Carton sucker stacking manipulator based on quick-change clamping plate structure

Abstract

The invention relates to the technical field of manipulators, and discloses a carton suction cup stacking manipulator based on a quick-change clamping plate structure, the carton suction cup stacking manipulator comprises a base, a mechanical arm, a driving unit and a clamping mechanism, the driving unit comprises a supporting frame, an electromagnetic block is arranged on the lower end face of the supporting frame, and a protection assembly is further arranged on the supporting frame; the clamping mechanism comprises a mounting seat, the upper end face of the mounting seat is connected with the electromagnetic block in a magnetic attraction mode, an auxiliary boss is arranged on the mounting seat, and in the process that the mechanical arm drives the supporting frame to move downwards, quick locking work between the mechanical arm and the mounting seat is achieved through the electromagnet. The carton suction cup stacking manipulator based on the quick-change clamping plate structure can effectively solve the problems that in the prior art, the size, weight and material difference of cartons is large, an actuator of a fixed specification in existing equipment is difficult to adapt to variable production tasks, and when clamping plates are replaced, a traditional replacement mode is extremely tedious, so that a production line is frequently shut down, and the production efficiency is high. And the overall operation efficiency is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a carton suction cup palletizing robotic arm based on a quick-change clamping plate structure. Background Technology

[0002] In modern logistics warehousing and automated production systems, palletizing is a key step in stacking finished cartons into pallet units according to a preset method. It directly affects warehouse utilization and logistics costs. To improve efficiency and reduce labor costs, palletizing robots, with their advantages of high precision and high stability, have been widely used in food, chemical and e-commerce fields. A complete palletizing system usually consists of three core parts: the robot body, the control system and the end effector.

[0003] However, in actual operation, cardboard boxes vary greatly in size, weight and material. Existing equipment is mostly equipped with fixed-specification end effectors, which means that large clamps cannot fit small cardboard boxes and small clamps cannot cover large cardboard boxes. A single robotic arm is difficult to adapt to the changing production tasks. Secondly, when clamps need to be changed for different tasks, the traditional replacement method is extremely cumbersome. It is necessary to stop the machine, disassemble the air pipes, cables and mechanical connections, and then reinstall and debug them. This leads to frequent production line shutdowns, which greatly reduces the overall operating efficiency. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, this invention provides a carton suction cup palletizing robot based on a quick-change clamping plate structure. This effectively solves the problems of existing technologies where cartons vary significantly in size, weight, and material. Existing equipment often uses fixed-specification end effectors, resulting in large clamping plates being unable to fit small cartons, and small clamping plates being unable to cover large cartons. A single robot arm struggles to adapt to diverse production tasks. Furthermore, when clamping plates need to be changed for different tasks, traditional replacement methods are extremely cumbersome, requiring machine shutdown to disassemble air pipes, cables, and mechanical connections, followed by reinstallation and debugging. This leads to frequent production line downtime, significantly reducing overall operating efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention provides a carton suction cup palletizing robot based on a quick-change clamp structure, comprising:

[0007] A base, on which a robotic arm is rotatably mounted, is connected to the base via an adjustment seat, which is rotatably connected to the base.

[0008] The drive unit is located on the side of the robotic arm away from the base;

[0009] The clamping mechanism is located below the drive unit and is connected to the drive unit by a quick-release method;

[0010] The drive unit includes a support frame connected to the robotic arm. The lower end face of the support frame is connected to the clamping mechanism via an electromagnetic block. The support frame is also equipped with protective components and control components.

[0011] The clamping mechanism includes a mounting base whose upper surface is magnetically connected to the electromagnetic block. An auxiliary boss is provided at the center of the mounting base corresponding to the position of the protection component. When the robotic arm moves the support frame downward, it quickly locks the support frame with the mounting base through an electromagnet. The stability of the mounting base is achieved through the cooperation between the protection component and the auxiliary boss.

[0012] Furthermore, two clearance grooves distributed in the left-right direction are provided on the upper end surface of the support frame. Adjustable sliders are slidably arranged in the up-down direction inside the two clearance grooves. An actuator for driving the adjustment sliders to move is also provided on the support frame on the side where the two adjustable sliders are close to each other.

