CN218288321U - Automatic packaging manipulator - Google Patents

Abstract

The utility model relates to an automatic change packing machinery hand belongs to packagine machine and makes technical field. The lifting air cylinder comprises a connecting frame, a first side face turnover assembly, an end portion turnover assembly and a second side face turnover assembly, wherein the first side face turnover assembly, the end portion turnover assembly and the second side face turnover assembly are installed on the connecting frame, a lifting slide rail is installed on the back face of a sliding end plate, a slide seat is arranged on the upper surface of one side of the connecting frame, an air cylinder installing seat is arranged on the lower surface of the connecting frame, a sliding block matched with the lifting slide rail to slide is installed on the slide seat, a cylinder body of the lifting air cylinder is fixed on the sliding end plate, a telescopic end of the lifting air cylinder is fixed on the connecting frame on the air cylinder installing seat, and a terminal face bottom turnover mechanism A is installed at the bottom of the outer side face of the sliding end plate. The utility model discloses following beneficial effect has: the situation that the folding is not in place is avoided. The risk of interference is reduced.

Description

Automatic change packing manipulator

Technical Field

The utility model relates to an automatic change packing machinery hand belongs to packagine machine and makes technical field.

Background

Packaging machinery is one of the indispensable production facility of multiple trade, utilizes packagine machine to pack its whole after the product rolls off the production line not only easily transportation, storage, can also play certain guard action to the higher product of outward appearance requirement moreover, avoids the product to receive the damage. The existing packaging machines have various structural forms, and the packaging machines in different industries are different, and a common packaging machine is a machine for packaging square plate-shaped workpieces, such as wood floors, ceramic tiles, and the like, and such a packaging machine usually needs to stack and uniformly package a plurality of workpieces, even dozens of workpieces, and then transport the workpieces, and a carton for packaging the workpieces is usually the structure shown in fig. 11.

Patent application with patent number CN201811547662.5 discloses a packaging manipulator, which comprises a base; the first folding plates are hinged to two sides of the base and can rotate downwards; the second folded plate is arranged at the outer end of the first folded plate, reciprocates linearly along the direction of the rotating shaft of the first folded plate, and extends out towards the inner side direction of the first folded plate; the third folded plate is hinged to two ends of the base and can rotate downwards, and the hinge shafts of the first folded plate and the third folded plate are vertical; the fourth folded plate is arranged on the third folded plate, and the fourth folded plate makes telescopic motion on the lower edge of the third folded plate; and the fifth folding plate is arranged on the first folding plate and does telescopic motion on the lower edge of the first folding plate.

However, the packaging robot has some defects in use, such as:

1. the folding structure comprises a base half body, wherein two sides of the base half body are symmetrically provided with first folded plates, the first folded plates are connected to the base half body in a hinged mode through first rotating shafts, the base half body is further provided with first vertical cylinders, the first vertical cylinders can drive the first folded plates to rotate by taking the first rotating shafts as shafts, the first folded plates are connected to the base half body in a hinged mode through the first rotating shafts, and the folding structure can be blocked and abraded after being used for a long time, so that the using condition of the folding structure is influenced.

2. The end part of the base half body is also provided with a third folded plate, the third folded plate is hinged to the base half body through a second rotating shaft, the second rotating shaft is perpendicular to the first rotating shaft, meanwhile, the base half body is also provided with a second vertical cylinder, the third folded plate can rotate by taking the second rotating shaft as a shaft under the action of the second vertical cylinder, and the third folded plate is hinged to the base half body through the second rotating shaft, so that the folded structure can be jammed and worn after being used for a long time, and the service condition of the folded structure is influenced.

3. The second vertical cylinder drives the third folding plates at two ends to fold downwards, so that the third carton surface is folded, and the carton is very easy to be folded in place when being folded;

4. the first folding plates on the two sides of the first vertical cylinder are driven to be folded downwards, so that the first carton face is folded, the first vertical cylinder has the disadvantage of exposure arrangement, and the problem of interference easily occurs between the first vertical cylinder and the connecting frame.

