Anti-slip palletizer

Abstract

The present invention relates to an anti-slip palletizer in the technical field of palletizing equipment. In order to solve the problem of articles falling off during transportation, the present invention provides an anti-slip palletizer. It comprises a mechanical arm, the mechanical arm is fixedly connected to a mounting block, the mounting block is fixedly connected to a mirror-distributed fixed block, the lower part of the mounting block is provided with a mirror-distributed slide groove, a mirror-distributed first sliding rod is slidably connected in the slide groove of the mounting block, the fixed block cooperates with the corresponding first sliding rod, the first sliding rod is slidably connected to a sliding frame, and the opposite sides of the mirror-distributed sliding frame are provided with mirror-distributed suction cups. The present invention double fixes cartons that are stacked by negative pressure adsorption by the first sliding rod and the sliding frame, thereby preventing the cartons from falling off and improving the safety of the device and the stability during operation.

Description

Technical Field

[0001] The invention relates to an anti-slip type palletizer in the technical field of palletizing equipment. Background Art

[0002] With the expansion of e-commerce and supply chain business, the demand for warehousing capacity and efficiency in the e-commerce and express delivery industries is growing. In order to adapt to the ever-changing logistics needs, reduce labor costs, and improve warehousing efficiency through automation, negative pressure adsorption palletizers have emerged. Negative pressure adsorption palletizers use vacuum adsorption technology to generate a negative pressure difference under the adsorption surface to achieve stable adsorption of objects on the adsorption surface without falling off. Finally, with the help of a program controller, efficient palletizing and handling storage is achieved. However, in the process of palletizing and handling carton items by existing negative pressure adsorption palletizers, if the surface of the carton is damaged or deformed, the negative pressure adsorption device will not be able to achieve a complete adsorption effect, and then fall off during the handling process, causing damage to the items and generating certain economic losses. Therefore, it is necessary to develop a negative pressure adsorption palletizer with an anti-falling function. Summary of the invention

[0003] In order to solve the problem of articles falling off during transportation, the present invention provides an anti-falling type palletizer.

[0004] The technical solution is: an anti-slip palletizer, including a mechanical arm, the mechanical arm is fixedly connected to a mounting block, the mounting block is fixedly connected to a fixed block with a mirror distribution, the lower part of the mounting block is provided with a mirror distribution slide groove, the slide groove of the mounting block is slidably connected with a first sliding rod with a mirror distribution, the fixing block cooperates with the corresponding first sliding rod, the first sliding rod is slidably connected with a sliding frame, and the opposite sides of the sliding frame with a mirror distribution are provided with a mirror distribution suction cup, the mounting block is fixedly connected with a uniformly distributed fixing sleeve, the fixing sleeve is slidably connected with an adsorption plug, the fixing sleeve is fixedly connected and connected with a first air guide pipe that penetrates the mounting block, the mounting block is fixedly connected with a first fixed shell with a mirror distribution, the first air guide pipe is communicated with the corresponding first fixed shell, the first fixed shell is slidably connected with a first sliding block with a mirror distribution, the first fixed shell with a mirror distribution is commonly connected with an air distribution pipe, the air distribution pipe is connected with an adsorption pump, the mounting block is provided with an anti-slip mechanism for preventing the adsorbed carton from falling off, and the first sliding rod is provided with a positioning mechanism for preventing the positioning of the carton position.

[0005] More preferably, a protrusion is provided on one side of the sliding frame close to the corresponding fixed block, and the protrusion of the sliding frame cooperates with the corresponding first sliding rod to limit the moving distance of the sliding frame.

[0006] More preferably, the anti-slip mechanism includes an electric push rod, which is fixedly connected to the upper side of the mounting block, the mounting block is fixedly connected to a second fixed shell, the telescopic end of the electric push rod is fixedly connected to a first piston rod, the first piston rod slides in a sealed manner in the second fixed shell, a disc is sealingly and slidably connected in the second fixed shell, a fixing spring is fixedly connected between the first piston rod and the disc of the second fixed shell, a second air duct is connected to a side of the second fixed shell close to the electric push rod, a mirror-distributed fixing tension spring is provided between the sliding frame and the corresponding first sliding rod, the sliding frame is provided with a mirror-distributed through hole, the mirror-distributed through holes of the sliding frame are all connected to the second air duct, the second fixed shell and the disc inside it are filled with hydraulic oil on the side away from the first piston rod, and the second fixed shell is provided with an auxiliary fixing component for assisting in fixing the carton.

