CN120057373A - Automatic opening, assembling and sealing one-piece robot - Google Patents
Automatic opening, assembling and sealing one-piece robot Download PDFInfo
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- CN120057373A CN120057373A CN202510306912.XA CN202510306912A CN120057373A CN 120057373 A CN120057373 A CN 120057373A CN 202510306912 A CN202510306912 A CN 202510306912A CN 120057373 A CN120057373 A CN 120057373A
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- Prior art keywords
- conveying
- box
- roller
- unpacking
- line
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
- B65B43/305—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated specially adapted for boxes, cartons or carton blanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
本发明属于包装设备技术领域，具体的说是自动化开装封一体机器人，包括载物运输线、箱体运输线和开箱运输线，箱体运输线的上方安装有限位传送组件一以及限位传送组件二，述限位传送组件一弯折设置，运输辊组件二上方的包装箱通过限位传送组件一弯折位置输送到封箱运输线内部，通过伸缩杆收缩，使得弹性传送带不再处于拉伸状态，与此同时通过旋转电机进行电驱动，使得其轴带动转动条以及转动条上方的多个传动辊一进行转动，限位传送组件一产生弯折，由一字型转变为L型，限位传送组件一弯折之后，不再影响包装箱向封箱运输线方向的移动，通过多轴装箱机械臂的多轴移动推动包装箱向封箱运输线内部移动，完成后续的封箱工作。
The present invention belongs to the technical field of packaging equipment, and specifically is an automated integrated opening, packaging and sealing robot, comprising a load transport line, a box transport line and an opening transport line, wherein a limit conveying component 1 and a limit conveying component 2 are installed above the box transport line, wherein the limit conveying component 1 is bent, and the packaging box above the transport roller component 2 is transported to the inside of the sealing transport line through the bent position of the limit conveying component 1, and the elastic conveyor belt is no longer in a stretched state by contraction of the telescopic rod, and at the same time, it is electrically driven by a rotating motor so that its shaft drives a rotating bar and a plurality of transmission rollers 1 above the rotating bar to rotate, and the limit conveying component 1 is bent, changing from a straight line to an L-shape, and after the limit conveying component 1 is bent, it no longer affects the movement of the packaging box toward the sealing transport line, and the packaging box is pushed to move toward the inside of the sealing transport line by the multi-axis movement of the multi-axis packing robot arm, thereby completing the subsequent sealing work.
Description
Technical Field
The invention belongs to the field of packaging equipment, and particularly relates to an automatic opening, packaging and sealing one-piece robot.
Background
The box opening, boxing and sealing of box packaging are automatic processes, are widely applied to logistics, transportation and manufacturing industries, are mainly used for protecting and transporting commodities, and are characterized in that an opening, boxing and sealing one-piece robot belongs to one integrated device, and the box transportation, opening, boxing and sealing are realized through a structure on one-piece equipment.
One patent document with publication number CN116812212a discloses a linear opening and sealing integrated machine, where a storage tank portion, a unpacking system and a box sealing system are arranged on one side of a box frame along a straight line, a feeding conveying and arranging system, an industrial robot are arranged on the other side of the box frame along a straight line, after the unpacking system opens a sheet type box blank into square, a box is opened by a functional mechanism in the box sealing system, the box is opened by the box sealing system, the sorting system sorts a plurality of materials to form a single layer, the industrial robot loads the single layer of materials into the box, the box sealing system puts accessories into the box, and the box sealing system folds and seals the box.
The box is integrated through unpacking subassembly, vanning subassembly and joint sealing subassembly in traditional technical scheme, and then forms automatic dress and seals a robot, and the box is through transporting through unpacking subassembly, vanning subassembly and joint sealing subassembly position realization dress and seals work, as integration equipment, need consider area, therefore its inner structure is comparatively complicated and compact, when realizing goods and materials vanning and remove to the joint sealing production line, because of the vanning work, the box of this moment is spacing, need press from both sides through the arm and get or artifical the removal, moves the box to the joint sealing production line on, comparatively waste manpower and time resources.
Therefore, the invention provides an automatic opening and sealing one-piece robot.
Disclosure of Invention
In order to overcome the deficiencies of the prior art, at least one technical problem presented in the background art is solved.