The present application improves upon the above-mentioned patents as background art to eliminate the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

According to the not enough among the above prior art, the utility model discloses the technical problem who solves is: in order to solve one of the above problems, an automatic packaging robot is provided.

Automatic change packing machinery hand, its characterized in that: the lifting slide rail type lifting connecting device comprises a connecting frame, a first side face turnover assembly, an end part turnover assembly and a second side face turnover assembly, wherein the first side face turnover assembly and the second side face turnover assembly are arranged on the connecting frame relatively, the first side face turnover assembly and the second side face turnover assembly are both positioned on the same side of the end part turnover assembly, the adjacent included angle between the first side face turnover assembly and the second side face turnover assembly is 90 degrees, the end part turnover assembly comprises a vertically arranged sliding end plate, a lifting slide rail is arranged on the back face of the sliding end plate, a slide seat is arranged on the upper surface of one side of the connecting frame, an air cylinder mounting seat is arranged on the lower surface of the connecting frame, a slide block matched with the lifting slide rail in a sliding mode is arranged on the slide end plate, the telescopic end face bottom turnover mechanism A is arranged at the bottom of the outer side face of the slide end plate.

According to the case face quantity of packing box, this patent needs two sets of groups to use, and this patent is turned over a subassembly to the tip and is improved, adopts the folding action of the lift completion No. three carton faces of slip end plate, and concrete flow is as follows: under the cooperation of a lifting slide rail and a slide block, the sliding end plate is limited to move along the vertical direction, power is provided by a lifting cylinder, the lifting cylinder is driven to lift, the lifting cylinder is controlled to extend, under the supporting effect of a cylinder mounting seat, the lifting cylinder moves upwards and drives the sliding end plate to move upwards at the same time, the lifting cylinder is controlled to shorten in the opposite direction, the lifting cylinder moves downwards and drives the sliding end plate to move downwards, the folding action of the third carton face is completed through the descending sliding end plate, the folding action of the fourth carton face is realized through an end face bottom folding mechanism A, and the folding actions of the first carton face, the second carton face and the fifth carton face on two sides are respectively realized through an end part folding assembly and a second side face folding assembly.

Further, terminal surface bottom book turning mechanism A includes roll-over stand A, roll-over stand A's upper portion is passed through roll-over stand articulated seat A and is articulated in the lower part of sliding end plate lateral surface, roll-over end plate A is installed to roll-over stand A's the other end, roll-over stand A's middle part articulates there is the rotatory upset cylinder A of drive roll-over stand A around roll-over stand articulated seat A's point of rotation, upset cylinder A's cylinder body is articulated with roll-over stand A, and upset cylinder A's flexible end articulates in the lower part of sliding end plate lateral surface, and this pin joint is in roll-over stand articulated seat A's below. Control upset cylinder A shortens, and roll-over stand A is rotatory under upset cylinder A's drive, and drive upset end plate A moves under to the slip end plate, and until upset end plate A to horizontality, accomplish the folding action to No. four carton faces through upset end plate A, after the action is accomplished, control upset cylinder A extension, roll-over stand A drives upset end plate A and resets.

Further, the first side turnover assembly comprises a slide seat A installed on the lower surface of the connecting frame, a turnover main side plate is arranged below the slide seat A, a driving piece for driving the turnover main side plate to rotate is installed on the slide seat A, a turnover mechanism B is installed at one end of the turnover main side plate, and a turnover mechanism C is installed in the middle of the turnover main side plate. The driving piece drives the turning main side plate to turn from the inclined state to the vertical state, the folding action of the first carton face is realized through the turning action of the turning main side plate, the folding action of the second carton face is realized by the turning mechanism B, and the folding action of the fifth carton face is realized by the turning mechanism C.

