阅读说明：本技术 用于瓦楞纸箱启封的系列末端切割器 (Series end cutter for opening corrugated paper box ) 是由 章军 刘禹 吕兵 陈彦秋 王震宇 庞玮 李东亚 于 2021-07-26 设计创作，主要内容包括：本发明涉及一种用于瓦楞纸箱启封的系列末端切割器,其至少包括超声波切割器、振动刀切割器、软化热切刀切割器、划割刀片切割器；根据瓦楞纸箱、打包带、封胶带这三种切割对象在材质、尺寸和结构上的差异,换装不同的系列末端切割器安装至机器人末端；所有的系列末端切割器均包括结构相同的圆形安装盘,各系列末端切割器通过各自的圆形安装盘手动换装至机器人末端；还包括末端夹持器,末端夹持器安装至机器人末端,末端夹持器用于夹持部分的系列末端切割器上的圆形安装盘,使得部分的系列末端切割器自动换装至机器人末端。本发明的系列末端切割器,同时兼顾剪断打包带、切割封胶带和拆除箱盖的可靠性和加工效率,具有极强的可操作性和灵活性。(The invention relates to a series of tail end cutters for unsealing corrugated cartons, which at least comprise an ultrasonic cutter, a vibration cutter, a softening hot cutter and a cutting blade cutter; according to the differences of the materials, the sizes and the structures of three cutting objects, namely a corrugated case, a packing belt and a sealing adhesive tape, different series of tail end cutters are replaced and installed at the tail end of the robot; all the series of end cutters comprise circular mounting discs with the same structure, and each series of end cutters are manually replaced to the tail end of the robot through the respective circular mounting discs; also included is an end gripper mounted to the robot end for gripping a circular mounting plate on the partial series end cutter such that the partial series end cutter is automatically reloaded to the robot end. The series of tail end cutters simultaneously give consideration to the reliability and the processing efficiency of cutting off the packing belt, cutting the sealing adhesive tape and removing the box cover, and have strong operability and flexibility.)

1. A series of end cutters for opening corrugated cases is used for cutting the box cover of the corrugated case by folding or directly cutting the packing belt and the sealing adhesive tape of the corrugated case, and is characterized in that: the series of end cutters at least comprise an ultrasonic cutter, a vibration cutter, a softening hot cutter and a scribing cutter; wherein the series of end cutters' performance parameters comprise: the amplitude and frequency of the ultrasonic cutter, the reciprocating stroke and motor power of the vibrating knife cutter, and the holding temperature and power of the softening hot knife cutter;

according to the differences of the materials, the sizes and the structures of the three cutting objects of the corrugated case, the packing belt and the sealing tape, the series of tail end cutters with different types are replaced for cutting; wherein all of the series of end cutters include circular mounting discs having the same structure, and each of the series of end cutters is manually reloaded to the end of the robot through the respective circular mounting disc;

further comprising an end gripper mounted to the robot end and a stationary blade carrier that positions the series of end cutters of the placement portion; the end gripper is adapted to grip a circular mounting plate on a portion of the series of end cutters such that the portion of the series of end cutters can be automatically reloaded from the stationary blade carrier by the robot.

2. The series of end cutters for unpacking a corrugated carton as set forth in claim 1, wherein: determining the robot according to the required degree of freedom and the required load; the robot degree of freedom required for the alignment of the cutting position by the end cutter: the four-degree-of-freedom or more-than-four-degree-of-freedom robot meets X, Y, Z-axis movement and Z-axis rotation; the three-degree-of-freedom robot can move along the X, Y, Z axis, and the horizontal plane supporting table of the corrugated case rotates along the Z axis;

determining technological parameters of the series of tail end cutters according to differences of materials, sizes and structures of three cutting objects, namely the corrugated carton, the packing belt and the sealing tape, and determining a load required by the robot according to the technological parameters of the series of tail end cutters, wherein the load required by the robot is set as superposition of the weight of the series of tail end cutters, the weight of the tail end clamp and the cutting force borne by the robot; when the series of tail end cutters operate under different process parameters, the magnitude and the direction of cutting force borne by the tail end of the robot are measured through a three-dimensional force sensor, and therefore the load required to be configured by the robot is determined;

wherein the process parameters of the series of end cutters refer to the moving speed of the cutting packing belt, the sealing tape and the corrugated carton of each series of end cutters under the performance parameters of each series of end cutters; the above process parameters are determined to include the following working conditions: cutting the sealing adhesive tape longitudinally and independently; transversely cutting the packing belt independently; simultaneously longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt; the corrugated board is cut separately; simultaneously cutting the corrugated board and longitudinally cutting the sealing adhesive tape; and simultaneously cutting the corrugated board, longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt.

3. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the method for controlling the cutting speed of the packing belt, the sealing tape and the corrugated board for cutting the corrugated case comprises the following steps,

the ultrasonic cutter and the vibrating knife cutter firstly transversely cut off the packing belt, and then the tail end cutters of each series rapidly and longitudinally cut the sealing adhesive tape at the middle seam between the two big box cover plates or the outer side seam of each big box cover plate; or the ultrasonic cutter and the vibration knife cutter can rapidly longitudinally cut the sealing adhesive tape, and when the packing belt is met, the moving speed is slowed down, and then the sealing adhesive tape and the packing belt are longitudinally cut and transversely cut simultaneously;

or the corrugated board is quickly cut by the ultrasonic cutter and the vibrating knife cutter in the vertical or horizontal cutting process, and the corrugated board and the sealing tape are cut at the same time at a low speed when the sealing tape is met; when meeting the packing belt, the corrugated board is cut at a slower speed and the packing belt is cut transversely; when meeting the packing belt and the sealing tape, the corrugated board is cut at the slowest speed, and the packing belt and the sealing tape are transversely cut simultaneously.

4. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the ultrasonic cutter comprises an ultrasonic cutter body, an ultrasonic power supply and a control box, wherein the ultrasonic power supply and the control box are arranged on the robot base, the ultrasonic cutter body is installed on a right-angle plate, and the right-angle plate is installed on a circular installation disc.

5. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the vibration cutter comprises a vibration cutter and a right-angle plate, the vibration cutter is mounted at the vertical end of the right-angle plate, the transverse end of the right-angle plate is mounted on the circular mounting disc, an electric plug is fixed at a central through hole of the circular mounting disc, and the electric plug is connected with the vibration cutter; and a grounding copper sheet is arranged between the transverse end of the right-angle plate and the circular mounting disc, and the ground wire end of the electric plug is connected with the grounding copper sheet.

6. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the softening hot cutter comprises a softening hot cutter head, the softening hot cutter head comprises a cutter seat and a hot cutter blade, a first groove structure and a second groove structure which are communicated with each other are arranged in the cutter seat along the extension direction of the cutter seat, the hot cutter blade is installed in the first groove structure, an electric heater is arranged in the second groove structure, and the electric heater is heated after being electrified so as to heat the hot cutter blade; an electric plug is fixed at the central through hole of the circular mounting plate and is connected with the electric heater; and a heat sensor is arranged in the second groove structure and is tightly attached to the electric heater, and the heat sensor is electrically connected to a temperature controller of the softening heat cutter.

7. The series of end cutters for unpacking a corrugated carton as set forth in claim 6, wherein: a heat insulation film is wrapped outside the cutter seat, the cutter seat wrapped with the heat insulation film is installed at the vertical end of the right-angle plate, and the transverse end of the right-angle plate is installed on the circular installation disc; and a grounding copper sheet is arranged between the right-angle plate and the circular mounting disc and is electrically connected with the grounding end of the electric plug.

8. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the utility model discloses a scribing cutter, including scribing cutter head and right-angle plate, scribing cutter head includes scribing blade holder and blade, be equipped with the sword groove in the scribing blade holder, the blade is fixed to in the sword inslot, scribing blade holder install extremely the vertical end of right-angle plate, the horizontal end of right-angle plate install extremely circular mounting disc.

9. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: in the tail end clamp holder, the upper end of a double mounting disc is connected with the tail end of a robot, a three-jaw hollow pneumatic chuck is fixed at the lower end of the double mounting disc through a long screw, a hollow nylon rod is adhered to the central line of the lower end of the double mounting disc through a strong adhesive, a power supply socket is fixed on the hollow nylon rod, and a cable of the power supply socket is led out through a middle hole of the hollow nylon rod, a middle hole of the double mounting disc and a radial hole of the double mounting disc.