[0007] More preferably, the auxiliary fixing assembly includes a first liquid guide tube, the first liquid guide tube is connected to a side of the second fixed shell away from the electric push rod, the first liquid guide tube is connected to a second liquid guide tube, the first sliding rod is provided with a cavity, the first liquid guide tube and the second liquid guide tube are both connected to a side of the cavity corresponding to the first sliding rod close to the corresponding sliding frame, a second sliding block is slidably connected to the cavity of the first sliding rod, the second sliding block is rotatably connected to a first gear, a side of the sliding frame close to the second fixed shell is provided with a rack meshing with the corresponding first gear, a side of the second sliding block away from the corresponding sliding frame is fixedly connected to a second piston rod sealingly and slidably connected to the cavity of the first sliding rod, and the cavities of the first liquid guide tube, the second liquid guide tube and the first sliding rod are all filled with hydraulic oil.

[0008] More preferably, the positioning mechanism includes mirror-distributed motors, which are respectively fixed to the mirror-distributed fixed blocks on the side away from the robotic arm, the output shaft of the motor is fixed with a screw that is rotatably connected to the corresponding fixed block, the screw is threadedly connected with a mirror-distributed limit block, the limit block slides in the corresponding mounting block slot, a first tension spring is fixed between the limit block and the corresponding first sliding rod, and the first sliding rod close to the motor side is provided with a blocking component for controlling the adsorption area.

[0009] More preferably, the blocking assembly includes a third piston rod, the third piston rod is fixedly connected to the first sliding rod close to the motor side, the third piston rod is slidably connected to the first hydraulic cylinder fixedly connected to the mounting block, the first hydraulic cylinder is connected to an infusion tube penetrating the mounting block, the infusion tube penetrates the corresponding first fixed shell, a first two-way cylinder is fixed in the first fixed shell, the first two-way cylinder is connected to the corresponding infusion tube, a mirror-image distributed fourth piston rod is sealed and slidably connected in the first two-way cylinder, the fourth piston rod is fixed to the corresponding first sliding block, and the first hydraulic cylinder, the infusion tube and the first two-way cylinder are all filled with hydraulic oil.

[0010] More preferably, it also includes a uniformly distributed adsorption control mechanism, which is arranged between the corresponding fixed sleeve and the corresponding adsorption plug, and is used to control the adsorption force of the corresponding adsorption plug on cartons of different weights. The adsorption control mechanism includes a second tension spring, which is fixed between the corresponding fixed sleeve and the corresponding adsorption plug, and the fixed sleeve and the corresponding adsorption plug together form an annular cavity. A positioning spring is fixedly connected to the side of the adsorption plug close to the corresponding first air guide pipe, and the positioning spring is fixedly connected to a sliding ring slidably connected to the corresponding fixed sleeve. The fixed sleeve is provided with a pressure sensing sheet matched with the corresponding sliding ring. A second hydraulic cylinder is fixedly connected to the side of the fixed sleeve close to the corresponding first air guide pipe, and a sliding member is sealed and slidably connected in the second hydraulic cylinder, and the sliding member is fixedly connected to a baffle matched with the corresponding fixed sleeve. A first connecting pipe is connected to the side of the second hydraulic cylinder close to the fixed sleeve, and the first connecting pipe is connected to the annular cavity of the corresponding adsorption plug. The annular cavities of the second hydraulic cylinder, the first connecting pipe and the adsorption plug are all filled with hydraulic oil.

[0011] More preferably, it also includes a clamping assembly with mirror distribution, the clamping assembly is arranged on the lower side of the corresponding first sliding rod, the clamping assembly is used to assist in clamping the carton, the clamping assembly includes a friction wheel, the friction wheel is rotatably connected to the lower side of the corresponding first sliding rod, the friction wheel is fixedly connected to a second gear rotatably connected to the corresponding first sliding rod, the first sliding rod is slidably connected to a third sliding block, the third sliding block is provided with a rack meshing with the corresponding second gear, the third sliding block is fixedly connected to a limiting rod, the limiting rod is slidably connected to a clamping block, the third sliding block The lower side is rotatably connected with a second two-way cylinder, and a second sliding rod distributed in a mirror image is sealed and slidably connected inside the second two-way cylinder. A return spring is provided between the second sliding rod close to the corresponding clamping block and the corresponding second two-way cylinder. The second sliding rod close to the corresponding limit rod is rotatably connected with the corresponding clamping block, and the second sliding rod away from the corresponding clamping block is fixed with a pull rope rotatably connected with the corresponding first sliding rod. The upper side of the second two-way cylinder is connected with a second connecting pipe connected with the lower side thereof, and the second two-way cylinder and the second connecting pipe are both filled with hydraulic oil.