Further, turnover mechanism B is including installing the upset cylinder B on upset owner curb plate one end, the tip of upset cylinder B articulates there is swing arm B, swing arm B's the other end and upset end plate B fixed connection, swing arm B's middle part articulates there is 2 connecting rods B, connecting rod B's the other end articulates on the upset owner curb plate, and swing arm B and upset cylinder B's hinge point is higher than swing arm B and connecting rod B's pin joint. Control upset cylinder B extension, swing arm B take place rotatoryly under connecting rod B's the promotion of holding back and upset cylinder B, and upset end plate B is driven rotatoryly by swing arm B for upset end plate B department plane is perpendicular with upset main side board department plane, and then realizes the folding action of No. two carton faces through upset end plate B's upset action, and control upset cylinder B shortens, pulls upset end plate B and resets. Here tradition turns over a mechanism B and is telescopic beta structure, and the fold easily appears in the carton face of folding out, can solve above-mentioned problem after this novel improvement.

Further, turn over a mechanism C and include roll-over stand C, roll-over stand C's upper portion is articulated on the upper portion of upset owner's curb plate lateral surface through roll-over stand articulated seat C, the upset end plate C is installed to roll-over stand C's the other end, roll-over stand C's middle part articulates there is the upset cylinder C that drives roll-over stand C around roll-over stand articulated seat C's the rotation of point of rotation, upset cylinder C's cylinder body is articulated with roll-over stand C, and upset cylinder C's flexible end is articulated in the lower part of upset owner's curb plate lateral surface, and this pin joint is in roll-over stand articulated seat C's below. Control upset cylinder C shortens, and roll-over stand C is rotatory under upset cylinder C's drive, and drive upset end plate C moves to upset main side board under, and until upset end plate C to horizontality, accomplish the folding action to No. five carton faces through upset end plate C, after the action is accomplished, control upset cylinder C extension, roll-over stand C drives upset end plate C and resets.

Further, the driving piece is two sets of altogether, and symmetrical arrangement is in the both sides of upset main side plate lateral surface, and the driving piece is including installing the upset cylinder D on slide A, the flexible end of upset cylinder D articulates there is swing arm A, swing arm A's bottom and upset main side plate fixed connection, swing arm A's middle part articulates there is connecting rod A, connecting rod A's the other end articulates on slide A, and upset cylinder D is higher than connecting rod A and upset cylinder D's pin joint with swing arm A's hinge point. The extension of control upset cylinder D, swing arm A take place the rotation under connecting rod A's the control and the promotion of upset cylinder D, and the upset main side board is driven rotatoryly by swing arm A for the plane that the upset main side board is located is perpendicular with vertical face, and then realizes the folding action of a carton face through the upset action of upset main side board, and control upset cylinder D contracts, draws upset main side board to reset.

Furthermore, the first side face turnover assembly and the second side face turnover assembly are the same in structure, and the distance between the first side face turnover assembly and the second side face turnover assembly can be adjusted according to the width of the packing box.

Further, the lower surface both sides of link are provided with slide rail C and slide rail B respectively, and the both ends of slide A are provided with slider C and slider D with slide rail C and slide rail B complex respectively, still install the power supply that drives slide A and remove along slide rail C and slide rail B on the link, and this power supply is cylinder or gear motor, and when gear motor, need cooperate gear, rack mechanism transmission, for traditional prior art, slide A also directly fixable on the link, and the box of fixed width can only be folded to this kind of mode.

Furthermore, the bottom plate of the sliding seat A and the turning main side plate are provided with saw teeth which are arranged in a staggered mode.

Compared with the prior art, the utility model discloses following beneficial effect has:

automatic change packing machinery hand, end turns over a subassembly, a subassembly is turned over to first side, a subassembly is turned over to second side, it is the beta structure of connecting on the base halfbody through the rotation axis is articulated to have avoidd traditional folded plate, avoids long-term the use can appear blocking die and wearing and tearing to influence beta structure's in service behavior's emergence.