[0013] Furthermore, the actuator includes a hydraulic cylinder fixedly mounted on the support frame in the vertical direction. A push plate is fixedly mounted on the telescopic end of the hydraulic cylinder and slidably connected to the support frame through several guide rods. The bottom end of the push plate is connected to the top of the adjusting slider at the corresponding position. In the initial state, the hydraulic cylinder is in the extended state.

[0014] Furthermore, the control component includes a support plate fixedly mounted on the support frame, a protection component mounted on the lower end face of the support plate, and two push rods distributed along the front-rear direction fixedly mounted on the support plate. The extension directions of the extension ends of the two push rods are the same, and a mating cover is fixedly mounted on the extension ends of the two push rods. In the initial state, the extension ends of the push rods are in the extended state.

[0015] Furthermore, the mounting base has two adjustment slots distributed in the left and right directions. Both adjustment slots are equipped with linkage components. The linkage component on the left side is adapted to the mating cover, and clamping components for gripping the carton are respectively provided below the two linkage components.

[0016] Furthermore, the linkage includes a rectangular frame that is slidably disposed inside the adjustment groove in the left-right direction. Inside the rectangular frame, two linkage plates are slidably disposed in a front-back symmetrical manner, and the tops of the two linkage plates are respectively located inside the corresponding positions of the mating cover.

[0017] Furthermore, within the same adjustment slot, the two linkage plates on opposite sides are connected to the rectangular frame via telescopic sleeves, and the side walls of the two linkage plates on opposite sides are provided with guide grooves in the vertical direction. In the initial state, the bottom end of the adjusting slider is located between the two guide grooves.

[0018] Furthermore, a conical groove is formed at the center of the top of the auxiliary boss, and several receiving grooves are formed on the auxiliary boss, which are evenly distributed along the circumference. A spring rod is fixedly installed inside each receiving groove. A top rod with one end located on the inner wall of the conical groove is sleeved on the outer circumference of the spring rod. A circular plate inserted into the auxiliary boss by a plug rod is fixedly sleeved on the outer circumference of the top rod. A top compression spring with both ends connected to the circular plate and the auxiliary boss is also sleeved on the outer circumference of the plug rod.

[0019] Furthermore, the protective component includes a tapered socket fixedly mounted on the lower end face of the support plate. The outer circumference of the tapered socket is provided with a locking ring groove and an air venting ring groove, wherein the locking ring groove is located above the air venting ring groove.

[0020] The technical solution provided by this invention has the following advantages compared with the prior art:

[0021] 1. When installing the clamping mechanism, the robotic arm rotates to the top of the mounting base. The alignment hole on the auxiliary boss is identified by the vision sensor to achieve initial alignment between the support frame and the mounting base. Then, the robotic arm moves down so that the conical socket is fully inserted into the conical groove. At this time, the electromagnetic block is energized to generate a strong attraction force, which instantly locks the support frame and the mounting base into a whole, completing the connection of power and signal. This design of electromagnetic adsorption and visual guidance automates and automates the cumbersome clamp replacement process. The visual guidance ensures high-precision initial positioning without human intervention, while the electromagnetic quick-change provides a fast response and a stable locking force, which greatly shortens the installation time and maximizes the effective operating time of the production equipment.

[0022] 2. When changing the clamping mechanism, the robotic arm moves the mounting base downwards, causing its conical socket to insert into the conical groove of the auxiliary boss. Since both are tapered, as the insertion depth increases, a huge lateral positive pressure is generated between the conical socket and the conical groove, thereby achieving high-precision automatic centering and mechanical clamping. When disassembly is required, simply place the clamping mechanism on the shelf, disconnect the power supply to the electromagnetic block, and simultaneously introduce high-pressure gas into the air outlet groove on the outer wall of the conical socket. The lifting force generated by the airflow assists the robotic arm to lift, thus overcoming the friction of the conical surface and completing the disassembly. This conical self-locking combined with pneumatic assistance design perfectly solves the problems of difficult disassembly and insufficient positioning accuracy of traditional quick-change mechanisms under heavy-load conditions. The conical engagement not only achieves high-precision automatic centering through a single downward movement, ensuring the positional accuracy of the palletizing operation, but also provides strong load-bearing capacity through lateral positive pressure. The pneumatic disassembly function effectively reduces the resistance during mechanism separation, making the disassembly process smoother and more efficient, and completely avoiding downtime maintenance problems caused by jamming. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0024] Figure 1 This is a schematic diagram of the planar structure of an embodiment of the present invention;