[0012] More preferably, the difference between the radius of the friction wheel and the thickness of the corresponding first sliding rod is greater than the thickness of the sliding frame suction cup, so as to ensure that the friction wheel maintains close contact with the carton when the first sliding rod is clamped.

[0013] More preferably, the clamping block is provided with a sliding groove corresponding to the sliding movement of the limiting rod, so as to adapt to the deformation caused by the clamping block clamping the box.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] 1. The present invention double fixes cartons stacked by negative pressure adsorption through the first sliding rod and the sliding frame, thereby preventing the cartons from falling off and improving the safety of the device and the stability during operation.

[0016] 2. The suction cup of the sliding frame is adsorbed on the side of the carton through the second fixed shell and the second air guide tube in the anti-slip mechanism, ensuring stability and accuracy during the palletizing process.

[0017] 3. The cooperation between the first gear and the second piston rod of the auxiliary fixing assembly avoids interference of the sliding frame with the normal adsorption of the carton, thereby enhancing the applicability of the sliding frame to cartons of different sizes.

[0018] 4. The change speed of the adsorption force is controlled by the baffle of the adsorption control mechanism, and then the size of the adsorption force is controlled according to the weight of the carton, which improves the safety of the device and the stability of adsorption.

[0019] 5. When the carton cannot be adsorbed, the friction wheel and the clamping block of the clamping assembly are aligned for clamping and palletizing, ensuring the stable operation of the work and improving the applicable range of the device. Description of the Drawings

[0020] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0021] Figure 2 is a cross-sectional view of the parts at the mounting block and the first sliding rod of the present invention;

[0022] Figure 3 is a cross-sectional view of the parts at the fixing sleeve and the adsorption plug of the present invention;

[0023] Figure 4 is a three-dimensional structural schematic diagram of the parts at the anti-disengagement mechanism of the present invention;

[0024] Figure 5 is a three-dimensional structural schematic diagram of the parts at the auxiliary fixing assembly of the present invention;

[0025] Figure 6 is a three-dimensional structural schematic diagram of the parts at the positioning mechanism of the present invention;

[0026] Figure 7 is a cross-sectional view of the parts at the first hydraulic cylinder and the infusion tube of the present invention;

[0027] Figure 8 is a three-dimensional structural schematic diagram of the parts at the adsorption control mechanism of the present invention;

[0028] Fig. 9 is a three-dimensional structural schematic diagram of the parts at the second hydraulic cylinder and the first communication pipe of the present invention;

[0029] Fig.10 is a cross-sectional view of the parts at the clamping assembly of the present invention;

[0030] Fig.11 is a cross-sectional view of the parts at the second bidirectional cylinder and the second communication pipe of the present invention.

