CN215098798U - Box-taking executing device and box-taking machine - Google Patents

Abstract

The utility model relates to a this application provides a take off box final controlling element and take off box machine for carry out the autosegregation operation to protective sheath and support box, the concave interpolation groove that is equipped with of support box, take off box final controlling element and include: the box pushing mechanism is arranged in the box supporting station and used for limiting or pushing the box; the box pushing mechanism comprises an inserting and separating rod, and when the protective sleeve and the supporting box slide into the box removing station, the inserting and separating rod is inserted into the inserting and separating groove to separate the supporting box from the protective sleeve; the gripper mechanism is arranged on one side of the box supporting station and used for gripping the protective sleeve to move towards the direction far away from the box supporting station, so that the protective sleeve and the box supporting station are automatically separated. This scheme can realize that the protective sheath is deviate from holding in the palm the box automatically with the help of each functional mechanism cooperatees, and degree of automation is high, helps guaranteeing production beat and efficiency, saves the manpower work simultaneously, alleviates workman intensity of labour, reduces the human cost.

Description

Box-taking executing device and box-taking machine

Technical Field

The utility model relates to a equipment for packing technical field especially relates to a take off box final controlling element and take off box machine.

Background

Currently, in the industries of hairdressing, beauty, medical treatment, health care and the like, fluid products are generally filled in small bottles made of glass. In order to avoid the damage of the fragile bottle products in the links of transportation and the like so as to reduce the cost loss, a special protective sleeve needs to be designed, and the bottle products need to be firstly put into the protective sleeve, then are transferred into a packaging box together, and then are conveyed to a customer.

Protective sleeves are typically manufactured by a specialized manufacturer and supplied to a packaging manufacturer for use. In order to avoid the disorder of the protective sleeves from scattering to affect the subsequent assembly operation with the bottle products, a plurality of protective sleeves are usually clamped in a tray in a row. However, this brings with it a new problem: when in follow-up use, the protective sleeves need to be pulled out from the supporting box one by workers and then correspondingly assembled with bottle products. The operation mode of manually taking out the protective sleeve is high in labor intensity, difficult to operate, time-consuming and labor-consuming, low in working efficiency and incapable of guaranteeing higher production beats.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a box taking-off executing device and a box taking-off machine, and the problems that the labor intensity is high, the operation is time-consuming and labor-consuming, and the production efficiency and the beat are influenced in the prior art are solved.

On the one hand, this application provides a take off box final controlling element for carry out the autosegregation operation to protective sheath and support box, the concave interpolation groove that is equipped with of support box, take off box final controlling element and include:

the box pushing mechanism is arranged in the box supporting station and used for limiting or pushing the box; the box pushing mechanism comprises an inserting and separating rod, and when the protective sleeve and the supporting box slide into the box removing station, the inserting and separating rod is inserted into the inserting and separating groove to separate the supporting box from the protective sleeve; and

the gripper mechanism is arranged on one side of the box supporting station and used for gripping the protective sleeve to move towards the direction far away from the box supporting station, so that the protective sleeve and the box supporting station are automatically separated.

The box machine of taking off of above-mentioned scheme is used for replacing traditional manual support box operation mode, realizes coming out protective sheath autosegregation from holding in the palm the box. Specifically, during production, stacked materials are placed in the conveying mechanism, wherein the materials comprise the support box and the protective sleeve clamped in the support box, and the conveying mechanism feeds the materials towards the separating mechanism. When the material at the head position moves to the working range of the separating mechanism, the separating mechanism acts to separate the material at the head position from a material pile stacked behind, and then the shifting mechanism pushes the separated material at the head position into a box removing station at one side; at the moment, the inserting and separating rod is inserted into the inserting and separating groove to separate the protective sleeve from the tray. And then, the box pushing mechanism pushes the support box towards one direction, and meanwhile, the gripper mechanism grasps the protective sleeve and pulls the protective sleeve towards the opposite direction, so that the protective sleeve and the support box can be effectively separated and separated after moving towards the opposite direction, and the automatic box supporting operation of the protective sleeve is completed. Compare in the manual box operation mode that takes off of tradition, this scheme can realize with the help of each functional mechanism cooperation that the protective sheath is deviate from holding in the palm the box automatically, and degree of automation is high, helps guaranteeing production beat and efficiency, saves the manpower work simultaneously, alleviates workman intensity of labour, reduces the human cost of enterprise.