[0025] Figure 2 This is a three-dimensional structural diagram of the drive unit and clamping mechanism according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the three-dimensional separation of the drive unit and the clamping mechanism according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the three-dimensional separation of the mounting base and the linkage component in an embodiment of the present invention;

[0028] Figure 5 This is a three-dimensional structural diagram of the linkage plate on the right side of an embodiment of the present invention;

[0029] Figure 6 This is a three-dimensional structural diagram of the left-side linkage plate in an embodiment of the present invention;

[0030] Figure 7 This is a three-dimensional structural diagram of the auxiliary boss after sectioning, according to an embodiment of the present invention;

[0031] Figure 8 This is an embodiment of the present invention. Figure 7 A magnified structural diagram of part A in the middle;

[0032] Figure 9 This is a schematic diagram of the three-dimensional separation of the push plate and the support frame in an embodiment of the present invention;

[0033] Figure 10 This is a three-dimensional structural diagram of the control component according to an embodiment of the present invention;

[0034] Figure 11 This is a three-dimensional structural diagram of the protection component and the support plate according to an embodiment of the present invention;

[0035] Figure 12 This is a schematic diagram of the planar structure of the tapered socket according to an embodiment of the present invention.

[0036] The labels in the diagram represent: 1. Base; 11. Robotic arm; 12. Adjustment seat; 2. Drive unit; 21. Support frame; 211. Clearance groove; 212. Adjusting slider; 213. Actuator; 2131. Hydraulic cylinder; 2132. Push plate; 22. Electromagnetic block; 23. Protection component; 231. Conical socket; 232. Clamping ring groove; 233. Air outlet ring groove; 24. Control component; 241. Support plate; 242. Push rod; 243. Fitting cover; 3. Clamping mechanism; 31. Mounting base; 311. Adjustment groove; 312. Linkage component; 3121. Rectangular frame; 3122. Linkage plate; 3123. Telescopic sleeve; 3124. Guide groove; 313. Clamping component; 32. Auxiliary boss; 321. Conical groove; 322. Receiving groove; 323. Spring rod; 324. Top rod; 3241. Circular plate; 3242. Insert rod; 3243. Top pressure spring. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] The present invention will be further described below with reference to embodiments.

[0039] Example:

[0040] Please see Figure 1 - Figure 12 This invention provides a technical solution: a carton suction cup palletizing robot based on a quick-change clamp structure, comprising:

[0041] A base 1, on which a robotic arm 11 is rotatably mounted, and the robotic arm 11 is connected to the base 1 via an adjustment seat 12, which is rotatably connected to the base 1.

[0042] Drive unit 2 is located on the side of the robotic arm 11 away from the base 1;

[0043] The clamping mechanism 3 is located below the drive unit 2 and is connected to the drive unit 2 by means of quick disassembly and assembly;

[0044] The drive unit 2 includes a support frame 21 connected to the robotic arm 11. The lower end face of the support frame 21 is connected to the clamping mechanism 3 through an electromagnetic block 22. The support frame 21 is also equipped with a protection component 23 and a control component 24.

[0045] The clamping mechanism 3 includes a mounting base 31 whose upper end face is magnetically connected to the electromagnetic block 22. An auxiliary boss 32 is provided at the center of the mounting base 31 corresponding to the position of the protection component 23. When the robotic arm 11 moves the support frame 21 downward, it achieves rapid locking with the mounting base 31 through an electromagnet, and the stability of the mounting base 31 is achieved through the cooperation between the protection component 23 and the auxiliary boss 32.

[0046] The upper end face of the support frame 21 has two clearance grooves 211 distributed in the left and right directions. The two clearance grooves 211 are each equipped with an adjusting slider 212 that slides in the up and down direction. An actuator 213 for driving the adjusting slider 212 is also provided on the support frame 21 on the side where the two adjusting sliders 212 are close to each other.