Automatic change packing manipulator, according to the case face quantity of packing box, this patent needs two sets of groups to the use, this patent is improved to tip turnover subassembly, adopts the folding action of the lift completion No. three carton faces of slip end plate, concrete flow is as follows: under the cooperation of a lifting slide rail and a slide block, the sliding end plate is limited to move along the vertical direction, power is provided by a lifting cylinder, the lifting cylinder is driven to lift, the lifting cylinder is controlled to extend, under the supporting effect of a cylinder mounting seat, the lifting cylinder moves upwards and drives the sliding end plate to move upwards at the same time, the lifting cylinder is controlled to shorten in the opposite direction, the lifting cylinder moves downwards and drives the sliding end plate to move downwards, the folding action of the third carton face is completed through the descending sliding end plate, the folding action of the fourth carton face is realized through an end face bottom folding mechanism A, the folding actions of the first carton face, the second carton face and the fifth carton face on two sides are respectively realized through an end part folding assembly and a second side face folding assembly, and the situation that the folding is not in place is avoided.

Automatic change packing manipulator, upset cylinder D horizontal installation reduces the interference risk on slide A.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a front view of a first embodiment of the present invention;

fig. 2 is a first perspective view of a first embodiment of the present invention;

fig. 3 is a perspective view of a second embodiment of the present invention;

fig. 4 is a third perspective view of the first embodiment of the present invention;

fig. 5 is a fourth perspective view of the first embodiment of the present invention;

fig. 6 is a left side view of the first embodiment of the present invention;

fig. 7 is a right side view of a first embodiment of the present invention;

fig. 8 is a top view of a first embodiment of the present invention;

fig. 9 is a bottom view of the first embodiment of the present invention;

fig. 10 is a perspective view of a second embodiment of the present invention;

fig. 11 is an expanded view of the packing box.

In the figure: 1. the connecting frame 2, a first side face turnover assembly 2.1, a sliding seat A2.2, a turnover main side plate 2.3, a turnover mechanism B2.3.1, a swing arm B2.3.2, a turnover cylinder B2.3.3, a connecting rod B2.3.4, a turnover end plate B2.4, a turnover mechanism C2.4.1, a turnover frame C2.4.2, a turnover cylinder C2.4.3, a turnover frame hinged seat C2.4, a turnover end plate C2.5, a swing arm A2.6, a turnover cylinder D2.7, a connecting rod A3, an end part turnover assembly 3.1, a sliding end plate 3.2, a lifting slide rail 3.3, a sliding block 3.4, a sliding seat 3.5, a lifting cylinder 3.6, a cylinder mounting seat 4, a second side face turnover assembly 5, an end face bottom turnover mechanism A5.1, a turnover frame A5.2, a turnover cylinder A5.3, a turnover frame hinged seat A5.4, a turnover end plate hinged seat A6 and sawteeth.

Detailed Description

The invention will be further described with reference to the accompanying drawings:

the present invention is further illustrated by the following specific examples, which are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Example one

As shown in fig. 1-9, the automatic packaging manipulator includes a connecting frame 1, and a first side surface turnover assembly 2, an end portion turnover assembly 3, and a second side surface turnover assembly 4 installed on the connecting frame 1, where the first side surface turnover assembly 2 and the second side surface turnover assembly 4 are arranged oppositely, and the first side surface turnover assembly 2 and the second side surface turnover assembly 4 are both located on the same side of the end portion turnover assembly 3, and an included angle between the adjacent two is 90 degrees, the end portion turnover assembly 3 includes a vertically arranged sliding end plate 3.1, a lifting slide rail 3.2 is installed on the back surface of the sliding end plate 3.1, the upper surface of one side of the connecting frame 1 has a slide seat 3.4, the lower surface has an air cylinder mounting seat 3.6, a slide block 3.3 sliding in cooperation with the lifting slide rail 3.2 is installed on the slide seat 3.4, a cylinder body of a lifting air cylinder 3.5 is fixed on the sliding end plate 3.1, a telescopic end of the telescopic end is fixed on the connecting frame 1 on the air cylinder mounting seat 3.6, and a turnover a end surface bottom mechanism a turnover a bottom portion A5 is installed at the bottom of the outer side surface of the sliding end plate 3.1.