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

in one embodiment, the insertion end of the insertion rod is provided with a lead-in part.

In one embodiment, the box pushing mechanism further comprises a box pushing driving part and a box pushing plate, the box pushing driving part is in driving connection with the box pushing plate, and the box pushing plate is used for pushing the supporting box in an extruding manner.

In one embodiment, the box pushing driving part is provided with an air cylinder, the box pushing plate is connected with a piston rod of the air cylinder, and the box pushing plate is abutted with the part, located above the inserting and separating rod, of the supporting box.

In one embodiment, push away box mechanism still include lift driving piece, push away box board and sucking disc, push away box driving piece with lift driving piece drive connection, push away box board with push away box driving piece drive connection, the sucking disc set up in push away on the box board, the sucking disc is used for adsorbing fixedly hold in the palm the side that the box deviates from the protective sheath.

In one embodiment, the gripper mechanism comprises a gripper seat, a manipulator and a gripping execution terminal, the manipulator is movably arranged on the gripper seat, the gripping execution terminal is arranged at the tail end of the manipulator, and the gripping execution terminal is used for gripping the protective sleeve and moving towards the direction far away from the tray.

In one embodiment, the manipulator comprises a first manipulator, a first rotating joint, a second manipulator and a second rotating joint, the first manipulator is rotatably connected with the second manipulator through the first rotating joint, the second rotating joint is arranged at one end of the second manipulator far away from the first manipulator, and the second rotating joint is rotatably connected with the grabbing execution terminal.

In one embodiment, the grabbing execution terminal comprises a vacuum generator, a grabbing bracket and a plurality of grabbing suckers, the vacuum generator is respectively communicated with the grabbing suckers through a pipeline, and the grabbing suckers are arranged on the grabbing bracket side by side and used for adsorbing and fixing the protective sleeve.

In one embodiment, the box-taking-off executing device further comprises a blanking conveying clamp belt, the blanking conveying clamp belt is arranged in the moving range of the gripper mechanism, and the blanking conveying clamp belt is used for receiving the protective sleeve released by the gripping sucker and conveying the protective sleeve to the downstream.

In another aspect, the present application further provides a box removing machine, which includes the box removing executing device as described above.

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 view of a box removing machine 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 view of the structure of FIG. 2 from another perspective;

FIG. 4 is a schematic structural view of the materials in the present invention;

FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective;

fig. 6 is a schematic structural view of the middle protective sheath of the present invention.

Description of reference numerals:

10. a conveying mechanism; 11. a first side dam; 12. a second side baffle; 13. a conveyor belt module; 14. a delivery channel; 20. material preparation; 21. supporting the box; 211. inserting and separating grooves; 22. a protective sleeve; 30. a separating mechanism; 31. a first separation module; 32. a second separation module; 33. shaping blocks; 40. a displacement mechanism; 50. a box pushing mechanism; 51. inserting and separating rods; 52. a box pushing plate; 60. a gripper mechanism; 61. a gripper seat; 62. a first robot arm; 63. a first revolute joint; 64. a second mechanical arm; 65. a second revolute joint; 66. capturing an execution terminal; 661. a vacuum generator; 662. grabbing the bracket; 663. grabbing a sucker; 70. a machine base; 80. an empty box collection platform; 90. and (5) blanking conveying clamp belt.

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 to 6, a box removing machine is shown for an embodiment of the present application, and the box removing machine includes: the machine base 70, the conveying mechanism 10, the separating mechanism 30, the shifting mechanism 40, the box pushing mechanism 50, the gripper mechanism 60 and the empty box collecting platform 80. The base 70 is used for carrying the above-mentioned various functional mechanisms. Conveying mechanism 10 and empty box collection platform 80 hug closely side by side and set up, help reducing the whole volume of taking off the box machine, reduce occupation space. The conveying mechanism 10 is used for conveying stacked materials 20, wherein the materials 20 include a tray 21 and a protective sleeve 22 clamped in the tray 21. And the empty magazine collecting platform 80 is used for collecting empty trays 21 after the unpacking is completed. The empty tray box 21 that collects also is the setting of piling up, and regular accomodating is conveniently concentrated the recovery and is recycled.

