Box erecting apparatus and method
An apparatus and method for expanding a box blank into a box, the apparatus comprising an arm assembly, a controller, a camera and a box blank conveyor. The arm assembly includes a folding arm having a position in a first direction and a rotational angle controlled by the controller based on a position of a feature of the box blank in the field of view of the camera. The camera captures images of the box blank which are used to position the arm assembly and to evaluate the need to reject a box blank.
1. An apparatus for expanding a box blank, comprising:
an arm assembly, including:
a base having a surface;
a first arm coupled to the surface of the base through a rotation joint, the first arm having a box blank contact surface perpendicular to the surface of the base; and
an actuator, including:
a body, coupled to the surface of the base; and
an actuator arm coupled to the first arm;
a box blank conveyor, which, in operation, moves the box blank against the box blank contact surface of the first arm of the arm assembly, expanding the box blank;
a first linear actuator coupled to the arm assembly; and
a controller, the controller in operation, sets a rotation angle of the first arm around the rotation joint based on a first dimension of the box blank and causes the first linear actuator to move the arm assembly in a first direction.
2. The apparatus of claim 1 , the box blank conveyor including:
a vacuum cup;
a valve to selectively couple the vacuum cup to a vacuum;
a positioner coupled to the vacuum cup; and
the controller coupled to the positioner and the valve, the controller, in operation, causes the positioner to move the vacuum cup against the box blank, opens the valve to couple the vacuum to the vacuum cup, and causes the box blank to move in a second direction against the box blank contact surface of the first arm.
3. The apparatus of claim 1 , wherein the first direction is transverse to the second direction.
4. The apparatus of claim 1 , wherein the first linear actuator includes:
a linear track; and
a positioner coupled between the linear track and base of the arm assembly.
5. The apparatus of claim 4 , wherein a feature of the box blank includes a score line of the box blank and the position of the feature is relative to a reference point.
6. The apparatus of claim 1 , further comprising:
a camera, electrically coupled to the controller, the camera having a field of view including a feature of the box blank; and
the controller, in operation, receives an image from the camera and determines a position of the feature of the box blank in the field of view, moves the arm assembly in the first direction using the linear actuator based on the position of the feature in the field of view.
7. The apparatus of claim 1 , further comprising:
a camera, electrically coupled to the controller, the camera having a field of view including a feature of the box blank; and
the controller, in operation, receives an image from the camera and determines a position of the feature of the box blank in the field of view, and rotates the first arm of the arm assembly to a rotation angle based on the position of the feature of the box blank in the field of view.
8. An apparatus, comprising:
a controller;
a push extension positionable, by the controller during operation, in a first direction;
a folding extension positionable, by the controller, during operation, the folding extension in operation forming an angle with the push extension the angle determinable by the controller;
a box blank conveyor, which in operation moves a box blank in a second direction different from the first direction to contact the folding extension;
a camera electronically coupled to the controller, the camera having a field of view, which, during operation, includes a feature of the box blank, a position of the feature in the field of view being determined by the camera or the controller; and
the controller, in operation, uses the position of the feature in the field of view to position the push extension in the first direction, such that in operation the box blank conveyor moves the box blank in the second direction to contact the folding extension and cause the box blank to expand.
9. The apparatus of claim 8 , further comprising:
a base coupled between the push extension and the folding extension;
a rotation joint coupled between the base and the folding extension, which allows the folding extension to rotate; and
an actuator coupled to the folding extension, the actuator having a position determined by the controller, which, in operation, uses the position information of the feature in the field of view of the camera to determine the position of the actuator.
10. The apparatus of claim 9 , the actuator being a linear actuator coupled between the base and the folding extension.
11. The apparatus of claim 10 , the folding extension including a drive extension, the drive extension coupled between the linear actuator and the folding extension.
12. The apparatus of claim 8 , the box blank conveyor including:
a vacuum suction cup, selectively coupled to a vacuum;
an actuator, which, in operation, positions the vacuum suction cup in the second direction; and
a bracket coupled between the actuator and the vacuum suction cup.
13. The apparatus of claim 8 , further comprising a box blank rejection mechanism.
14. The apparatus of claim 8 , the camera including an image sensor, the position of the feature of the box blank in the field of view is determined relative to an image element of the image sensor.
15. The apparatus of claim 8 , wherein the feature of the box blank in the field of view is a score line.
16. A method for expanding a box blank, including:
generating an image by imaging a box blank using a camera having a field of view including a feature of the box blank;
determining a position of the feature of the box blank using the image of the field of view;
moving a folding arm in a first direction to align the folding arm with a panel of the box blank using the position of the feature of the box blank;
determining a folding arm angle using the position of the feature of the box blank;
rotating the folding arm to the folding arm angle by a folding arm actuator; and
moving the box blank in a second direction, different from the first direction causing the box blank to contact the folding arm.
17. The method of claim 16 , further including:
rotating the folding arm toward the box blank by the folding arm actuator while the folding arm is in contact with the box blank.
18. The method of claim 16 , further including:
rejecting the box blank by a box blank conveyor if an offset of the position of the feature of the box blank exceeds a threshold.
19. The method of claim 18 , wherein rejecting the box blank by a box blank conveyer further includes contacting the box blank with a suction cup of the box blank conveyor.
20. The method of claim 16 , further including rejecting the box blank by lifting the box blank over a box blank cassette.