[0047] The actuator 213 includes a hydraulic cylinder 2131 fixedly mounted on the support frame 21 in the vertical direction. A push plate 2132 is fixedly mounted on the telescopic end of the hydraulic cylinder 2131 and is slidably connected to the support frame 21 through several guide rods. The bottom end of the push plate 2132 is connected to the top end of the adjusting slider 212 at the corresponding position. In the initial state, the hydraulic cylinder 2131 is in the extended state.

[0048] The control component includes a support plate 241 fixedly mounted on the support frame 21, and a protection component 23 mounted on the lower end face of the support plate 241. Two push rods 242 distributed along the front-rear direction are fixedly mounted on the support plate 241. The extension directions of the extension ends of the two push rods 242 are the same, and a mating cover 243 is fixedly mounted on the extension ends of the two push rods 242. In the initial state, the extension ends of the push rods 242 are in the extended state.

[0049] The mounting base 31 has two adjustment slots 311 distributed in the left and right directions. Each of the two adjustment slots 311 is equipped with a linkage 312. The linkage 312 on the left side is adapted to the mating cover 243, and clamping parts 313 for gripping the carton are respectively provided below the two linkages 312.

[0050] The linkage 312 includes a rectangular frame 3121 that is slidably disposed inside the adjusting groove 311 in the left-right direction. Two linkage plates 3122 are slidably disposed inside the rectangular frame 3121 in a front-back symmetrical manner. The tops of the two linkage plates 3122 are respectively located inside the corresponding position mating cover 243.

[0051] Within the same adjustment slot 311, the two linkage plates 3122 are connected to the rectangular frame 3121 on opposite sides via telescopic sleeves 3123. The side walls of the two linkage plates 3122 that are close to each other are provided with guide grooves 3124 in the vertical direction. In the initial state, the bottom end of the adjusting slider 212 is located between the two guide grooves 3124.

[0052] A conical groove 321 is formed at the top center of the auxiliary boss 32, and several receiving grooves 322 are formed on the auxiliary boss 32, which are evenly distributed along the circumference. A spring rod 323 is fixedly installed inside each receiving groove 322. A top rod 324 with one end located on the inner wall of the conical groove 321 is sleeved on the outer circumference of the spring rod 323. A circular plate 3241, which is inserted into the auxiliary boss 32 through a plug rod 3242, is fixedly sleeved on the outer circumference of the top rod 324. A top pressure spring 3243 with both ends connected to the circular plate 3241 and the auxiliary boss 32 is also sleeved on the outer circumference of the plug rod 3242.

[0053] The protective component 23 includes a tapered socket 231 fixedly disposed on the lower end face of the support plate 241. The outer circumferential wall of the tapered socket 231 is provided with a clamping ring groove 232 and an air outlet ring groove 233, wherein the clamping ring groove 232 is disposed above the air outlet ring groove 233.

[0054] In specific work:

[0055] In actual operation, cartons vary greatly in size, weight, and material. Existing equipment is mostly equipped with fixed-specification end effectors, which means that large clamps cannot fit small cartons, and small clamps cannot cover large cartons. A single robot arm is difficult to adapt to the ever-changing production tasks. Secondly, when clamps need to be changed for different tasks, the traditional replacement method is extremely cumbersome. It is necessary to stop the machine, disassemble the air pipes, cables, and mechanical connections, and then reinstall and debug them. This leads to frequent production line downtime, which significantly reduces the overall operating efficiency. Based on this, the support frame 21 of the carton suction cup palletizing robot arm based on the quick-change clamp structure is equipped with an electromagnetic block 22. Before the carton is palletized, a suitable clamping mechanism 3 is selected according to the actual size, material, and weight of the carton. After the installation of the clamping mechanism 3 is completed, the electromagnetic block 22 locks the clamping mechanism 3 to ensure the stability of the subsequent palletizing work.