The separating mechanism 30 is arranged at the tail end of the conveying mechanism 10, and the separating mechanism 30 is used for separating the material 20 at the head position; the shifting mechanism 40 is arranged on the opposite side of the separating mechanism 30, and the shifting mechanism 40 is used for pushing the separated first material 20 into a box-removing station.

The magazine 21 station is formed at the entry end of the empty magazine collection platform 80. The box pushing mechanism 50 is arranged in the station of the support box 21 and used for limiting or pushing the support box 21; the gripper mechanism 60 is arranged on one side of the station of the support box 21, and the gripper mechanism 60 is used for gripping the protective sleeve 22 and moving towards the direction far away from the support box 21, so that the protective sleeve 22 and the support box 21 are automatically separated.

It will be appreciated that the above-described cassette pushing mechanism 50, in combination with the cassette grasping mechanism 60, constitute an ejection actuator.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the box removing machine of the scheme is used for replacing the traditional manual operation mode of supporting the box 21 and realizing the automatic separation of the protective sleeve 22 from the box 21. Specifically, when in production, stacked materials 20 are placed in the conveying mechanism 10, wherein the materials 20 are composed of a tray 21 and a protective sleeve 22 clamped in the tray 21, and the conveying mechanism 10 feeds the materials 20 towards the separating mechanism 30. When the first material 20 moves into the working range of the separating mechanism 30, the separating mechanism 30 acts to separate the first material 20 from the rear stacked material 20 pile, and then the shifting mechanism 40 pushes the separated first material 20 into the box-removing station on one side; then, the box pushing mechanism 50 pushes the box holder 21 in one direction, and meanwhile, the gripper mechanism 60 grips the protective sleeve 22 and pulls the protective sleeve 22 in the opposite direction, so that the protective sleeve 22 and the box holder 21 can be effectively separated and disengaged after moving in the opposite direction, and the automatic box holder 21 operation of the protective sleeve 22 is completed. Compare in the manual box operation mode that takes off of tradition, this scheme can realize that protective sheath 22 is deviate from holding in the palm box 21 automatically with the help of each functional mechanism cooperation, and degree of automation is high, helps guaranteeing production beat and efficiency, saves the manpower work simultaneously, alleviates workman intensity of labour, reduces the human cost of enterprise.

With continued reference to fig. 1 and 2, in some embodiments, the conveying mechanism 10 includes a first side baffle 11, a second side baffle 12, and a conveyor belt module 13, the first side baffle 11 and the second side baffle 12 are spaced apart and arranged side by side to define a conveying channel 14, the conveyor belt module 13 is arranged in the conveying channel 14, and the stacked materials 20 are arranged in the conveying channel 14 and can be driven by the conveyor belt module 13 to feed toward the separating mechanism 30.

It can be understood that the width of the conveying channel 14 defined by the first side baffle 11 and the second side baffle 12 is matched with the length of the tray 21, so that the conveying belt module 13 can drive the material 20 to move in the conveying channel 14 in a stable and straight line, and the material jamming problem is prevented. Conveyer belt module 13 optional is servo motor and belt pulley assembly's integrated configuration, can drive to pile up material 20 that sets up and remove according to predetermineeing speed and beat, ensures that material 20 is reliably orderly separated one by one.

In addition, the first side baffle 11, the second side baffle 12 and the conveyor belt module 13 cooperate to form the conveying mechanism 10 with a U-shaped structure, and the U-shaped opening is arranged upwards, so that the material 20 can be conveniently taken out or put in.

With continued reference to fig. 1 to 3, in some embodiments, the separating mechanism 30 includes a first separating module 31 and a second separating module 32, the first separating module 31 is disposed at an end of the first side barrier 11, and the second separating module 32 is disposed at an end of the second side barrier 12; the first separation module 31 and the second separation module 32 both include a separation driving member and a separation push plate, the separation push plate is in driving connection with the separation driving member, and the separation push plate is used for pushing the tray 21 in the material 20 at the initial position.

The first separation module 31 and the second separation module 32 which are arranged at left and right intervals are adopted to simultaneously push the left side and the right side of the support box 21 of the first material 20, so that the support box 21 is stressed evenly, and the first material 20 is ensured to be quickly and effectively separated from the rest stacked materials 20 at the rear.