According to the case face quantity of packing box, this patent needs two sets of groups to use, and this patent turns over a subassembly 3 to the tip and improves, adopts the folding action of No. three carton faces of lift completion of slip end plate 3.1, and concrete flow is as follows: under the cooperation of the lifting slide rail 3.2 and the slide block 3.3, the sliding end plate 3.1 is limited to move along the vertical direction, power is provided by the lifting cylinder 3.5 to drive the lifting of the sliding end plate 3.1, the lifting cylinder 3.5 is controlled to extend, under the supporting action of the cylinder mounting seat 3.6, the lifting cylinder 3.5 moves upwards and simultaneously drives the sliding end plate 3.1 to move upwards, and the lifting cylinder 3.5 is controlled to shorten in an opposite way and simultaneously drives the sliding end plate 3.1 to move downwards, the folding action of the third paper box face is completed by descending the sliding end plate 3.1, the end face bottom folding mechanism A5 realizes the folding action of the fourth paper box face, and the end part folding assembly 3 and the second side folding assembly 4 respectively realize the folding actions of the first paper box face, the second paper box face and the fifth paper box face on two sides.

Preferably, end face bottom turnover mechanism A5 includes roll-over stand a5.1, roll-over stand a 5.1's upper portion is articulated in the lower part of sliding end plate 3.1 lateral surface through roll-over stand articulated seat a5.3, roll-over end plate a5.4 is installed to roll-over stand a 5.1's the other end, roll-over stand a 5.1's middle part articulates there is rotatory upset cylinder a5.2 of drive roll-over stand a5.1 around the pivot point of roll-over stand articulated seat a5.3, the cylinder body of upset cylinder a5.2 is articulated with roll-over stand a5.1, and the flexible end of upset cylinder a5.2 articulates in the lower part of sliding end plate 3.1 lateral surface, and this pin joint is in roll-over stand articulated seat a 5.3's below. Control upset cylinder A5.2 shortens, and roll-over stand A5.1 is rotatory under upset cylinder A5.2's drive, and drive upset end plate A5.4 moves to sliding end plate 3.1 under, until upset end plate A5.4 to the horizontality, accomplishes the folding action to No. four carton faces through upset end plate A5.4, and after the action was accomplished, control upset cylinder A5.2 extension, roll-over stand A5.1 drives upset end plate A5.4 and resets.

Preferably, first side turns over a subassembly 2 and includes slide A2.1 of installing at link 1 lower surface, the below of slide A2.1 has upset owner curb plate 2.2, install the rotatory driving piece of drive upset owner curb plate 2.2 on the slide A2.1, the mechanism B2.3 of turning over is installed to the one end of upset owner curb plate 2.2, the mid-mounting of upset owner curb plate 2.2 turns over a mechanism C2.4. The driving piece drives the turnover main side plate 2.2 to be in a vertical state from an inclined state, the folding action of the first carton face is realized through the turnover action of the turnover main side plate 2.2, the folding action of the second carton face is realized by the turnover mechanism B2.3, and the folding action of the fifth carton face is realized by the turnover mechanism C2.4.