The automatic unpacking and sealing one-body robot comprises a carrying conveying line and a box conveying line arranged at one end of the carrying conveying line, wherein an unpacking conveying line is arranged at one end of the box conveying line, a unpacking component is arranged at the end of the unpacking conveying line, a packing box is arranged above the unpacking conveying line, a unpacking mechanical arm is arranged at the side edge of the unpacking conveying line, the unpacking mechanical arm, the unpacking component and the unpacking conveying line are matched with each other to play a unpacking role on the packing box, a box sealing component is arranged at the side edge of the box conveying line, a box sealing conveying line is arranged at the other side edge of the box conveying line and used for playing a box sealing role on the packing box in the box conveying line, a conveying roller assembly II is movably arranged in the box conveying line, and the conveying roller assembly II is formed by combining a plurality of rollers and is used for conveying the unpacked packing box;
The box conveying line is characterized in that a first limit conveying assembly and a second limit conveying assembly are arranged above the box conveying line, the packing box moves between the first limit conveying assembly and the second limit conveying assembly under the transmission of the second limit conveying assembly, the first limit conveying assembly is bent, and the packing box above the second limit conveying assembly is conveyed into the box sealing conveying line through the bent position of the first limit conveying assembly.
Preferably, a first transport roller assembly is movably installed in the carrying and transporting line, the first transport roller assembly is formed by combining a plurality of roller bodies, the first transport roller assembly is used for conveying materials needing to be boxed, two blocking plates II are installed above the first transport roller assembly, and the materials are transported between the two blocking plates II.
Preferably, a plurality of first bottom plates are arranged at the inner bottoms of the carrying and transporting lines, first support columns are arranged above the first bottom plates, the upper ends of the first support columns are connected with the corresponding second side edges of the blocking plates and used for stabilizing the second blocking plates, and the first support columns are located between the corresponding adjacent two roller bodies.
Preferably, the boxing component comprises a multiaxial boxing mechanical arm capable of multiaxial movement and a vacuum adsorption head arranged at the head of the multiaxial boxing mechanical arm, and the vacuum adsorption head is used for adsorbing materials to be loaded above the conveying roller assembly.
Preferably, two L-shaped supporting plates are arranged at the inner bottoms of the box body conveying lines, a conveying roller assembly III is arranged between the two L-shaped supporting plates, the conveying roller assembly III and the conveying roller assembly II are positioned at the same horizontal height, the conveying roller assembly III and the conveying roller assembly II are components made according to the same principle, the width of the conveying roller assembly III is equal to the distance between the limiting conveying assembly I and the limiting conveying assembly II, a motor for a roller is arranged on the side edge of the L-shaped supporting plates, and the motor for the roller is used for providing electric driving force for the conveying roller assembly III.
Preferably, the first limit conveying assembly comprises a rotating strip positioned above the third conveying roller assembly and a fixing strip positioned above the second conveying roller assembly, and the end positions of the rotating strip and the fixing strip, which are close to each other, are arranged in a semicircle.
Preferably, the end movable clamping groove of the rotating strip, which is close to the carrying and transporting line, is connected with a second support column, the second support column is fixedly connected with the side edge of the L-shaped support plate, a first section of the fixing strip is fixedly connected with the upper part of the L-shaped support plate, a third support column is arranged at the lower side of the other end of the fixing strip, the lower end of the third support column is connected with a second bottom plate, the rotating strip is movably arranged above the L-shaped support plate, and the third support column is positioned at the position of the interval between two corresponding adjacent rollers.
Preferably, a rotating motor is connected to the lower part of the end part of the rotating bar through a shaft, the position of the rotating motor is located inside the L-shaped supporting plate, a driving roller II and a plurality of driving rollers I are movably mounted inside the elastic conveying belt, the driving roller II and the driving rollers I keep a conveying relationship with the elastic conveying belt, a displacement block is movably mounted at one end of the rotating bar, a plurality of driving rollers I are rotatably mounted on the rotating bar and the fixed bar, and the driving roller II is rotatably mounted on the displacement block.
Preferably, a telescopic rod is arranged between the displacement block and the end part of the fixing strip, a driving motor is arranged on the lower side of the displacement block, the driving motor is arranged above the second bottom plate, a motor roller is arranged above the driving motor, and the motor roller is movably connected with the second driving roller.
Preferably, a clamping block is arranged at one end of the motor roller, a connecting column is arranged on the side face, close to the driving motor, of the driving roller II, one end of the connecting column penetrates through the displacement block and extends, a clamping groove is formed in the extending end of the connecting column, and the clamping groove is matched with the clamping block.