In particular, the separate drive is provided as a cylinder. In an initial state, the cylinder drives the separation push plate to recover; when the first material 20 moves beyond the separation push plate, the cylinders on the two sides synchronously drive the separation push plate to extend out, so that the first material 20 is separated out.

Preferably, the separation push plate comprises a torsion spring and a push plate body, and the push plate is rotatably mounted at the end part of the piston rod of the cylinder through the torsion spring. The push plate body can rotate to avoid the materials 20 at the secondary position, so that when the piston rod is driven by the air cylinder to be recovered, the push plate body can avoid the materials 20 at the secondary position and move to the rear of the materials 20 at the secondary position, and the necessary condition that the push plate body pushes the materials 20 at the secondary position to be separated is formed.

With continued reference to fig. 1 and fig. 2, further, the separating mechanism 30 further includes a shaping block 33, the shaping block 33 is disposed at an interval on the opposite sides of the first separating module 31 and the second separating module 32, and the first separating module 31 and the second separating module 32 can push the first material 20 to be buckled on the shaping block 33.

Since the tray 21 is generally made of transparent plastic and has a soft texture, the first separating mold 31 and the second separating mold 32 are easily deformed by a force when they are pushed out. Through setting up shaping block 33, hold in the palm box 21 and be promoted to withhold on shaping block 33, shaping block 33 can play the plastic effect to holding in the palm box 21 owing to possess regular appearance and higher hardness to make material 20 can get into in the same direction as smooth sideslip and take off the box station, avoid appearing card material problem.

In some embodiments, the shifting mechanism 40 includes a shifting driving member and a shifting push plate, the shifting push plate is in driving connection with the shifting driving member, and the shifting push plate is used for pushing the first material 20 to move into the box-removing station. After the shaping is finished, the shifting driving piece drives the shifting push plate to extend out, the shifting push plate pushes the material 20 into the box-removing station transversely, the switching of the material 20 station is realized, and a basic condition is formed for the subsequent separation of the protective sleeve 22 from the support box 21.

With continued reference to fig. 3 and 4, in some embodiments, the box pushing mechanism 50 includes an inserting and separating rod 51, the inserting and separating rod 51 is horizontally disposed in the box removing station, an inserting end of the inserting and separating rod 51 faces the first material 20, the box holder 21 is concavely provided with an inserting and separating slot 211, and when the first material 20 slides into the box removing station, the inserting and separating rod 51 is inserted into the inserting and separating slot 211 to separate the box holder 21 from the protective sheath 22. The box pushing mechanism 50 further comprises a box pushing driving part and a box pushing plate 52, the box pushing driving part is in driving connection with the box pushing plate 52, and the box pushing plate 52 is used for pushing the supporting box 21.

Because the inserting and separating rod 51 is inserted into the inserting and separating groove 211 to separate the supporting box 21 from the protecting sleeve 22, when the box pushing driving piece drives the box pushing plate 52 to push the supporting box 21 to move back towards the empty box collecting platform 80, and meanwhile, the gripper mechanism 60 grips the protecting sleeve 22 to move towards the direction away from the empty box collecting platform 80, the supporting box 21 cannot be pulled by the protecting sleeve 22, meanwhile, the protecting sleeve 22 cannot be pulled by the supporting box 21, and the supporting box 21 and the protecting sleeve 22 can be rapidly and completely separated.

Preferably, the insertion end of the insertion rod 51 is provided with a lead-in portion. The guiding portion may be, but not limited to, a chamfer, a fillet, a sharp corner, etc., and functions to enable the insertion rod 51 to be accurately inserted into the insertion groove 211 even in the presence of an alignment error, thereby improving the matching ability and reliability of the insertion rod 51 and the insertion groove 211.

Specifically, in some embodiments, the box pushing driving member is provided as an air cylinder, the box pushing plate 52 is connected to a piston rod of the air cylinder, and the box pushing plate 52 abuts against a portion of the tray 21 above the inserting and separating rod 51. The cylinder drives the box pushing plate 52 to push and push the upper part of the tray box 21, so that the protective sleeve 22 is firstly separated from the upper half part of the tray box 21, and the tray box 21 is in an inclined posture. Then the grabbing mechanism is easy to pull the protective sleeve 22 and the lower half part of the support box 21 to separate, so that the purpose of reducing the difficulty of separating the protective sleeve 22 and the support box 21 is achieved.