10. The series of end cutters for unsealing a corrugated box according to claim 1 or 2, wherein: the fixed knife rest enables the vibrating knife cutter, the softening hot knife cutter and the scribing knife blade cutter to be positioned and placed on the fixed knife rest in a one-surface two-pin mode, so that the tail end clamp holder can be accurately clamped on the circular mounting discs of the three tail end cutters on the fixed knife rest in a positioning mode, and the soft and chemical hot knife cutters of the vibrating knife cutter are electrified.

Technical Field

The invention relates to the technical field of transport package and storage logistics, in particular to a series of tail end cutters for opening corrugated cartons.

Background

In an automatic stereoscopic warehouse goods inlet port in the field of storage logistics, a forklift is adopted to transport trays and corrugated cartons to an automatic stereoscopic warehouse inlet, a packing belt is manually cut off, a sealing adhesive tape is cut off, a box cover large plate and a box cover small plate are turned over, then goods are manually grabbed to a code scanner to identify identification codes, then the goods are placed into a warehouse turnover box, and then the warehouse turnover box is stored in a storage position of the automatic stereoscopic warehouse. The mode of manually cutting off the packing belt and the sealing adhesive tape is low in efficiency, high in labor intensity and high in labor cost. In order to solve the problem, mechanical equipment is used for shearing a packing belt of the corrugated case and removing a case cover of the corrugated case, but due to the size and structural difference of the corrugated case (such as three-layer corrugated structure, five-layer corrugated structure, honeycomb corrugated structure and the like), the shearing rate of the packing belt and the case cover removing effect are inevitably affected, manual secondary cutting is needed when the packing belt is not sheared or not removed, and certain quality and safety are hidden.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the problems of low efficiency, strong manual labor and high cost of manual cutting of the packing belt and the sealing adhesive tape and box cover removal in the prior art and the problems of low cutting rate and unsatisfactory removal effect of robot operation in the prior art, and provide a series of terminal cutters for opening the corrugated carton, which simultaneously consider the reliability and processing efficiency of cutting of the packing belt, cutting of the sealing adhesive tape and box cover removal, implement a specific cutting processing process by replacing different series of terminal cutters, and have strong operability and flexibility.

In order to solve the technical problems, the invention provides a series of tail end cutters for opening corrugated cases, which are used for cutting packing belts and sealing tapes of the corrugated cases and then folding or directly cutting box covers of the corrugated cases, and are characterized in that: the series of end cutters at least comprise an ultrasonic cutter, a vibration knife cutter, a softening hot knife cutter and a scribing knife cutter; wherein the performance parameters of the series of end cutters include: the amplitude and frequency of the ultrasonic cutter, the reciprocating stroke and motor power of the vibrating knife cutter, and the holding temperature and power of the softening hot knife cutter;

according to the differences of the materials, the sizes and the structures of the three cutting objects of the corrugated case, the packing belt and the sealing tape, the series of tail end cutters with different types are replaced for cutting; wherein all of the series of end cutters include circular mounting discs having the same structure, and each of the series of end cutters is manually reloaded to the end of the robot through the respective circular mounting disc;

further comprising an end gripper mounted to the robot end and a stationary blade carrier positioning the series of end cutters of the placement section; the end gripper is adapted to grip a circular mounting plate on a portion of the series of end cutters such that a portion of the series of end cutters can be automatically reloaded from the stationary blade carrier by the robot.