The beneficial effects of the invention are as follows:
1. According to the automatic opening and sealing one-piece robot, the packaging box in the initial state is clamped through the head of the opening mechanical arm, the packaging box is restored to the rectangular state, after the opening mechanical arm is matched with the opening mechanical arm, the bottom of the packaging box in the rectangular state is folded and glued, the packaging box after opening is transported to the box body transportation line position on the opening transportation line, at the moment, the packaging box is positioned between the two first blocking plates, the two first blocking plates play a role in guiding the movement of the packaging box, the packaging box after opening is moved onto the box body transportation line through the first blocking plates, at the moment, the packaging box is positioned between the second limiting and conveying assembly and the first limiting and conveying assembly and is positioned above the second transportation roller assembly, and the first limiting and conveying assembly play a role in limiting and guiding the packaging box.
2. According to the automatic opening and sealing one-piece robot, the packaging box is driven to move under the linkage cooperation of the elastic conveyor belt, the conveying roller assembly II and the limiting conveying assembly II, the packaging box is limited, the packaging box is ensured to move to the appointed position above the conveying roller assembly III, the multi-shaft movement of a subsequent multi-shaft boxing mechanical arm is facilitated, when the elastic conveyor belt rotates, a plurality of driving rollers in the elastic conveyor belt act together to form a framework, the elastic conveyor belt is ensured to be always in a horizontal state when in contact with the outer side of the packaging box, and materials above a plurality of carrying conveying lines are gradually boxed into the packaging box through the multi-shaft movement of the multi-shaft boxing mechanical arm and the vacuum adsorption of the vacuum adsorption head.
3. According to the automatic opening-sealing one-piece robot, the driving roller moves in one direction through the shrinkage of the telescopic rod, so that the elastic conveyor belt is not in a stretching state any more, meanwhile, the shaft of the elastic conveyor belt drives the rotating bar and the first driving rollers above the rotating bar to rotate through the rotating motor, at the moment, the elastic conveyor belt follows deformation, namely, the first limit conveying assembly bends, the first limit conveying assembly is converted into an L shape, the rotating motor and the electric driving of the driving motor are simultaneously, the elastic conveyor belt is ensured to keep a certain stretching state, after the first limit conveying assembly bends, the movement of a packing box to the direction of a box sealing conveying line is not influenced any more, and the packing box is pushed to move to the inside of the box sealing conveying line through the multi-shaft movement of the multi-shaft box sealing mechanical arm, so that subsequent box sealing work is completed.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is an overall perspective view of the present invention;
FIG. 2 is a schematic perspective view of a load carrying line and a box carrying line according to the present invention;
FIG. 3 is a schematic perspective view of a load carrying line and a boxing member in accordance with the present invention;
FIG. 4 is a schematic perspective view of a box conveyor line according to the present invention;
FIG. 5 is a schematic perspective view of a third conveyor roller assembly and an L-shaped support plate of the present invention;
FIG. 6 is a schematic perspective view of the spacing conveyer assembly of the present invention;
FIG. 7 is a schematic perspective view of a second driving roller and a displacement block in the invention;
fig. 8 is a schematic perspective view of a latch and a slot according to the present invention.
The device comprises a first carrying and transporting line, a first transporting roller assembly, a second blocking plate, a first 13, a first bottom plate, a first 14, a first supporting column, a second 2, a box body transporting line, a second 21, a first transporting roller assembly, a first 22, a first limiting and transporting assembly, a first 221, an elastic transporting belt, a second 222, a fixed bar, a second 223, a rotating bar, a second 224, a rotating motor, a first 225, a first driving roller, a second 226, a second driving roller, a 2261, a connecting column, a 2262, a clamping groove, a 227, a displacement block, a 228, a telescopic rod, a second 23, a limiting and transporting assembly, a third 24, a transporting roller assembly, a second 25, a second bottom plate, a 251, a driving motor, a 2511, a motor roller, a 2512, a clamping block, a second L-shaped supporting plate, a 261, a roller motor, a second 27, a second supporting column, a third 28, a third 3, a case opening transporting line, a first 4, a first blocking plate, a second 5, a case filling component, a fourth 51, a multi-axis case filling mechanical arm, a third 52, a vacuum adsorption head, a fourth 6, a case opening mechanical arm, a 7, a case opening component, a 8, a case, a 9, a case 9 and a case closing line.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
1-4, The automatic unpacking and sealing one-body robot comprises a carrying conveying line 1 and a box conveying line 2 arranged at one end of the carrying conveying line 1, wherein an unpacking conveying line 3 is arranged at one end of the box conveying line 2, a unpacking member 7 is arranged at the end of the unpacking conveying line 3, a packing box 8 is arranged above the unpacking conveying line 3, a unpacking mechanical arm 6 is arranged at the side edge of the unpacking conveying line 3, the unpacking mechanical arm 6, the unpacking member 7 and the unpacking conveying line 3 are matched with each other to play a unpacking role on the packing box 8, a boxing member 5 is arranged at the side edge of the box conveying line 2, a box sealing conveying line 9 is arranged at the other side edge of the box conveying line 2, the box sealing conveying line 9 is used for playing a box sealing role on the packing box 8 in the box conveying line 2, a conveying roller assembly II 21 is movably arranged in the box conveying line 2, and the conveying roller assembly II 21 is formed by combining a plurality of rollers and is used for conveying the unpacked packing box 8;
The first limit conveying assembly 22 and the second limit conveying assembly 23 are arranged above the box conveying line 2, the packaging box 8 moves between the first limit conveying assembly 22 and the second limit conveying assembly 23 under the transmission of the second limit conveying assembly 21, the first limit conveying assembly 22 is bent, and the packaging box 8 above the second limit conveying assembly 21 is conveyed into the box sealing conveying line 9 through the bent position of the first limit conveying assembly 22.