Preferably, the turnover mechanism B2.3 includes a turnover cylinder B2.3.2 installed at one end of the turnover main side plate 2.2, a telescopic end of the turnover cylinder B2.3.2 is hinged with a swing arm B2.3.1, the other end of the swing arm B2.3.1 is fixedly connected with the turnover end plate B2.3.4, a middle portion of the swing arm B2.3.1 is hinged with a 2-link B2.3.3, the other end of the link B2.3.3 is hinged with the turnover main side plate 2.2, and a hinge point between the swing arm B2.3.1 and the turnover cylinder B2.3.2 is higher than a hinge point between the swing arm B2.3.1 and the link B2.3.3. The extension of the turnover cylinder B2.3.2 is controlled, the swing arm B2.3.1 rotates under the control of the connecting rod B2.3.3 and the pushing of the turnover cylinder B2.3.2, the turnover end plate B2.3.4 is driven by the swing arm B2.3.1 to rotate, so that the plane where the turnover end plate B2.3.4 is located is vertical to the plane where the turnover main side plate 2.2 is located, the folding action of the second carton surface is realized through the turnover action of the turnover end plate B2.3.4, the shortening of the turnover cylinder B2.3.2 is controlled, and the traction turnover end plate B2.3.4 is reset;

preferably, the turnover mechanism C2.4 includes a roll-over stand C2.4.1, the upper portion of the roll-over stand C2.4.1 is hinged on the upper portion of the outer side surface of the main turnover side plate 2.2 through a roll-over stand hinge seat C2.4.3, the other end of the roll-over stand C2.4.1 is provided with a roll-over end plate C2.4.4, the middle portion of the roll-over stand C2.4.1 is hinged with a roll-over cylinder C2.4.2 for driving the roll-over stand C2.4.1 to rotate around the rotation point of the roll-over stand hinge seat C2.4.3, the cylinder body of the roll-over cylinder C2.4.2 is hinged with the roll-over stand C2.4.1, the telescopic end of the roll-over cylinder C2.4.2 is hinged on the lower portion of the outer side surface of the main turnover side plate 2.2, and the hinge point is located below the roll-over stand hinge seat C2.4.3. The overturning cylinder C2.4.2 is controlled to shorten, the overturning frame C2.4.1 is driven by the overturning cylinder C2.4.2 to rotate, the overturning end plate C2.4.4 is driven to move towards the right lower part of the overturning main side plate 2.2 until the overturning end plate C2.4.4 is in a horizontal state, the folding action of the surface of the fifth carton is finished through the overturning end plate C2.4.4, after the action is finished, the overturning cylinder C2.4.2 is controlled to extend, and the overturning frame C2.4.1 drives the overturning end plate C2.4.4 to reset.

Preferably, the driving parts total two sets, and the symmetrical arrangement is in the both sides of upset main side panel 2.2 lateral surface, and the driving part is including installing upset cylinder D2.6 on slide A2.1, the flexible end of upset cylinder D2.6 articulates there is swing arm A2.5, swing arm A2.5's bottom and upset main side panel 2.2 fixed connection, swing arm A2.5's middle part articulates there is connecting rod A2.7, the other end of connecting rod A2.7 articulates on slide A2.1, and the pivot point of upset cylinder D2.6 and swing arm A2.5 is higher than the pin joint of connecting rod A2.7 and upset cylinder D2.6. The extension of control upset cylinder D2.6, swing arm A2.5 takes place rotatoryly under the control of connecting rod A2.7 and the promotion of upset cylinder D2.6, and upset main curb plate 2.2 is driven rotatoryly by swing arm A2.5 for the plane that upset main curb plate 2.2 is located is perpendicular with vertical face, and then realizes the folding action of a carton face through the upset action of upset main curb plate 2.2, and control upset cylinder D2.6 contracts, pulls upset main curb plate 2.2 and resets.

Preferably, the first side folding assembly 2 and the second side folding assembly 4 have the same structure, and the distance between the first side folding assembly 2 and the second side folding assembly 4 can be adjusted according to the width of the packing box.

Preferably, both sides of the lower surface of the connecting frame 1 are respectively provided with a sliding rail C and a sliding rail B, both ends of the sliding seat a2.1 are respectively provided with a sliding block C and a sliding block D which are matched with the sliding rail C and the sliding rail B, the connecting frame 1 is further provided with a power source for driving the sliding seat a2.1 to move along the sliding rail C and the sliding rail B, the power source is an air cylinder or a speed reducing motor, and when the speed reducing motor is used, the power source needs to be matched with a gear and a rack mechanism for transmission, and the sliding seat a2.1 can also be directly fixed on the connecting frame 1 in the prior art, and the box with fixed width can be folded only in the mode.

