexible mechanical arm is arranged on the fixing seat, and the hand grip is arranged at the tail end of the multi-shaft flexible mechanical arm. The fixing base is used for installing and fixing the multi-axis flexible mechanical arm at a working site. The multi-axis flexible mechanical arm has the capability of multi-degree-of-freedom rotation and linear movement, so that the gripper can be switched and moved between the product stacking and the carton box 50 in an optimal path, and the product boxing operation can be completed most quickly and reliably.

With reference to fig. 5, in some embodiments, the first cover opening mechanism 20 includes a bracket 21, a driving member 22 disposed on the bracket 21 and capable of outputting a telescopic power, and a first cover opening actuator 23 in driving connection with the driving member 22, where the driving member 22 is capable of driving the first cover opening actuator 23 to grasp the long-side cover 51 and then pull the long-side cover 51 upward to open the long-side cover by a predetermined angle. The first lid opening mechanism 20 further includes a position sensor 24, and the position sensor 24 is disposed on the bracket 21 and is configured to be in triggering engagement with the carton 50.

The bracket 21 enables the driving piece 22 to be fixedly arranged, thereby indirectly ensuring that the first uncovering executing piece 23 is fixedly positioned. The position sensor 24 can detect whether the carton 50 is moved into the operating stroke of the first cover opening mechanism 20. When the carton 50 is detected to exist, the driving element 22 is rapidly started and pushes the first cover-opening executing element 23 to descend and approach the long-side case cover 51, the first cover-opening executing element 23 then grabs and fixes the long-side case cover 51, and then the driving element 22 drives the first cover-opening executing element 23 to move upwards for a short stroke, so that the long-side case cover 51 can be pulled to turn upwards for a certain angle to be in a slightly inclined opening posture, and basic conditions are made for subsequent opening completion.

Specifically, the first cover uncovering mechanism 20 further comprises a negative pressure generator, the driving member 22 is an air cylinder, the first cover uncovering actuating member 23 is a first suction cup, a piston rod of the air cylinder is connected with the first suction cup through a connecting frame, and the first suction cup is communicated with the negative pressure generator through a vacuum pipeline.

Adopt the absorption of first sucking disc to snatch the mode promptly, not only can ensure that the upset of pulling long limit case lid 51 is reliable, can not cause the injury to long limit case lid 51 simultaneously.

With reference to fig. 5, the first cover opening mechanism 20 further includes a first damping module 25, and the first damping module 25 is connected between the first suction cup and the connecting frame. The first buffer damping component 25 provides buffer capacity at the moment when the first suction cup descends and contacts the long-side box cover 51, and the first suction cup is prevented from crushing the long-side box cover 51.

Alternatively, the first jounce bumper assembly 25 may be, but is not limited to, a spring strut arrangement or the like.

On the basis of any of the above embodiments, the first cover opening mechanism 20 further includes a first push-open arm 26 and a second push-open arm 27, the first push-open arm 26 and the second push-open arm 27 are both disposed on the bracket 21 and both inclined downward, and the first push-open arm 26 and the second push-open arm 27 are directly intersected or have their extension lines intersected.

With reference to fig. 1 and fig. 2, the uncovering and retaining mechanism 30 includes a first limit guide 31 and a second limit guide 32 that are arranged side by side at an interval, and a sliding channel 28 for accommodating and retaining the long-side cover 51 is defined between the first limit guide 31 and the second limit guide 32.

Since the two opposing long side flaps 51 are lifted by the first suction tray and are opened to a certain angle, the first push-open arm 26 and the second push-open arm 27 are inserted under the two long side flaps 51, respectively, as the carton 50 continues to move with the carton conveying mechanism 10. As the carton 50 moves further, the stationary first and second push- open arms 26 and 27 will have a relative motion relationship with the two long-side flaps 51, and the insertion depth and contact area of the first and second push- open arms 26 and 27 with the long-side flaps 51 gradually increase, because the first and second push- open arms 26 and 27 are directly intersected or the extension lines are intersected, and the first and second push- open arms 26 and 27 are both arranged in a downward inclination, so that the two long-side flaps 51 will be gradually pushed open by the corresponding first and second push- open arms 26 and 27 to the two opposite outer directions, and a desired fully open state is formed.

Finally, the two long-side box covers 51 after being completely opened are respectively inserted into the sliding channels 28 formed by the corresponding first limit guide rods 31 and the second limit guide rods 32 in a sliding mode. At this time, under the lateral constraint action of the first limit guide rod 31 and the second limit guide rod 32 on the two transverse sides, the long-side box cover 51 cannot be automatically turned over and reset, that is, the long-side box cover 51 can be kept in an uncovered state, so that subsequent products can be conveniently packed.

Further, the uncovering and holding mechanism 30 further comprises a proximity switch, and the proximity switch is disposed on the first limit guide rod 31 and/or the second limit guide rod 32 and is located at a position close to the inlet of the sliding channel 28. When the proximity switch senses that the long-side box cover 51 starts to move into the sliding channel 28, the carton 50 is far away from the first box cover uncovering mechanism 20, the proximity switch can quickly feed back a signal to the controller, the controller controls the vacuum generator to stop working, and the first suction cup loses vacuum suction force and is separated from the long-side box cover 51, so that the effect of preventing the interference of the carton 50 in normal movement is achieved.