As shown in fig. 2-3, a first transport roller assembly 11 is movably installed in the object carrying and transporting line 1, the first transport roller assembly 11 is formed by combining a plurality of roller bodies, the first transport roller assembly 11 is used for transporting materials to be boxed, two blocking plates 12 are installed above the first transport roller assembly 11, and the materials are transported between the two blocking plates 12.
The inner bottom of the carrying and transporting line 1 is provided with a plurality of first bottom plates 13, a first support column 14 is arranged above the first bottom plates 13, the upper ends of the plurality of first support columns 14 are connected with the side edges of the corresponding second blocking plates 12 and used for stabilizing the second blocking plates 12, and the first support columns 14 are positioned between the corresponding adjacent two roller bodies.
Specifically, the initial state of the packing box 8 is hollow up and down and is in a flat pressing state, the packing box 8 in the initial state is clamped through the head of the unpacking mechanical arm 6, the packing box 8 is restored to a rectangular state, after the matching of the unpacking component 7, the bottom of the packing box 8 in the rectangular state is folded and glued, namely, the bottom of the packing box 8 is in a closed state, the unpacking work of the packing box 8 is completed, the packing box 8 after the unpacking is transported to the position of the box transporting line 2 on the unpacking transporting line 3, and at the moment, the packing box 8 is positioned between the two first blocking plates 4, the two first blocking plates 4 play a guiding role on the movement of the packing box 8, the unpacked packing box 8 moves to the box transporting line 2 through the first blocking plates 4, at the moment, the packing box 8 is positioned between the second limiting and the first limiting and transporting components 22 and is positioned above the second transporting roller components 21, the first limit conveying component 22 and the second limit conveying component 23 play a limit guiding role on the packing box 8, the second conveying roller component 21, the first limit conveying component 22 and the second limit conveying component 23 are electrically driven to drive the packing box 8 to move until the packing box 8 stops after moving from one end to the other end on the box conveying line 2, at the moment, the materials to be loaded are conveyed to a position close to the box conveying line 2 under the action of the first conveying roller component 11, at the moment, the two blocking plates two 12 play a limit role on the conveyed materials, the multi-shaft boxing mechanical arm 51 can move in a multi-shaft manner, at the moment, the boxing component 5 is positioned at the nearest positions of the materials and the packing box 8, the boxing step is ensured to be within the axial length range of the boxing component 5, the boxing component 5 loads the materials which are conveyed one by one into the packing box 8 with the hollow upper part, until the inside of the packing box 8 is fully loaded, the first limit conveying component 22 is changed from a straight-line state to an L-shaped state through the bendable function of the first limit conveying component, namely, after the packing box 8 is subjected to the limit conveying function of the first limit conveying component 22, the first limit conveying component 22 can not block the packing box 8 when the packing box 8 needs to move towards the box sealing conveying line 9, then the packing box 8 after being packaged is pushed to the inside of the box sealing conveying line 9 through the multi-shaft movement pushing of the packaging box component 5, then the packing box 8 is conveyed in the box sealing conveying line 9, box sealing work is completed, namely, folding glue sealing is performed on the upper side of the packing box 8, and the whole automatic opening and sealing working step is completed.
As shown in fig. 3, the boxing member 5 includes a multi-axis boxing robot arm 51 that moves multi-axis and a vacuum suction head 52 mounted on the head of the multi-axis boxing robot arm 51, the vacuum suction head 52 being for sucking the material to be loaded above the first conveyor roller assembly 11.