In one embodiment of the invention, the robot is determined according to the required degrees of freedom and the required load; the robot degree of freedom required for the alignment of the cutting position by the end cutter: the four-degree-of-freedom or more-than-four-degree-of-freedom robot can move along the X, Y, Z axis and rotate along the Z axis; the three-degree-of-freedom robot can move along the X, Y, Z axis, and the horizontal plane supporting table of the corrugated case rotates along the Z axis;

determining technological parameters of the series of tail end cutters according to differences of materials, sizes and structures of three cutting objects, namely the corrugated carton, the packing belt and the sealing tape, and determining a load required by the robot according to the technological parameters of the series of tail end cutters, wherein the load required by the robot is set as superposition of the weight of the series of tail end cutters, the weight of the tail end clamp and the cutting force borne by the robot; when the series of tail end cutters operate under different process parameters, the magnitude and the direction of cutting force borne by the tail end of the robot are measured through a three-dimensional force sensor, and therefore the load required to be configured by the robot is determined;

wherein the process parameters of the series of end cutters refer to the moving speed of the cutting packing belt, the sealing tape and the corrugated carton of each series of end cutters under the performance parameters of each series of end cutters; the above process parameters are determined to include the following working conditions: cutting the sealing adhesive tape longitudinally and independently; transversely cutting the packing belt independently; simultaneously longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt; the corrugated board is cut separately; simultaneously cutting the corrugated board and longitudinally cutting the sealing adhesive tape; and simultaneously cutting the corrugated board, longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt.

In one embodiment of the present invention, a method for controlling cutting speed of a packing belt, a sealing tape, and a corrugated board for cutting a corrugated box comprises,

the ultrasonic cutter and the vibrating knife cutter firstly transversely cut off the packing belt, and then the tail end cutters of each series rapidly and longitudinally cut the sealing adhesive tape at the middle seam between the two large box cover plates or the outer side seam of each large box cover plate; or the ultrasonic cutter and the vibration knife cutter can rapidly longitudinally cut the sealing adhesive tape, and when the packing belt is met, the moving speed is slowed down, and then the sealing adhesive tape and the packing belt are longitudinally cut and transversely cut simultaneously;

or the ultrasonic cutter and the vibrating knife cutter quickly cut the corrugated board in the vertical or horizontal cutting process, and slowly and simultaneously cut the corrugated board and transversely cut the sealing adhesive tape when encountering the sealing adhesive tape; when meeting the packing belt, the corrugated board is cut at a slower speed and the packing belt is cut transversely; when meeting the packing belt and the sealing tape, the corrugated board is cut at the slowest speed, and the packing belt and the sealing tape are transversely cut simultaneously.

In one embodiment of the invention, the ultrasonic cutter comprises an ultrasonic cutter body, an ultrasonic power supply and a control box, wherein the ultrasonic power supply and the control box are arranged on the robot base, the ultrasonic cutter body is mounted to a right-angle plate, and the right-angle plate is mounted to the circular mounting disc.

In one embodiment of the invention, the vibration cutter comprises a vibration cutter and a right-angle plate, the vibration cutter is mounted at the vertical end of the right-angle plate, the transverse end of the right-angle plate is mounted on the circular mounting disc, an electric plug is fixed at the central through hole of the circular mounting disc, and the electric plug is connected with the vibration cutter; and a grounding copper sheet is arranged between the transverse end of the right-angle plate and the circular mounting disc, and the ground wire end of the electric plug is connected with the grounding copper sheet.

In one embodiment of the invention, the softening hot cutter comprises a softening hot cutter head, the softening hot cutter head comprises a cutter seat and a hot cutter blade, a first groove structure and a second groove structure which are communicated with each other are arranged in the cutter seat along the extension direction of the cutter seat, the hot cutter blade is installed in the first groove structure, an electric heater is arranged in the second groove structure, and the electric heater is heated after being electrified so as to heat the hot cutter blade; an electric plug is fixed at the central through hole of the circular mounting plate and is connected with the electric heater; and a heat sensor is arranged in the second groove structure and is tightly attached to the electric heater, and the heat sensor is electrically connected to a temperature controller of the softening heat cutter.

In one embodiment of the invention, the cutter seat is wrapped by a heat insulation film, the cutter seat wrapped by the heat insulation film is mounted to the vertical end of a right-angle plate, and the transverse end of the right-angle plate is mounted to the circular mounting disc; and a grounding copper sheet is arranged between the right-angle plate and the circular mounting disc and is electrically connected with the grounding end of the electric plug.