Fig. 11 is an expanded schematic view of a packing box, which is the most common one in the market, and can be used for packing plate-type workpieces such as wood floors, ceramic tiles, etc., and includes a first carton surface to a sixth carton surface that are symmetrical, where the sixth carton surface is adapted to the size of the workpiece to be packed, and multiple layers or multiple rows of workpieces can be packed in the packing box according to specific size requirements, for example, the width of the sixth carton surface can meet the packing requirement of one or multiple rows of workpieces. When the packaging box is used for packaging workpieces, in order to ensure the packaging effect and facilitate subsequent processes such as transportation, after the workpieces are correspondingly attached to the six paper box surfaces, the six paper box surfaces to the six paper box surfaces need to be folded in sequence.

According to the case face quantity of packing box, this patent needs two sets of group to use, specifically symmetrical installation arranges, and this patent is improved to the structure of first side turnover component 2, tip turnover component 3, second side turnover component 4.

The whole working process comprises the following steps: firstly, the turning cylinder D2.6 drives the turning main side plate 2.2 to rotate, and the turning main side plates 2.2 of the first side folding assembly 2 and the second side folding assembly 4 are used to fold two first carton faces;

secondly, the four turnover cylinders B2.3.2 drive the four turnover end plates B2.3.4 to fold the surfaces of the four second cartons;

thirdly, the lifting cylinder 3.5 moves linearly to drive the sliding end plate 3.1 to descend, so that the surface of the third carton is folded;

fourthly, the overturning cylinder A5.2 drives the overturning end plate A5.4 to realize the folding of the surface of the fourth carton and simultaneously support two ends of the workpiece;

fifthly, the overturning air cylinder C2.4.2 drives the overturning end plate C2.4.4 to overturn, so that the surface of the fifth carton is folded, and the folding action of one carton is finished.

In the second embodiment, referring to fig. 10, the difference from the first embodiment is that the bottom plate of the sliding seat a2.1 and the turnover main side plate 2.2 are provided with the saw teeth 6 arranged in a staggered manner, so as to close the connection gap and improve the folding quality.

The basic principles, main features and advantages of the present invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

The present invention is not described in detail, but is known to those skilled in the art.

Claims (9)

1. The utility model provides an automatic change packing manipulator which characterized in that: including link (1) and install first side book a subassembly (2), tip book a subassembly (3), second side book a subassembly (4) on link (1), first side book a subassembly (2) and second side book a subassembly (4) set up relatively, and first side book a subassembly (2), second side book a subassembly (4) all are in the same one side that tip rolled over subassembly (3), and adjacent contained angle between them is 90 degrees, tip book subassembly (3) are including the slip end plate (3.1) of vertical setting, the back mounted of slip end plate (3.1) has lift slide rail (3.2), the upper surface of link (1) one side has slide (3.4), and the lower surface has cylinder mount pad (3.6), install on slide (3.4) with the gliding slider (3.3) of lift slide rail (3.2) cooperation, the cylinder body of lift cylinder (3.5) is fixed on slip end plate (3.1), and the end face that its stretches out and draws back is fixed link (1) on cylinder mount pad (3.6), the bottom end face (5A) are installed to the lateral surface (3.1) of slip.

2. The automated packaging robot of claim 1, wherein: end face bottom turnover mechanism A (5) includes roll-over stand A (5.1), the upper portion of roll-over stand A (5.1) articulates the lower part at slip end plate (3.1) lateral surface through roll-over stand articulated seat A (5.3), roll-over end plate A (5.4) are installed to the other end of roll-over stand A (5.1), the middle part of roll-over stand A (5.1) articulates there is rotatory upset cylinder A (5.2) of drive roll-over stand A (5.1) around the pivot point of roll-over stand articulated seat A (5.3), the cylinder body of upset cylinder A (5.2) is articulated with roll-over stand A (5.1), and the flexible end of upset cylinder A (5.2) articulates the lower part at slip end plate (3.1) lateral surface, and this pin joint is in the below of roll-over stand A (5.3).