In the second embodiment, as shown in fig. 4-8, in the first comparative embodiment, two L-shaped support plates 26 are installed at the inner bottom of the case transporting line 2, a transporting roller assembly three 24 is installed between the two L-shaped support plates 26, the transporting roller assembly three 24 and the transporting roller assembly two 21 are at the same level, the transporting roller assembly three 24 and the transporting roller assembly two 21 are members made by the same principle, the width of the transporting roller assembly three 24 is equal to the interval between the limit conveying assembly one 22 and the limit conveying assembly two 23, a roller motor 261 is installed at the side edge of the L-shaped support plate 26, and the roller motor 261 is used for providing electric driving force for the transporting roller assembly three 24.
The first limit conveying assembly 22 comprises a rotating bar 223 positioned above the third conveying roller assembly 24 and a fixed bar 222 positioned above the second conveying roller assembly 21, and the end positions of the rotating bar 223 and the fixed bar 222, which are close to each other, are arranged in a semicircle.
The end movable clamping groove of the rotating strip 223, which is close to the carrying and transporting line 1, is connected with a second support column 27, the second support column 27 is fixedly connected with the side edge of the L-shaped support plate 26, a first section of the fixing strip 222 is fixedly connected with the upper side of the L-shaped support plate 26, a third support column 28 is arranged at the lower side of the other end, the lower end of the third support column 28 is connected with a second bottom plate 25, the rotating strip 223 is movably arranged above the L-shaped support plate 26, and the third support column 28 is positioned at two corresponding adjacent roller spacing positions.
The end part lower part of the rotating strip 223 is connected with a rotating motor 224 through a shaft, the rotating motor 224 is positioned inside the L-shaped supporting plate 26, a driving roller II 226 and a plurality of driving rollers I225 are movably arranged inside the elastic conveying belt 221, the driving roller II 226 and the driving rollers I225 keep a conveying relation with the elastic conveying belt 221, one end of the rotating strip 223 is movably provided with a displacement block 227, the driving rollers I225 are rotatably arranged on the rotating strip 223 and the fixed strip 222, and the driving roller II 226 is rotatably arranged on the displacement block 227.
A telescopic rod 228 is arranged between the displacement block 227 and the end part of the fixed bar 222, a driving motor 251 is arranged on the lower side of the displacement block 227, the driving motor 251 is arranged above the second base plate 25, a motor roller 2511 is arranged above the driving motor 251, and the motor roller 2511 is movably connected with the second driving roller 226.
A clamping block 2512 is arranged at one end of the motor roller 2511, a connecting column 2261 is arranged on the side surface, close to the driving motor 251, of the driving roller II 226, one end of the connecting column 2261 penetrates through the displacement block 227 and extends, a clamping groove 2262 is formed in the extending end of the connecting column 2261, and the clamping groove 2262 is matched with the clamping block 2512
Specifically, the packaging box 8 after unpacking is transported to the upper part of the second transporting roller assembly 21, at this time, the roller bodies of the second transporting roller assemblies 21 are driven by electricity to perform linkage rotation, and the motor roller 2511, the connecting column 2261 and the second driving roller 226 are driven to rotate by the electric drive of the driving motor 251, and the first driving roller 225 also rotates under the transmission of the elastic conveying belt 221, at this time, the rotating elastic conveying belt 221 contacts with the outer side of the packaging box 8, the second limiting conveying assembly 23 is also the same transmission principle, and the elastic conveying belt 221 is formed by, The second conveying roller assembly 21 and the second limiting conveying assembly 23 are matched to drive the packing box 8 to move, the packing box 8 is limited, the packing box 8 is ensured to move to a designated position above the third conveying roller assembly 24, the multi-shaft movement of the subsequent multi-shaft boxing mechanical arm 51 is facilitated, when the elastic conveying belt 221 rotates, the first driving rollers 225 in the elastic conveying belt play a role of a skeleton, the elastic conveying belt 221 is ensured to be always in a horizontal state when in contact with the outer side of the packing box 8, materials above a plurality of carrying conveying lines 1 are gradually boxed into the packing box 8 through the multi-shaft movement of the multi-shaft boxing mechanical arm 51 and the vacuum adsorption of the vacuum adsorption head 52, after the boxing is finished, the second driving rollers 226 are contracted through the telescopic rods 228, the second driving rollers 226 move towards the first driving rollers 225, the elastic conveying belt 221 is no longer in a stretching state, meanwhile, the rotating motor 224 is used for electric driving, so that the shaft drives the rotating bar 223 and a plurality of first driving rollers 225 above the rotating bar 223 to rotate, at the moment, the