With reference to fig. 4 and fig. 6, on the basis of any of the above embodiments, the cover uncovering actuator 42 includes a sliding seat 421 slidably disposed on the follower rail 41, a first rotation driving assembly 422 disposed on the sliding seat 421, a second rotation driving assembly 423 connected to the first rotation driving assembly 422, and a second cover uncovering actuator 424 connected to the second rotation driving assembly 423; the first rotary driving component 422 is configured to drive the second cover-lifting actuator 424 to rotate in a horizontal plane to approach the short-side box cover 52 of the carton 50, and the second rotary driving component 423 is configured to drive the second cover-lifting actuator 424 to rotate in a vertical plane to flip over the short-side box cover 52, so that the second cover-lifting actuator 424 grabs the short-side box cover 52.

In the non-operating state, the cover uncovering actuator 42 is in the recovering state, and at this time, the cover uncovering actuator 42 is located at the side of the carton conveying mechanism 10, and the projection in the vertical direction does not overlap with the carton conveying mechanism 10, so as to prevent the carton 50 from normally conveying and moving on the carton conveying mechanism 10. When the long-side cover 51 of the carton 50 is opened, the first rotary driving component 422 drives the second cover-opening actuator 424 to rotate in the horizontal plane to approach the short-side cover 52 of the carton 50, and then the second rotary driving component 423 drives the second cover-opening actuator 424 to rotate in the vertical plane to flip over the short-side cover 52, so that the second cover-opening actuator 424 grabs the short-side cover 52. At this point all flaps of the carton 50 are uncovered and the product can be loaded into the carton 50 by the gripper robot.

In some embodiments, the following rail 41 includes a rail body, a following driving member 22 disposed on the rail body, a following transmission belt in driving connection with the following driving member 22, and a fixing block disposed on the following transmission belt, and the sliding seat 421 is mounted on the fixing block. The follow-up driving member 22 drives the follow-up belt to rotate, the follow-up belt drives the sliding seat 421 to move through the fixing block, the sliding seat 421 drives the cover uncovering executing module 42 to match with the moving speed of the paper box 50 to move synchronously along with the moving speed, so that the second cover uncovering executing member 424 and the paper box 50 can be kept relatively still, and the second cover uncovering executing member 424 can reliably uncover the short-edge cover 52.

Specifically, the first rotation driving assembly 422 includes a first rotation driver and a first rotation body, the first rotation driver is in driving connection with the first rotation body, the first rotation body is connected with the second rotation driving assembly 423, and the first rotation body is configured to drive the second rotation driving assembly 423 to rotate in a horizontal plane. To drive the second cover lifting actuator 424 to quickly approach the short side flaps 52 of the carton 50 in preparation for subsequent cover lifting operations and to improve cover lifting efficiency.

Further, the second rotating assembly comprises a rotating seat, a second rotating driver and a second rotating body, the rotating seat is connected with the first rotating body, the second rotating driver is arranged on the rotating seat, and the second rotating body is connected with the second uncovering actuator 424. The second rotary driver drives the second rotary body to rotate in the vertical plane, the second rotary body drives the second uncovering actuator 424 to flip over the short-side box cover 52, the second uncovering actuator 424 catches the short-side box cover 52, and then the second rotary driver drives the second rotary body to drive the second uncovering actuator 424 to rotate in the direction to reset, so that the short-side box cover 52 can be uncovered.

Alternatively, the first and second rotary drivers described above may be motors, rotary cylinders, or the like; the first and second rotating bodies may be joint assemblies, gear rings, etc.

With continued reference to fig. 6, in some embodiments, the second uncovering actuator 424 includes a flip bracket 424a and a second suction cup 424b disposed on the flip bracket 424a, the flip bracket 424a is connected to the second rotating body, and the second suction cup 424b is connected to the vacuum generator through a vacuum line. The turning bracket 424a connects and fixes the second suction cup 424b with the second rotating body. By adopting the adsorption and grabbing manner of the first suction cup, the short-side box cover 52 can be reliably pulled to overturn, and meanwhile, the short-side box cover 52 cannot be damaged.

Further, the cover opening actuating module 42 further includes a second damping member 425, and the second damping member 425 is connected between the turning bracket 424a and the second suction cup 424 b. The second damping member 425 provides a damping capacity at the moment when the second suction cup 424b contacts the short-side case cover 52 when it falls down in a flip-flop manner, and prevents the long-side case cover 51 from being crushed by the second suction cup 424 b.

Alternatively, the second jounce bumper assembly 425 may be, but is not limited to, a spring strut arrangement or the like.