In one embodiment of the invention, the scribing knife blade cutter comprises a scribing knife head and a right-angle plate, the scribing knife head comprises a scribing knife seat and a knife blade, a knife groove is arranged in the scribing knife seat, the knife blade is fixed in the knife groove, the scribing knife seat is installed at the vertical end of the right-angle plate, and the transverse end of the right-angle plate is installed on the circular installation plate.

In one embodiment of the invention, in the terminal holder, the upper end of a double mounting plate is connected with the terminal of a robot, a three-jaw hollow air chuck is fixed at the lower end of the double mounting plate by a long screw, a hollow nylon rod is adhered to the central line of the lower end of the double mounting plate by a strong adhesive, a power supply socket is fixed on the hollow nylon rod, and a cable of the power supply socket is led out through a middle hole of the hollow nylon rod, a middle hole and a radial hole of the double mounting plate.

In one embodiment of the invention, the fixed tool rest enables the vibrating knife cutter, the softening heat cutter and the scribing knife blade cutter to be positioned and placed on the fixed tool rest in a one-surface two-pin mode, so that the tail end clamp can be accurately clamped on the circular mounting discs of the three tail end cutters on the fixed tool rest in a positioning mode, and the power-on of the vibrating knife cutter softening heat cutter is realized.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the invention relates to a series of tail end cutters for unsealing corrugated cartons, which at least comprise an ultrasonic cutter, a vibrating knife cutter, a softening hot knife cutter and a cutting blade cutter; according to the differences of the materials, the sizes and the structures of the three cutting objects, namely the corrugated case, the packing belt and the sealing tape, different series of tail end cutters are manually or automatically replaced and installed at the tail end of the robot, the reliability and the processing efficiency of cutting the packing belt, cutting the sealing tape and removing the case cover are considered, and a specific cutting processing technology is implemented by replacing different series of tail end cutters, so that the corrugated case sealing tape cutting machine has strong operability and flexibility.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which

FIG. 1 is a bottom view of an ultrasonic cutter in a preferred embodiment of the invention;

FIG. 2 is a sectional view taken in the direction H-H of the ultrasonic cutter shown in FIG. 1;

FIG. 3 is a bottom view of the dicing blade cutter in the preferred embodiment of the present invention;

FIG. 4 is a sectional view taken in the direction of I-I of the dicing blade cutter shown in FIG. 3;

FIG. 5 is a left side view of the dicing blade cutter shown in FIG. 3;

FIG. 6 is a top view of a softened hot knife cutter according to a preferred embodiment of the present invention;

FIG. 7 is a left side view of a softened hot knife cutter according to a preferred embodiment of the present invention;

FIG. 8 is a cross-sectional view in the direction J-J of the softened hot knife cutter of FIG. 6;

FIG. 9 is a cross-sectional view taken in the direction of K-K of the softened hot knife cutter of FIG. 8;

FIG. 10 is a sectional view taken in the direction L-L of the softened hot knife cutter of FIG. 8;

FIG. 11 is a front view of the first slot structure and the second slot structure of the softening hot knife cutter of FIG. 6;

FIG. 12 is a left side cross-sectional view of the first slot structure and the second slot structure of the softening hot knife cutter of FIG. 6;

FIG. 13 is a front cross-sectional view of a vibrating knife cutter in accordance with a preferred embodiment of the present invention;

FIG. 14 is a left side view of a vibrating knife cutter in accordance with a preferred embodiment of the present invention;

FIG. 15 is a bottom view of a vibrating knife cutter in accordance with a preferred embodiment of the present invention;

FIG. 16 is a bottom view of the tip holder in the preferred embodiment of the present invention;

FIG. 17 is a front cross-sectional view of the tip holder;

FIG. 18 is a front view of a stationary blade holder in accordance with a preferred embodiment of the present invention;

fig. 19 is a top view of the stationary blade holder.

The specification reference numbers indicate:

1-a circular mounting plate; 8-square board; 9-diamond pins; 10-cylindrical pin; 11-a blade; 12-three plugs; 13-a ground copper sheet; 14-thick bakelite board;

2-ultrasonic cutter, 21-ultrasonic cutter body;

3-cutting blade cutter, 31-slotting flat plate, 32-flat bottom plate;

4-softening the hot knife cutter: 41-heat insulation gasket, 42-heat insulation film, 43-wide and narrow flat base plate, 44-wide and narrow slotted flat plate, 45-hoop, 46-temperature controller, 47-electric heater and 48-heat sensor;

5-vibrating knife cutter, 51-vibrating cutting knife and 52-square backing plate.