elastic conveyor belt 221 follows deformation, namely, at the moment, the first limit conveying component 22 bends, the shape of the elastic conveyor belt is changed into L shape, the electric driving of the rotating motor 224 and the driving motor 251 is synchronous, the elastic conveyor belt 221 is ensured to keep a certain stretching state, if the elastic conveyor belt 221 has the condition of vertical displacement, sealing covers can be arranged at the upper and lower ends of the first driving rollers 225 and the second driving rollers 226, the condition of vertical displacement of the elastic conveyor belt 221 is avoided, after the first limit conveying component 22 bends, the movement of the packing box 8 to the direction of the box sealing conveying line 9 is not influenced any more, the multi-shaft movement of the multi-shaft box filling mechanical arm 51 pushes the packing box 8 to move towards the inside of the box sealing conveying line 9, the subsequent box sealing work is completed, the first limit conveying component 22 in the device plays a role in guiding and limiting and cooperatively transporting, the structure of the first limit conveying component 22 does not influence the subsequent position change of the packaging box 8 through the bent structure, time and cost can be effectively saved by using the structure of the device when the first limit conveying component 22 moves towards the L shape of the box, the situation that a mechanical arm is required to be clamped or manually transported is avoided, the shrinkage of the telescopic rod 228 causes the displacement block 227 to move towards the position of the fixed strip 222, the clamping block 2512 breaks away from the clamping groove 2262 at the moment, the bending work of the first limit conveying component 22 is facilitated, when the cooperative transportation and limiting function of the first limit conveying component 22 are required to be recovered, the telescopic rod 228 stretches out, the displacement block 227 is driven to move towards the direction far away from the fixed strip 222, the first limit conveying component 22 is converted into a straight-shaped state from the L shape state, the second driving roller 226 drives the connecting column 2261 to move close to the motor roller 2511 until the clamping block 2512 is clamped inside the clamping groove 2262, and the second driving roller 226 can be driven by the electric driving motor 251 at the moment.
Working principle: the packaging box 8 after unpacking is transported to the upper part of the second transportation roller assembly 21, at this time, the roller bodies of the second transportation roller assemblies 21 are driven to rotate in a linkage way through electric drive, and the motor roller 2511, the connecting column 2261 and the second transmission roller 226 are driven to rotate under the electric drive of the driving motor 251, the first transmission rollers 225 are also driven to rotate through the transmission of the elastic transmission belt 221, at this time, the rotating elastic transmission belt 221 contacts with the outer side of the packaging box 8, the second limit transmission assembly 23 is also the same transmission principle, the packaging box 8 is driven to move under the linkage cooperation of the elastic transmission belt 221, the second transportation roller assembly 21 and the second limit transmission assembly 23, the packaging box 8 is limited, the packaging box 8 is ensured to move to the appointed position above the third transportation roller assembly 24, the multiaxial movement of the subsequent multiaxial boxing mechanical arm 51 is facilitated, and when the elastic transmission belt 221 rotates, the first driving rollers 225 play a role of a framework, ensure that the elastic conveyor belt 221 is always in a horizontal state when contacting with the outer side of the packaging box 8, gradually encase materials above the plurality of carrying conveying lines 1 into the packaging box 8 through the multi-shaft movement of the multi-shaft encasement mechanical arm 51 and the vacuum adsorption of the vacuum adsorption head 52, shrink through the telescopic rod 228 after encasement is finished, enable the second driving roller 226 to move towards the first driving roller 225, enable the elastic conveyor belt 221 to be no longer in a stretching state, and simultaneously electrically drive through the rotating motor 224, enable the shaft thereof to drive the rotating bar 223 and the first driving rollers 225 above the rotating bar 223 to rotate, at the moment, the elastic conveyor belt 221 follows deformation, namely the first limiting conveying assembly 22 bends, the first limiting conveying assembly is converted into an L shape through the linear shape, and the electric driving of the rotating motor 224 and the driving motor 251 are simultaneously, ensuring that the elastic conveyor belt 221 keeps a certain stretching state, if the elastic conveyor belt 221 has an up-and-down displacement condition, sealing covers can be installed at the upper end and the lower end of the first driving roller 225 and the second driving roller 226, the up-and-down displacement condition of the elastic conveyor belt 221 is avoided, after the first limiting conveying component 22 is bent, the movement of the packing box 8 to the direction of the box sealing conveying line 9 is not influenced any more, the packing box 8 is pushed to move to the inside of the box sealing conveying line 9 through the multi-shaft movement of the