In addition, on the basis of any of the above embodiments, two second cover opening mechanisms 40 are provided, two second cover opening mechanisms 40 are respectively provided at the left and right sides of the carton conveying mechanism 10, and the two second cover opening mechanisms 40 are used for alternately opening the short-side covers 52 of different cartons 50. That is, when one of the second cover opening mechanisms 40 continuously participates in opening the short-side cover 52 of the previous carton 50 to cooperate with the material grabbing manipulator to complete product loading, the other second cover opening mechanism 40 can move to the entrance of the sliding channel 28 to participate in the cover opening operation of the next carton 50, so that the effect of alternate seamless cover opening operation is formed, and the cover opening operation efficiency can be obviously improved.

The box sealing mechanism comprises a box sealing support, a box sealing pressure rod and a box sealing adhesive applying execution module, wherein the box sealing pressure rod is arranged on the box sealing support, and the box sealing adhesive applying execution module is arranged on the box sealing support and is located at the rear end of the box sealing pressure rod.

After the products are boxed, the second sucking disc releases the short-side box cover and pushes the short-side box cover to be restored to a sealing state. And then, the carton continues to move, the long-edge box cover in an opening state is gradually overturned and closed by the carton sealing pressure rod, and finally the carton rubberizing execution module pastes an adhesive tape on the butt joint seam of the two long-edge box covers to complete the carton sealing operation.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (10)

1. A box opening and sealing robot, comprising:

a carton transport mechanism;

the first box cover uncovering mechanism is arranged at the entrance end of the carton conveying mechanism and is used for uncovering two long-edge box covers of the carton;

the cover uncovering and holding mechanisms are arranged on two opposite sides of the carton conveying mechanism and are used for holding the uncovering state of the two long-side box covers;

the second box cover uncovering mechanism comprises a follow-up guide rail and a box cover uncovering execution module, the box cover uncovering execution module is movably arranged on the follow-up guide rail and can be matched with the moving speed of the carton on the carton conveying mechanism, and the box cover uncovering execution module is used for uncovering two short-edge box covers of the carton;

the material grabbing manipulator is arranged on one side of the carton conveying mechanism and is used for loading products into the opened carton; and

and the carton sealing mechanism is arranged at the delivery end of the carton conveying mechanism and is used for sealing the carton after the product is boxed.

2. The box opening and sealing robot of claim 1, wherein the first box cover opening mechanism comprises a support, a driving member disposed on the support and capable of outputting telescopic power, and a first box cover opening actuator in driving connection with the driving member, and the driving member is capable of driving the first box cover opening actuator to grasp the long-side box cover and then lift the long-side box cover upward to open the long-side box cover by a preset angle.

3. The box opening and sealing robot of claim 2, wherein the first box cover opening mechanism further comprises a first push-open arm and a second push-open arm, the first push-open arm and the second push-open arm are both arranged on the support and are both arranged in a downward inclined manner, and the first push-open arm and the second push-open arm are directly intersected or are intersected in extension lines.

4. The box opening and sealing robot of claim 3, wherein the cover uncovering and holding mechanism comprises a first limit guide rod and a second limit guide rod which are arranged side by side at intervals, and a sliding channel for accommodating and holding the long-side box cover is defined between the first limit guide rod and the second limit guide rod.

5. The box opening and sealing robot according to claim 4, wherein the material grabbing mechanical arm comprises a fixed seat, a multi-axis flexible mechanical arm and a hand grip, the multi-axis flexible mechanical arm is arranged on the fixed seat, and the hand grip is mounted at the tail end of the multi-axis flexible mechanical arm.

6. The box opening and sealing robot of claim 5, wherein the box cover uncovering actuator module comprises a sliding base slidably disposed on the follower rail, a first rotary driving component disposed on the sliding base, a second rotary driving component connected to the first rotary driving component, and a second uncovering actuator connected to the second rotary driving component; the first rotary driving component is used for driving the second cover-opening executing component to rotate in a horizontal plane to be close to the short-side box cover of the carton, and the second rotary driving component is used for driving the second cover-opening executing component to rotate in a vertical plane to be turned over to the position above the short-side box cover, so that the second cover-opening executing component can grab the short-side box cover.

7. The box opening and sealing robot according to claim 6, wherein the first rotary driving assembly comprises a first rotary driver and a first rotating body, the first rotary driver is in driving connection with the first rotating body, the first rotating body is connected with the second rotary driving assembly, and the first rotating body is used for driving the second rotary driving assembly to rotate in a horizontal plane.

8. The box opening and sealing robot of claim 7, wherein the second rotating assembly comprises a rotating base, a second rotating driver and a second rotating body, the rotating base is connected with the first rotating body, the second rotating driver is arranged on the rotating base, and the second rotating body is connected with the second cover opening actuator.

9. The box opening and sealing robot according to any one of claims 1 to 8, wherein the number of the second box cover uncovering mechanisms is two, the two second box cover uncovering mechanisms are respectively arranged on the left side and the right side of the carton conveying mechanism, and the two second box cover uncovering mechanisms are used for alternately uncovering short side box covers of different cartons.

10. The box opening and sealing robot of claim 9, wherein the box sealing mechanism comprises a box sealing support, a box sealing pressure bar and a box sealing glue application execution module, the box sealing pressure bar is disposed on the box sealing support, and the box sealing glue application execution module is disposed on the box sealing support and at a rear end of the box sealing pressure bar.

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