6, fixing a tool rest;

7-end gripper, 71-double mounting plate, 72-three-jaw hollow pneumatic chuck, 73-hollow nylon rod, 74-power supply socket.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

The embodiment of the invention discloses a series of tail end cutters, which are used for unsealing a corrugated case. Wherein, opening of corrugated carton seals including flip cutting, tear open and cover cutting two kinds of mode, flip cutting operation process is: the packing belt and the sealing adhesive tape are firstly cut, then the large box cover plate and the small box cover plate of the corrugated box cover are respectively turned over, and then the turned-over large box cover plate and the turned-over small box cover plate are bonded and fixed through the quick-drying adhesive. The cover removing cutting comprises the steps of vertically removing the cover and cutting and horizontally removing the cover, wherein the operation process of vertically removing the cover is as follows: and vertically cutting four box cover plates and a packing belt and a sealing adhesive tape on the four box cover plates at the inner side positions of the four box side plates. The operation process of horizontal cover removing and cutting is as follows: and horizontally cutting the four box side plates and the packing belts and the sealing adhesive tapes outside the four box side plates at the positions below the four box cover plates.

The embodiment of the invention discloses a series of tail end cutters, which at least comprise an ultrasonic cutter, a vibrating knife cutter, a softening hot knife cutter and a scribing knife cutter; according to the differences of the three cutting objects of the corrugated case, the packing belt and the sealing tape in material, size and structure, different series of tail end cutters are replaced and installed at the tail end of the robot; wherein all of the series of end cutters include circular mounting disks of the same structure, and each of the series of end cutters is manually reloaded to the robot end through the respective circular mounting disk;

the series of end cutters further includes an end gripper mounted to the robot end for gripping a circular mounting disk on a portion of the series of end cutters such that a portion of the series of end cutters is automatically reloaded to the robot end. For example, the vibration knife cutter, the softening hot knife cutter and the scribing knife cutter are clamped by the tail end clamp, and the three cutters are automatically replaced to the tail end of the robot respectively.

The series of tail end cutters at least comprise an ultrasonic cutter, a vibration cutter, a softening hot cutter and a scribing cutter; according to the differences of the materials, the sizes and the structures of the three cutting objects, namely the corrugated case, the packing belt and the sealing tape, such as a three-layer corrugated structure, a five-layer corrugated structure, a honeycomb corrugated structure and the like; and the position of goods in the box is far from the box cover plate, the time conditions such as existence of a spacer between the goods in the box and the box cover plate are met, different series of tail end cutters are manually or automatically replaced and installed at the tail end of the robot, the reliability and the processing efficiency of cutting off the packing belt, cutting the sealing adhesive tape and removing the box cover are considered, the specific cutting processing technology is implemented by replacing different series of tail end cutters, and the robot has strong operability and flexibility.

The series of end cutters not only select different types of end cutters according to different working conditions, but also determine the type of the robot according to the required degree of freedom, the action space and the required load. Wherein, the degree of freedom that series end cutter alignment cutting position includes: the four-degree-of-freedom or more-than-four-degree-of-freedom robot meets X, Y, Z-axis movement and Z-axis rotation; the three-degree-of-freedom robot can move along the X, Y, Z axis, and the horizontal plane supporting table of the corrugated carton rotates along the Z axis.

The action space of the series of end cutters comprises: the length, width and height dimensions of the largest corrugated box and the smallest corrugated box are met.