[0056] Specifically, before the palletizing operation, the adjusting seat 12 first drives the robotic arm 11 to rotate and move it directly above the mounting base 31 (the upper surface of the auxiliary boss 32 has several alignment holes along the circumferential direction; during the movement, the drive unit 2 uses a vision sensor to align the support frame 21 with the mounting base 31; at this time, the conical socket 231 on the support plate 241 is concentric and coaxial with the auxiliary boss 32). Subsequently, the robotic arm 11 is controlled to move the mounting base 31 downwards, and during this process, the conical socket 231 gradually enters the conical groove 321 of the auxiliary boss 32 (it should be noted that both the conical groove 321 and the conical socket 231 have a certain taper, the purpose of which is to adjust the position through the cooperation between the inclined surfaces). The position of the conical socket 231 during the downward movement ensures the accuracy of the position of the conical groove 321 and the conical socket 231 during installation. In the initial state, the clamping mechanism 3 is placed on the shelf and is not connected to the drive unit 2. Therefore, when the support frame 21 moves the support plate 241 and the protective component 23 downward, the clamping mechanism 3 will be supported by the shelf and cannot move. After the conical socket 231 is completely inserted into the conical groove 321, the electromagnetic block 22 set on the lower end face of the support frame 21 will be in close contact with the upper end face of the mounting base 31. Then, the power supply of the electromagnetic block 22 is turned on, so that the support frame 21 and the mounting base 31 are connected into a whole. In this way, the installation of the drive unit 2 and the clamping mechanism 3 is completed.

[0057] It should be noted that the conical groove 321 and the conical socket 231 not only allow for position adjustment, but also, through the lateral positive pressure between them, further secure the support frame 21 and the mounting base 31. Specifically, when the tip of the conical socket 231 initially enters the conical groove 321, both have a certain taper. Therefore, as the insertion depth of the conical socket 231 gradually increases, its roughness also gradually increases, applying an outward force to the conical hole during this process. As a downward pushing force continues to be applied to the conical socket 231, this downward force transforms into a lateral force. At this point, the surfaces of the conical socket 231 in contact with the conical groove 321 are pressed together under the action of the lateral force. The clamping mechanism 3 is first placed on the shelf, and then the power supply of the electromagnetic block 22 is disconnected. High-pressure gas is supplied to the air outlet groove 233 by the external air supply component. The high-pressure gas is used to lift the conical socket 231, and with the lifting of the robotic arm 11, the conical groove 321 is separated from the conical socket 231. In this way, by the single downward movement of the drive unit 2, not only can self-locking be achieved by the friction of the conical surface, but also high positioning accuracy can be guaranteed after self-locking (the two surfaces of the conical socket 231 and the conical groove 321 are in close contact, and the lateral shaking is small).

[0058] The connection and separation of the two parts are achieved by energizing and de-energizing the electromagnetic block 22. This method has the advantages of simple structure, fast control response and easy automation. However, the connection of the electromagnetic block 22 depends entirely on the power. Once a sudden power outage, circuit fault or control system failure occurs, the electromagnetic attraction disappears instantly, and the clamping mechanism 3 will fall directly under the action of gravity. This may not only damage the workpiece, but also cause serious safety accidents. Based on this, the carton suction cup palletizing robot based on the quick-change clamping plate structure is equipped with a protective structure. When the electromagnetic attraction disappears, the clamping mechanism 3 can be prevented from falling through the protective structure.