multi-shaft box filling mechanical arm 51, and the subsequent box sealing work is completed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The automatic unpacking and sealing one-piece robot comprises a carrying conveying line (1) and a box conveying line (2) arranged at one end of the carrying conveying line (1), wherein a unpacking conveying line (3) is arranged at one end of the box conveying line (2), a unpacking member (7) is arranged at the end of the unpacking conveying line (3), a packing box (8) is arranged above the unpacking conveying line (3), a unpacking mechanical arm (6) is arranged at the side edge of the unpacking conveying line (3), the unpacking mechanical arm (6), the unpacking member (7) and the unpacking conveying line (3) are mutually matched to play a unpacking role on the packing box (8), a packing box member (5) is arranged at the side edge of the box conveying line (2), a box sealing conveying line (9) is arranged at the other side edge of the box conveying line (2), the box sealing conveying line (9) is used for sealing the packing box (8) in the box conveying line, and is characterized in that two movable inner components (21) of the box conveying line (2) are movably provided with two roller assemblies, and the two roller assemblies (21) are used for forming a packing box through two roller assemblies;
The upper side of box transportation line (2) is installed spacing conveying subassembly one (22) and spacing conveying subassembly two (23), packing box (8) are through spacing conveying subassembly one (22) and spacing conveying subassembly two (23) down under the transmission of conveying roller subassembly two (21), spacing conveying subassembly one (22) is buckled and is set up, and packing box (8) of conveying roller subassembly two (21) top are carried to seal box transportation line (9) inside through spacing conveying subassembly one (22) bending position.
2. The automated packaging and opening robot according to claim 1, wherein a first transport roller assembly (11) is movably installed in the object carrying transport line (1), the first transport roller assembly (11) is formed by combining a plurality of roller bodies, the first transport roller assembly (11) is used for transporting materials to be packaged, two second blocking plates (12) are installed above the first transport roller assembly (11), and the materials are transported between the two second blocking plates (12).
3. The automated opening and sealing one-piece robot according to claim 2, wherein a plurality of first bottom plates (13) are installed at the inner bottoms of the carrying and transporting lines (1), first support columns (14) are installed above the first bottom plates (13), the upper ends of the first support columns (14) are connected with the side edges of the corresponding second blocking plates (12) and used for stabilizing the second blocking plates (12), and the first support columns (14) are located between the corresponding adjacent two roller bodies.
4. The automated packaging and unpacking robot according to claim 2, wherein the packing member (5) comprises a multi-axis packing mechanical arm (51) with multi-axis movement and a vacuum adsorption head (52) mounted on the head of the multi-axis packing mechanical arm (51), and the vacuum adsorption head (52) is used for adsorbing materials to be loaded above the first transport roller assembly (11).
5. The automated packaging and unsealing robot according to claim 1, wherein two L-shaped support plates (26) are mounted at the inner bottoms of the box conveying lines (2), a conveying roller assembly III (24) is mounted between the two L-shaped support plates (26), the conveying roller assembly III (24) and the conveying roller assembly II (21) are positioned at the same level, the conveying roller assembly III (24) and the conveying roller assembly II (21) are components manufactured on the same principle, the width of the conveying roller assembly III (24) is equal to the distance between the limit conveying assembly I (22) and the limit conveying assembly II (23), a roller motor (261) is mounted at the side edge of the L-shaped support plates (26), and the roller motor (261) is used for providing electric driving force for the conveying roller assembly III (24).
6. The automated packaging and unpacking robot according to claim 5, wherein the first limit conveying assembly (22) comprises a rotating bar (223) positioned above the third conveying roller assembly (24) and a fixed bar (222) positioned above the second conveying roller assembly (21), and the end positions of the rotating bar (223) and the fixed bar (222) close to each other are arranged in a semicircle.
7. The automated packaging and opening robot as set forth in claim 6, wherein the end portion of the rotating bar (223) close to the carrying and transporting line (1) is movably provided with a second support column (27), the second support column (27) is fixedly connected with the side edge of the L-shaped support plate (26), one section of the fixing bar (222) is fixedly connected with the upper portion of the L-shaped support plate (26), the third support column (28) is arranged at the lower side of the other end of the fixing bar, the lower end of the third support column (28) is connected with the second bottom plate (25), the rotating bar (223) is movably arranged above the L-shaped support plate (26), and the third support column (28) is positioned at the interval position between two corresponding adjacent rollers.