Or, as an alternative to the above embodiment, in still another embodiment, the box pushing mechanism 50 further includes a lifting driving element, a box pushing plate 52 and a suction cup, the box pushing driving element is in driving connection with the lifting driving element, the box pushing plate 52 is in driving connection with the box pushing driving element, the suction cup is disposed on the box pushing plate 52, and the suction cup is used for fixing the side of the tray 21 away from the protective sleeve 22.

The lifting driving member can drive the box pushing plate 52 and the suction cup to descend to a plane parallel to the empty box 21. And then the box pushing driving part drives the box pushing plate 52 to be close to the back of the box support 21, the sucking disc is tightly sucked with the back of the box support 21 under the action of pressure, finally the box pushing driving part drives the box pushing plate 52 to be recovered, the sucking disc can pull the box support 21 and the protective sleeve 22 to move reversely, and finally the purpose of separating the protective sleeve 22 from the box support 21 is realized.

With reference to fig. 1, in addition, on the basis of any of the above embodiments, the gripper mechanism 60 includes a gripper seat 61, a manipulator and a gripping execution terminal 66, the manipulator is movably disposed on the gripper seat 61, the gripping execution terminal 66 is disposed at a tail end of the manipulator, and the gripping execution terminal 66 is configured to grip the protective sheath 22 and move in a direction away from the magazine 21. The gripper base 61 can be loaded with a fixed robot. The robot provides the degree of freedom required for movement of the gripper execution terminal 66. After the grabbing execution terminal 66 grabs the protection sleeve 22, the protection sleeve 22 is driven to move towards the direction far away from the tray 21, so that the protection sleeve 22 can be pulled out from the tray 21, and the protection sleeve 22 is separated from the tray 21.

In some embodiments, the robot comprises a first robot arm 62, a first rotating joint 63, a second robot arm 64 and a second rotating joint 65, the first robot arm 62 is rotatably connected to the second robot arm 64 through the first rotating joint 63, the second rotating joint 65 is disposed at an end of the second robot arm 64 far from the first robot arm 62, and the second rotating joint 65 is rotatably connected to the grabbing execution terminal 66.

The second mechanical arm 64 can rotate relative to the first mechanical arm 62 by a large angle through the first rotating joint 63, so that the grabbing execution terminal 66 can be quickly close to the protective sleeve 22 to complete initial positioning, and the box removing efficiency of the protective sleeve 22 is improved. The second rotating joint 65 can also drive the gripping execution terminal 66 to rotate by a small angle, so as to adjust the angle and position of the gripping execution terminal 66, so that the protective sheath 22 can be gripped accurately and stably.

With reference to fig. 1, based on the above embodiment, the gripping execution terminal 66 includes a vacuum generator 661, a gripping support 662 and a plurality of gripping suction cups 663, the vacuum generator 661 is respectively communicated with the plurality of gripping suction cups 663 through a pipeline, and the plurality of gripping suction cups 663 are arranged side by side on the gripping support 662 and are used for fixing the protective sleeve 22 by suction.

The grabbing bracket 662 plays a role of loading the fixed grabbing suction cups 663. Snatch sucking disc 663 and communicate with vacuum generator 661 through the pipeline, when snatching sucking disc 663 and hug closely protective sheath 22, vacuum generator 661 opens, snatchs sucking disc 663 and produces the negative pressure suction to can firmly adsorb fixedly protective sheath 22. The grasping suction cups 663 can pull the protective sleeve 22 to be pulled out of the holding box 21 after the first rotating joint 63 and/or the second rotating joint 65 rotate. The vacuum suction grabbing mode has simple working principle and reliable grabbing, and does not damage the protective sleeve 22.

Of course, in other embodiments, the gripping execution terminal 66 may be a mechanical type clamping jaw, a flexible clamping jaw, or other clamping jaw devices with other structures and principles, as long as the protection box can be reliably separated from the tray 21.