[0059] Specifically, the outer circumference of the conical socket 231 is provided with a locking ring groove 232, and the outer circumference of the conical groove 321 is provided with several evenly distributed spring rods 323. In the initial state, the conical socket 231 moves down rapidly, and the locking ring groove 232 passes the spring rods 323 and the top rod 324 (before installation, the locking ring groove 232 is located above the spring rods 323 and the top rod 324; during the downward movement of the conical socket 231, the height of the locking ring groove 232 will gradually move to below the spring rods 323 and the top rod 324), and passes through the conical socket 231. The outer wall of the seat 231 compresses several spring rods 323. After the support frame 21 and the mounting seat 31 are locked together, the spring rods 323 and the push rod 324 retract under force. (Initially, the push rod 324 is in its natural state under the action of the spring rod 323 and the top spring 3243, that is, the top of the push rod 324 is located inside the conical groove 321. As the push rod 324 is pushed, it slides along the receiving groove 322 and compresses the spring rod 323 and the top spring 3243. At this time, the circular plate 3241 and the insert rod 3242...) The spring on the spring rod 323 and the top spring 3243 move synchronously with the top rod 324, eventually causing the spring on the spring rod 323 and the top spring 3243 to change from their initial natural state to a stretched state. During the subsequent operation of the clamping mechanism 3, the electromagnetic block 22 is continuously energized to maintain the attraction. At this time, the conical surface is always in a tight fit, and the top rod 324 is pressed into the hole. When the magnetic attraction suddenly disappears, the main force that keeps the support frame 21 and the mounting base 31 in close contact disappears, and the clamping mechanism 3 will move downward under the action of gravity. However, between the conical groove 321 and the conical socket 231, Under the action of friction, the clamping mechanism 3 will only move slightly downward under the action of gravity. When the clamping ring groove 232 moves to the position of the push rod 324, the spring rod 323 and the push rod 324, which were originally compressed by force, will push outward instantly under the action of the spring, so that the head of the push rod 324 will spring into the interior of the clamping ring groove 232. At this time, under the cooperation of the self-locking of the conical surface and the push rod 324, the clamping mechanism 3 stops moving downward. In this way, the protection of the clamping mechanism 3 in the power-off state is achieved, preventing it from falling due to gravity after the power is cut off.

[0060] After completing the above installation work, the robotic arm 11 moves the clamping mechanism 3 to above the carton, and through the control unit, moves the linkage 312 and the clamping component 313 to achieve the clamping operation of the carton. (Both clamping components 313 include auxiliary clamping plates connected to the corresponding linkage plate 3122. Several support claws are fixedly installed at the bottom end of the auxiliary clamping plate on the right side, and auxiliary suction cups are installed between adjacent support claws. The telescopic end of the push rod 242 is located on the side near the auxiliary clamping plate on the left side. During operation, the support claws are moved to the top of the carton first.) Below the carton, the telescopic end of the control push rod 242 retracts, and in the process, it drives the mating cover 243 to move. Since the top of the left linkage plate 3122 is located inside the mating cover 243 at the corresponding position, when the mating cover 243 moves, it will simultaneously drive the rectangular frame 3121 to slide along the adjustment groove 311. As the left auxiliary clamping plate moves, the position adjustment of the carton is gradually completed, and the carton is clamped by the auxiliary clamping plates on both sides. Then, the control robot arm 11 moves and finally completes the stacking of the carton.

[0061] It should be noted that, in order to improve the versatility of the robot during operation, two adjusting sliders 212 are provided on the support frame 21 (both sides of the adjusting sliders 212 are sloped). In the initial state, the two adjusting sliders 212 are in close contact with the guide grooves 3124 at the corresponding positions (in order to cooperate with the auxiliary clamps at the corresponding positions, the adjusting slider 212 on the left side is connected to the push plate 2132, that is, the adjusting slider 212 on the left side can slide on the push plate 2132 in the left and right directions, while the adjusting slider 212 on the right side is fixedly connected to the push plate 2132 upwards). During operation, when the size of the workpiece changes, the hydraulic cylinder 2131 is controlled to drive the push plate 2132 and the adjusting sliders. 212 moves downward. At this time, the adjusting slider 212 transmits the force through its slope to the linkage plates 3122 on both sides via the guide slope, causing the two linkage plates 3122 inside the same adjustment groove 311 to move away from each other and press against the telescopic sleeve 3123 (since the mating cover 243 is sleeved on the upper end face of the linkage plate 3122, and the top length of the linkage plate 3122 is less than the internal length of the mating cover 243, the linkage plate 3122 will not be affected by the mating cover 243 during the movement. Subsequently, when the push rod 242 drives the linkage plate 3122 to move, the adjusting slider 212 can also slide inside the push plate 2132), and finally completes the adjustment of the auxiliary clamp working area.

[0062] It is worth emphasizing that this carton suction cup palletizing robot based on a quick-change clamp structure has the following main advantages:

[0063] Firstly, when installing the clamping mechanism 3, the robotic arm 11 rotates above the mounting base 31 and identifies the alignment holes on the auxiliary boss 32 through a vision sensor, achieving initial alignment between the support frame 21 and the mounting base 31. Subsequently, the robotic arm 11 moves down, allowing the conical socket 231 to fully enter the conical groove 321. At this time, the electromagnetic block 22 is energized to generate a strong attraction force, instantly locking the support frame 21 and the mounting base 31 into a whole, completing the connection of power and signal. This design of electromagnetic adsorption and visual guidance automates and automates the cumbersome clamp replacement process. Visual guidance ensures high-precision initial positioning without human intervention, while electromagnetic quick-change provides a fast-responding and stable locking force, significantly shortening the installation time and maximizing the effective operating time of the production equipment.