8. The automated packaging and opening robot according to claim 7, wherein a rotating motor (224) is connected to the lower portion of the end portion of the rotating bar (223) through a shaft, the rotating motor (224) is located inside the L-shaped supporting plate (26), a driving roller II (226) and a plurality of driving rollers I (225) are movably mounted inside the elastic conveying belt (221), the driving roller II (226) and the driving rollers I (225) keep conveying relation with the elastic conveying belt (221), a displacement block (227) is movably mounted at one end of the rotating bar (223), the driving rollers I (225) are rotatably mounted on the rotating bar (223) and the fixing bar (222), and the driving roller II (226) is rotatably mounted on the displacement block (227).
9. The automated packaging and opening robot according to claim 8, wherein a telescopic rod (228) is installed between the displacement block (227) and the end part of the fixing strip (222), a driving motor (251) is installed on the lower side of the displacement block (227), the driving motor (251) is installed above the second base plate (25), a motor roller (2511) is installed above the driving motor (251), and the motor roller (2511) is movably connected with the second driving roller (226).
10. The automated packaging and unpacking one-piece robot of claim 9, wherein a clamping block (2512) is arranged at one end of the motor roller (2511), a connecting column (2261) is arranged on the side surface, close to the driving motor (251), of the driving roller II (226), one end of the connecting column (2261) penetrates through the displacement block (227) and extends, a clamping groove (2262) is formed in the extending end of the connecting column (2261), and the clamping groove (2262) is matched with the clamping block (2512).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202510306912.XA CN120057373B (en) | 2025-03-15 | 2025-03-15 | Automated packaging and unpacking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202510306912.XA CN120057373B (en) | 2025-03-15 | 2025-03-15 | Automated packaging and unpacking robot |
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| CN120057373B CN120057373B (en) | 2026-01-20 |
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| CN116062243A (en) * | 2022-12-19 | 2023-05-05 | 东富龙包装技术（上海）有限公司 | Multi-station packing and palletizing machine |
| CN221394353U (en) * | 2024-02-05 | 2024-07-23 | 江苏创兴智能科技有限公司 | Robot unpacking device |
| CN221438509U (en) * | 2023-10-31 | 2024-07-30 | 广州顶津饮品有限公司 | Boxing machine |
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2025
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3598227A (en) * | 1969-06-02 | 1971-08-10 | Amf Inc | Belt-tracking compensator |
| GB1261659A (en) * | 1969-06-02 | 1972-01-26 | Amf Inc | Materials handling apparatus |
| US5915611A (en) * | 1996-07-12 | 1999-06-29 | Bridgestone Corporation | Conveyor assembly for strip material |
| CN112849588A (en) * | 2021-02-20 | 2021-05-28 | 杭州娃哈哈精密机械有限公司 | Product boxing and packaging machine and using method thereof |
| CN116062243A (en) * | 2022-12-19 | 2023-05-05 | 东富龙包装技术（上海）有限公司 | Multi-station packing and palletizing machine |
| CN221438509U (en) * | 2023-10-31 | 2024-07-30 | 广州顶津饮品有限公司 | Boxing machine |
| CN221394353U (en) * | 2024-02-05 | 2024-07-23 | 江苏创兴智能科技有限公司 | Robot unpacking device |
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|---|---|
| CN120057373B (en) | 2026-01-20 |
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Country or region after: China Address after: 225700 Jiangsu Province Taizhou City Xinghua City Economic Development Zone Gaoxing East Road south side Science and Technology Entrepreneurship Center second floor 207 Applicant after: Xinghua Kuaixiaoxiang Robot Technology Co.,Ltd. Address before: 225700 Jiangsu Province Taizhou City Xinghua City Economic Development Zone Gaoxing East Road south side Science and Technology Entrepreneurship Center second floor 207 Applicant before: Xinghua Yiyou Robot Technology Co.,Ltd. Country or region before: China |
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Effective date of registration: 20260212 Address after: 214100 Jiangsu Province Wuxi City Xishan District Anzhen Street Pioneer Middle Road No. 6 China Electronics (Wuxi) Digital Chip City Building No. 1 2nd Floor 203-1 Patentee after: Jiangsu Yiyou Robot Technology Co.,Ltd. Country or region after: China Address before: 225700 Jiangsu Province Taizhou City Xinghua City Economic Development Zone Gaoxing East Road south side Science and Technology Entrepreneurship Center second floor 207 Patentee before: Xinghua Kuaixiaoxiang Robot Technology Co.,Ltd. Country or region before: China |