Determining technological parameters of the series of tail end cutters according to differences of materials, sizes and structures of three cutting objects, namely the corrugated carton, the packing belt and the sealing tape, and determining a load required by the robot according to the technological parameters of the series of tail end cutters, wherein the load required by the robot is set as superposition of the weight of the series of tail end cutters, the weight of the tail end clamp and the cutting force borne by the robot; when the series of tail end cutters operate under different process parameters, the magnitude and the direction of cutting force borne by the tail end of the robot are measured through a three-dimensional force sensor, and therefore the load required to be configured by the robot is determined;

wherein the process parameters of the series of end cutters include: the amplitude and frequency of the ultrasonic cutter, the reciprocating stroke and motor power of the vibration cutter, the holding temperature and power of the softening hot cutter, and the moving speed of the cutting packing belt, the sealing tape and the corrugated case of each series of tail end cutters; the above process parameters are determined to include the following working conditions: cutting the sealing adhesive tape longitudinally and independently; transversely cutting the packing belt independently; simultaneously longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt; the corrugated board is cut separately; simultaneously cutting the corrugated board and longitudinally cutting the sealing adhesive tape; simultaneously cutting the corrugated board, longitudinally cutting the sealing adhesive tape and transversely cutting the packing belt.

The method for controlling the cutting speed of the packing belt, the sealing tape and the corrugated board for cutting the corrugated case comprises the following steps,

the tail end cutters of each series rapidly longitudinally cut the sealing adhesive tape at the middle seam between the two large box cover plates or at the outer side seam of each large box cover plate, and when the sealing adhesive tape meets a packing belt, the moving speed is slowed down, and then the sealing adhesive tape is longitudinally cut and the packing belt is transversely cut;

or the ultrasonic cutter and the vibrating knife cutter quickly cut the corrugated board in the vertical or horizontal cutting process, and slowly and simultaneously cut the corrugated board and transversely cut the sealing adhesive tape when encountering the sealing adhesive tape; when meeting the packing belt, the corrugated board is cut at a slower speed and the packing belt is cut transversely; when meeting the packing belt and the sealing tape, the corrugated board is cut at the slowest speed, and the packing belt and the sealing tape are transversely cut simultaneously.

Specifically, referring to fig. 1-2, the ultrasonic cutter 2 comprises a structure including an ultrasonic cutter body 21, an ultrasonic power supply and a control box, wherein the ultrasonic power supply and the control box are arranged on the robot base, the ultrasonic cutter body 21 is arranged on a right-angle plate 8, and the right-angle plate 8 is arranged on the circular mounting disc 1. After the ultrasonic power supply is started, the controller in the control box controls the moving path and the moving speed of the ultrasonic blade body 21, and the packaging belt, the sealing tape and the corrugated paper box cover are cut in a visual positioning mode.

Referring to fig. 3 to 5, the scribing blade cutter 3 includes a scribing blade head and a right-angle plate 8, the scribing blade head includes a cutter holder and a blade 11, wherein, referring to fig. 3 to 5, the cutter holder is brazed by a slotted flat plate 31 and a flat bottom plate 32, and the blade 11 is inserted into a narrow straight slot formed by the slotted flat plate 31 and the flat bottom plate 32 and fixed by means of a fine-tooth screw. The slotted flat plate 31 and the flat bottom plate 32 are welded and fixed at the vertical end of the right-angle plate 8, and the transverse end of the right-angle plate 8 is installed on the circular installation disc 1. The round mounting disc 1 is provided with a diamond pin 9 and a cylindrical pin 10, and the diamond pin 9 and the cylindrical pin 10 play a role in positioning a 'one-side two-pin'.

Referring to fig. 6 to 12, the softened hot cutter comprises a softened hot cutter head including a cutter seat and a hot cutter blade 11. Wherein the tool apron is brazed by a wide and narrow flat bottom plate 43 and a wide and narrow slotted flat plate 44 and is fixed at the vertical end of the right-angle plate 8. The transverse ends of the right-angle plates 8 are fixed to the circular mounting plate 1. The hot air blade 11 is inserted into a narrow straight groove of a welding piece formed by the wide and narrow flat base plate 43 and the wide and narrow slotted flat plate 44 and is fixed by a fine-tooth screw; the softening thermal cutter head includes an electric heater 47 and a thermal sensor 48 mounted in a wide straight groove and a slit of the wide and narrow flat base plate 43 and the wide and narrow slotted plate 44, respectively, to form a weld. The wide narrow slotted plate 44 is constructed as shown in fig. 11-12, with the lower long narrow slot being a space for the hot cutting blade 11, the upper wide slot being a space for the band-shaped electric heater 47, and the upper slit being a space for the thermal sensor 48. The heat insulation film 42 is wrapped outside the welding part formed by the wide and narrow flat bottom plate 43 and the wide and narrow slotted flat plate 44 and is fixed on the right-angle plate 8 through bolts and nuts, the heat insulation gasket 41 on the inner side of the nuts isolates heat transfer between the bolts and the right-angle plate 8, and the temperature controller 46 of the softening heat cutter is fixed on the welding part formed by the wide and narrow flat bottom plate 43 and the wide and narrow slotted flat plate 44 through a hoop 45; the right-angle plate 8 is fixed on the circular mounting disc 1, and the circular mounting disc 1 is installed at the tail end of the robot; the round mounting disc 1 is provided with a diamond pin 9 and a cylindrical pin 10, and the diamond pin 9 and the cylindrical pin 10 play a role in positioning a 'one-side two-pin'.