[0064] Secondly, when replacing the clamping mechanism 3, the robotic arm 11 moves the mounting base 31 downwards, causing its conical socket 231 to insert into the conical groove 321 of the auxiliary boss 32. Since both are tapered, as the insertion depth increases, a huge lateral positive pressure is generated between the conical socket 231 and the conical groove 321, thus achieving high-precision automatic alignment and mechanical clamping. When disassembly is required, simply place the clamping mechanism 3 on the shelf, disconnect the power supply to the electromagnetic block 22, and simultaneously introduce high-pressure gas into the air outlet groove 233 on the outer wall of the conical socket 231, utilizing the airflow to generate... The lifting force assists the robotic arm 11 to lift, which overcomes the friction of the conical surface to complete the disengagement. This conical self-locking combined with pneumatic assistance design perfectly solves the problems of difficult disassembly and insufficient positioning accuracy of traditional quick-change mechanisms under heavy load conditions. The conical surface not only achieves high-precision automatic centering by using a single downward movement to ensure the positional accuracy of the palletizing operation, but also provides strong load-bearing capacity through lateral positive pressure. The pneumatic disengagement function effectively reduces the resistance when the mechanism is separated, making the disassembly process smoother and more efficient, and completely avoiding the downtime maintenance problem caused by jamming.

[0065] Thirdly, during normal operation, the electromagnetic block 22 is energized and attracted, and the top rod 324 is pressed back into the hole by the side wall of the conical socket 231. In the event of a sudden power failure that causes the electromagnetic attraction to disappear, the clamping mechanism 3 will move slightly downward due to gravity. At this time, the locking ring groove 232 on the conical socket 231 moves down to the position of the top rod 324. The originally compressed spring rod 323 instantly releases its elastic potential energy, pushing the top rod 324 into the locking ring groove 232, forming a mechanical interlock and preventing the clamping mechanism 3 from falling further. This mechanical two-stage anti-fall protection design provides extremely high safety for palletizing operations. When the control system fails, the mechanism can instantly switch from magnetic connection to mechanical locking, using the physical structure to directly counteract gravity, effectively avoiding personal injury and property damage caused by the clamping mechanism 3 or the carton falling.

[0066] Fourthly, when dealing with cartons of different sizes, the hydraulic cylinder 2131 drives the push plate 2132 and the adjusting slider 212 to move downwards. During the downward movement, the slope of the adjusting slider 212 will squeeze the guide slope of the two linkage plates 3122, forcing the two linkage plates 3122 to move away from each other and compress the telescopic sleeve 3123, thereby expanding the distance between the two auxiliary clamping plates. The reverse movement will reduce the distance, realizing flexible adjustment of the clamping range. This variable amplitude clamping area adjustment design greatly improves the versatility and adaptability of the robot, enabling a single robot to quickly adapt to the palletizing tasks of cartons of various sizes, weights and materials. This ability to adjust the working range without changing hardware eliminates downtime caused by changing clamps and significantly improves the operating efficiency of the production line.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A carton suction cup stacking manipulator based on a quick-change clamp plate structure, characterized in that, Include: Base (1), the base (1) is rotatably provided with a mechanical arm (11), the mechanical arm (11) is connected between base (1) by adjusting seat (12), the adjusting seat (12) is rotatably connected with base (1); Drive unit (2), the drive unit (2) is arranged on the side of mechanical arm (11) away from base (1); Clamping mechanism (3), the clamping mechanism (3) is arranged below drive unit (2), and is connected with drive unit (2) by quick disassembly and assembly; Wherein, the drive unit (2) includes a support frame (21) connected with the mechanical arm (11), the lower end surface of the support frame (21) is connected with the clamping mechanism (3) through the electromagnetic block (22), and the support frame (21) is further provided with a protection assembly (23) and a control member (24); Wherein, the clamping mechanism (3) includes a mounting seat (31) magnetically connected with the upper end surface of the electromagnetic block (22), the mounting seat (31) is provided with an auxiliary boss (32) at the position corresponding to the position of the protection assembly (23), the mounting seat (31) is quickly locked with the electromagnetic block (22) during the downward movement of the support frame (21) driven by the mechanical arm (11), and the stability of the mounting seat (31) is realized through the cooperation of the protection assembly (23) and the auxiliary boss (32).

2. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 1, characterized in that: The upper end surface of the support frame (21) is provided with two avoiding grooves (211) distributed along the left-right direction, two adjusting sliding blocks (212) are slidably arranged in the avoiding grooves (211) along the up-down direction, and the support frame (21) is further provided with an executing member (213) for driving the adjusting sliding blocks (212) to move on the side close to the two adjusting sliding blocks (212).

3. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 2, characterized in that: The executing member (213) includes a hydraulic cylinder (2131) fixedly arranged on the support frame (21) along the up-down direction, a push plate (2132) slidably connected with the support frame (21) through a plurality of guide rods is fixedly arranged on the extension end of the hydraulic cylinder (2131), the bottom end of the push plate (2132) is connected with the top end of the adjusting sliding block (212) at the corresponding position, and in the initial state, the hydraulic cylinder (2131) is in the extended state.

4. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 3, characterized in that: The control member (24) includes a bearing plate (241) fixedly arranged on the support frame (21), and the protection assembly (23) is arranged on the lower end surface of the bearing plate (241), two push rods (242) are fixedly arranged on the bearing plate (241) along the front-rear direction, the extension directions of the extension ends of the two push rods (242) are the same, and a matching cover (243) is fixedly arranged on the extension end of each push rod (242), and in the initial state, the extension end of the push rod (242) is in the extended state.

5. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 4, characterized in that: Two position adjustment grooves (311) are arranged on the mounting base (31) and distributed along the left-right direction, and two linkage members (312) are arranged in the two position adjustment grooves (311), wherein the linkage member (312) on the left side is upwardly matched with the matching cover (243), and the clamping member (313) for grabbing the carton is arranged below the two linkage members (312).

6. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 5, characterized in that: The linkage member (312) comprises a rectangular frame (3121) which is slidingly arranged in the position adjustment groove (311) along the left-right direction, and two linkage plates (3122) are slidingly arranged in the rectangular frame (3121) in a front-rear symmetrical manner, and the top ends of the two linkage plates (3122) are located in the inside of the corresponding position cover (243).

7. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 6, characterized in that: In the same position adjustment groove (311), the sides away from each other of the two linkage plates (3122) are connected with the rectangular frame (3121) through the telescopic sleeve (3123), and the sides close to each other of the two linkage plates (3122) are provided with the guide sliding grooves (3124) along the up-down direction, and the bottom end of the adjusting sliding block (212) is located between the two guide sliding grooves (3124) in the initial state.

8. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 1, characterized in that: The center position of the top end of the auxiliary boss (32) is downwardly provided with a conical groove (321), the auxiliary boss (32) is provided with a plurality of accommodating grooves (322) which are uniformly distributed along the circumferential direction, the spring rod (323) is fixedly arranged in each accommodating groove (322), the circumferential outer wall of the spring rod (323) is sleeved with the top rod (324) whose one end is located in the inner wall of the conical groove (321), the circumferential outer wall of the top rod (324) is fixedly sleeved with the circular plate (3241) which is inserted in the inside of the auxiliary boss (32) through the inserting rod (3242), and the circumferential outer wall of the inserting rod (3242) is further sleeved with the top compression spring (3243) which is connected with the circular plate (3241) and the auxiliary boss (32) at two ends.

9. The carton suction cup stacking manipulator based on quick-change clamp plate structure according to claim 4, characterized in that: The protection assembly (23) comprises the conical socket (231) which is fixedly arranged at the lower end surface of the bearing plate (241), the circumferential outer wall of the conical socket (231) is provided with the clamping ring groove (232) and the air outlet ring groove (233), wherein the clamping ring groove (232) is arranged above the air outlet ring groove (233).

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