In order to improve the efficiency of taking off the protective sleeve 22, the number and the arrangement mode of the grabbing suckers 663 are consistent with the number and the arrangement mode of the protective sleeve 22 on the support box 21, so that the effect of completely separating all the protective sleeves 22 by grabbing once is realized, and the production efficiency and the beat are improved.

With reference to fig. 1 to fig. 3, in addition, the box removing machine further includes a blanking conveying belt 90, the blanking conveying belt 90 is disposed in a moving range of the gripper 60, and the blanking conveying belt 90 is configured to receive the protective sleeve 22 released by the gripping suction disk 663 and convey the protective sleeve downstream. The separated protective sleeve 22 is released to the blanking conveying clamp belt 90 by the grabbing sucker 663 and exists in a regular and orderly arrangement posture, and then the blanking conveying clamp belt 90 can convey the protective sleeve 22 to a downstream boxing station in sequence to realize boxing and packaging after being assembled with bottle products.

After the separation of the tray 21 of the first material 20 from the protective sleeve 22 is completed, the next material 20 just enters the box-removing station, and the gripper mechanism 60 and the box-pushing mechanism 50 are continuously matched with each other to complete the separation of the tray 21 from the protective sleeve 22. The process is continued until the entire magazine 21 is finished.

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. The utility model provides a take off box final controlling element for carry out the autosegregation operation to protective sheath and support box, hold in the palm the concave groove that is equipped with of box, its characterized in that, take off box final controlling element and include:

the box pushing mechanism is arranged in the box supporting station and used for limiting or pushing the box; the box pushing mechanism comprises an inserting and separating rod, and when the protective sleeve and the supporting box slide into the box removing station, the inserting and separating rod is inserted into the inserting and separating groove to separate the supporting box from the protective sleeve; and

the gripper mechanism is arranged on one side of the box supporting station and used for gripping the protective sleeve to move towards the direction far away from the box supporting station, so that the protective sleeve and the box supporting station are automatically separated.

2. The depilling actuation device according to claim 1, characterized in that the insertion end of said insertion and separation rod is provided with a lead-in portion.

3. The box-removing executing device according to claim 1, wherein the box-pushing mechanism further comprises a box-pushing driving member and a box-pushing plate, the box-pushing driving member is in driving connection with the box-pushing plate, and the box-pushing plate is used for pushing the tray.

4. The box-off executing device according to claim 3, wherein the box-pushing driving element is provided as an air cylinder, the box-pushing plate is connected with a piston rod of the air cylinder, and the box-pushing plate abuts against a portion of the tray above the inserting and separating rod.

5. The box-removing executing device according to claim 1, wherein the box-pushing mechanism further comprises a lifting driving member, a box-pushing plate and a suction cup, the box-pushing driving member is in driving connection with the lifting driving member, the box-pushing plate is in driving connection with the box-pushing driving member, the suction cup is disposed on the box-pushing plate, and the suction cup is used for fixing the side of the tray away from the protective sleeve in a suction manner.

6. The box-off executing device according to claim 1, wherein the gripper mechanism comprises a gripper seat, a manipulator and a gripping executing terminal, the manipulator is movably arranged on the gripper seat, the gripping executing terminal is arranged at the tail end of the manipulator, and the gripping executing terminal is used for gripping the protective sleeve and moving towards a direction far away from the box holder.

7. The box-off executing device according to claim 6, wherein the manipulator comprises a first manipulator arm, a first rotating joint, a second manipulator arm and a second rotating joint, the first manipulator arm is rotatably connected with the second manipulator arm through the first rotating joint, the second rotating joint is arranged at one end of the second manipulator arm far away from the first manipulator arm, and the second rotating joint is rotatably connected with the grabbing executing terminal.

8. The box-off executing device according to claim 6, wherein the gripping executing terminal comprises a vacuum generator, a gripping bracket and a plurality of gripping suckers, the vacuum generator is respectively communicated with the gripping suckers through pipelines, and the gripping suckers are arranged on the gripping bracket side by side and used for fixing the protective sleeve in an absorbing manner.

9. The box-off executing device according to claim 8, further comprising a blanking conveying belt, wherein the blanking conveying belt is arranged in a moving range of the gripper mechanism, and is used for receiving the protective sleeve released by the gripping sucker and conveying the protective sleeve downstream.

10. A box stripping machine comprising a box stripping actuator according to any one of claims 1 to 9.

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