And a grounding copper sheet 13 is arranged between the right-angle plate 8 and the circular mounting disc 1, the grounding copper sheet 13 is electrically connected with the grounding end of the electric plug, and the electric plug is provided with three plugs 12.

Referring to fig. 13-15, the vibrating knife cutter comprises a vibrating cutting knife 51 and a right-angle plate 8, wherein the vibrating cutting knife 51 is installed at the vertical end of the right-angle plate 8, the transverse end of the right-angle plate 8 is installed on the circular installation plate 1, the electric plug is connected with the vibrating cutting knife 51, and the electric plug adopts a three-plug 12. And a grounding copper sheet 13 is arranged between the transverse end of the right-angle plate 8 and the circular mounting disc 1, and the ground wire end of the electric plug is connected with the grounding copper sheet 13. Specifically, the thick bakelite plate 14 is fixed on the circular mounting disc 1, the thick bakelite plate 14 is provided with an inclined hole for a power supply line to pass through, an electric plug is fixed at a central through hole of the circular mounting disc 1 and fixed on the thick bakelite plate 14, the grounding copper sheet 13 is pressed in a narrow groove of the right-angle plate 8, and the grounding copper sheet 13 is connected with a grounding plug of the three plugs 12; a power supply line of the three-plug 12 is connected with a vibration cutting cutter body 51, the vibration cutting cutter body 51 is fixed on the right-angle plate 8, a square backing plate 52 is arranged between the vibration cutting cutter body 51 and the right-angle plate 8, the right-angle plate 8 is fixed on a circular mounting disc 1, and the circular mounting disc 1 is mounted at the tail end of a robot; the round mounting disc 1 is provided with a diamond pin 9 and a cylindrical pin 10, and the diamond pin 9 and the cylindrical pin 10 play a role in positioning a 'one-surface two-pin'.

Referring to fig. 16 to 19, the series of end cutters further includes an end holder 7, the end holder 7 being capable of holding the scribing blade cutter 3, the softened hot blade cutter 4, and the vibrating blade cutter 5, and the end holder 7 and the stationary blade holder 6 include the following structures:

in the tail end clamp 7, the upper end of a double mounting disc 71 is connected with the tail end of a robot, an air-operated chuck 72 in three claws is fixed at the lower end of the double mounting disc 71 through a long screw, a hollow nylon rod 73 is adhered to the central line position of the lower end of the double mounting disc 71 through strong glue, a power supply socket 74 is fixed on the hollow nylon rod 73, and a cable of the power supply socket 74 is led out through a central hole of the hollow nylon rod 73, a central hole and a radial hole of the double mounting disc 72.

As shown in fig. 19, each robot end cutter has two positioning round holes and corresponding rectangular big holes, and three series of end cutters (a scribing cutter blade cutter 3, a softening hot cutter 4 and a vibrating cutter 5) are placed on a fixed cutter frame 6 and positioned by two pins on one surface, so that six degrees of freedom are limited. As shown in fig. 18, the three-jaw hollow air chuck 72 of the end gripper 7 is positioned to grip the outer circular surface of the circular mounting plate 1 of the robot end cutter, and the three plugs 12 on the robot end cutter are contacted and energized with the power supply socket 74 on the end gripper 7.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.