3. The automated packaging robot of claim 2, wherein: first side turns over a subassembly (2) including installing slide A (2.1) at link (1) lower surface, the below of slide A (2.1) has upset owner curb plate (2.2), install the rotatory driving piece of drive upset owner curb plate (2.2) on slide A (2.1), the one end of upset owner curb plate (2.2) is installed and is turned over a mechanism B (2.3), the mid-mounting of upset owner curb plate (2.2) turns over a mechanism C (2.4).

4. The automated packaging robot of claim 3, wherein: turnover mechanism B (2.3) is including installing upset cylinder B (2.3.2) on upset owner curb plate (2.2) one end, the tip of upset cylinder B (2.3.2) articulates there is swing arm B (2.3.1), the other end and the upset end plate B (2.3.4) fixed connection of swing arm B (2.3.1), the middle part of swing arm B (2.3.1) articulates there is 2 connecting rod B (2.3.3), the other end of connecting rod B (2.3.3) articulates on upset owner curb plate (2.2).

5. The automated packaging robot of claim 4, wherein: turnover mechanism C (2.4) includes roll-over stand C (2.4.1), the upper portion of roll-over stand C (2.4.1) articulates the upper portion at upset owner curb plate (2.2) lateral surface through roll-over stand articulated seat C (2.4.3), upset end plate C (2.4.4) are installed to the other end of roll-over stand C (2.4.1), the middle part of roll-over stand C (2.4.1) articulates there is rotatory upset cylinder C (2.4.2) of drive roll-over stand C (2.4.1) around the pivot point of roll-over stand articulated seat C (2.4.3), the cylinder body of upset cylinder C (2.4.2) is articulated with roll-over stand C (2.4.1), and the flexible end of upset cylinder C (2.4.2) articulates in the lower part of upset owner curb plate (2.2) lateral surface, and this pin joint is in the below of articulated seat C (2.4.3).

6. The automated packaging robot of claim 5, wherein: the driving piece counts two sets altogether, and the symmetrical arrangement is in the both sides of upset main side board (2.2) lateral surface, and the driving piece is including installing upset cylinder D (2.6) on slide A (2.1), the flexible end of upset cylinder D (2.6) articulates there is swing arm A (2.5), the bottom and the upset main side board (2.2) fixed connection of swing arm A (2.5), the middle part of swing arm A (2.5) articulates there is connecting rod A (2.7), the other end of connecting rod A (2.7) articulates on slide A (2.1), and the hinge point of upset cylinder D (2.6) and swing arm A (2.5) is higher than the pin joint of connecting rod A (2.7) and upset cylinder D (2.6).

7. The automated packaging robot of claim 6, wherein: the first side face turnover assembly (2) and the second side face turnover assembly (4) are identical in structure, and the distance between the first side face turnover assembly (2) and the second side face turnover assembly (4) can be adjusted according to the width of the packing box.

8. The automated packaging robot of claim 7, wherein: the lower surface both sides of link (1) are provided with slide rail C and slide rail B respectively, the both ends of slide A (2.1) are provided with respectively with slide rail C and slide rail B complex slider C and slider D, still install the power supply that drive slide A (2.1) removed along slide rail C and slide rail B on link (1), this power supply is cylinder or gear motor, when gear motor, need cooperate the gear, rack mechanism transmission, for traditional prior art, also the snap-on of slide A (2.1) is on link (1), the box of fixed width can only be folded to this kind of mode.

9. The automated packaging robot of claim 8, wherein: the bottom plate of the sliding seat A (2.1) and the overturning main side plate (2.2) are provided with staggered sawteeth.

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