[0031] Names of the numbers in the figure: 101, mechanical arm, 102, mounting block, 103, fixed block, 104, first sliding rod, 105, sliding frame, 106, fixed sleeve, 107, adsorption plug, 108, first air pipe, 109, first fixed shell, 110, first sliding block, 111, air distribution pipe, 2, anti-slip mechanism, 201, electric push rod, 202, second fixed shell, 203, first piston rod, 204, second air pipe, 3, auxiliary fixing assembly, 301, first liquid pipe, 302, second liquid pipe, 303, second sliding block, 304, first gear, 305, second piston rod, 4, positioning mechanism, 401, motor, 402, lead screw, 4 03. Limit block, 404. First tension spring, 5. Sealing assembly, 501. Third piston rod, 502. First hydraulic cylinder, 503. Infusion tube, 504. First bidirectional cylinder, 505. Fourth piston rod, 6. Adsorption control mechanism, 601. Second tension spring, 602. Positioning spring, 603. Sliding ring, 604. Second hydraulic cylinder, 605. Sliding member, 606. Baffle, 607. First connecting pipe, 7. Clamping assembly, 701. Friction wheel, 702. Second gear, 703. Third sliding block, 704. Limit rod, 705. Clamping block, 706. Second bidirectional cylinder, 707. Second sliding rod, 708. Pull rope, 709. Second connecting pipe. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1 -Attached Fig.11 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] Embodiment 1: An anti-slip palletizer, such as Figure 1-Figure 5As shown, the robot arm 101 includes a control panel, a mounting block 102 fixedly connected to the robot arm 101, and two pairs of fixed blocks 103 with mirror images on the left and right are fixedly connected to the mounting block 102, each pair of fixed blocks 103 is composed of two symmetrical front and rear parts, and two sliding grooves with mirror images on the front and rear parts are provided at the lower part of the mounting block 102, and two first sliding rods 104 with mirror images on the left and right parts are slidably connected in the sliding groove of the mounting block 102, and the fixed block 103 cooperates with the corresponding first sliding rod 104, and the first sliding rod 104 is connected to the robot arm 101. The movable rod 104 is slidably connected to a sliding frame 105, and the sliding frame 105 is in a square shape. A convex block is provided on the upper side of the sliding frame 105, and the convex block of the sliding frame 105 cooperates with the corresponding first sliding rod 104 to limit the moving distance of the sliding frame 105. Two suction cups are provided on the opposite sides of the two sliding frames 105 with mirror images on the left and right, and the mounting block 102 is fixedly connected to a plurality of evenly distributed fixing sleeves 106, and the lower part of the fixing sleeve 106 is slidably connected to an adsorption plug 107, and the fixing sleeve 106 is provided with a suction plug 107. There is a step surface that matches the corresponding adsorption plug 107, the adsorption plug 107 slides within the step surface of the fixed sleeve 106, the upper side of the fixed sleeve 106 is fixedly connected and communicated with a first air duct 108, the first air duct 108 penetrates the mounting block 102, the mounting block 102 is fixedly connected with two first fixed shells 109 distributed in front and back mirror images, the first air duct 108 is communicated with the corresponding first fixed shell 109, the left and right sides of the first fixed shell 109 are slidably connected with the first sliding block 110, and the two first fixed shells 109 are connected to each other. 09 are commonly connected with an air distribution pipe 111, the air distribution pipe 111 is connected with an adsorption pump, the mounting block 102 is provided with an anti-slip mechanism 2 for preventing the adsorbed carton from falling off, the first sliding rod 104 is provided with a positioning mechanism 4 for preventing the positioning carton from being positioned, the anti-slip mechanism 2, the positioning mechanism 4, the robot arm 101 and the adsorption pump are all electrically connected to the control panel, and the first sliding rod 104 drives the sliding frame 105 to fix the side wall of the carton, which avoids the carton from falling off during the stacking process and improves the safety and stability of the device.

[0034] like Figure 4As shown, the anti-slip mechanism 2 includes an electric push rod 201, the electric push rod 201 is fixedly connected to the upper side of the mounting block 102, the mounting block 102 is fixedly connected to the second fixed shell 202, the telescopic end of the electric push rod 201 is fixedly connected to the first piston rod 203, the first piston rod 203 is sealed and slides in the second fixed shell 202, initially, the telescopic end of the electric push rod 201 is in a retracted state, the first piston rod 203 is located on the left side in the second fixed shell 202, a disc is sealed and slidably connected in the second fixed shell 202, a fixing spring is fixedly connected between the first piston rod 203 and the disc of the second fixed shell 202, the disc and the fixing spring in the second fixed shell 202 are located on the right side of the first piston rod 203, the left part of the second fixed shell 202 is connected to the second air duct 204, and the connecting port of the second air duct 204 is located in the second fixed shell 20 2 and the first piston rod 203, and two fixed tension springs with mirror image distribution are arranged between the sliding frame 105 and the corresponding first sliding rod 104, and the fixed tension springs are sleeved on the corresponding sliding frame 105. The sliding frame 105 is provided with two through holes with mirror image distribution, and the through holes of the sliding frame 105 penetrate the center of the corresponding suction cup thereon. The two through holes of the sliding frame 105 are both connected with the second air duct 204. The second fixed shell 202 and the right side of the disc inside it are filled with hydraulic oil. The electric push rod 201 is electrically connected to the control panel. The second fixed shell 202 is provided with an auxiliary fixing component 3 for auxiliary fixing of the carton. The gas of the second air duct 204 is extracted through the second fixed shell 202, so that the suction cup on the sliding frame 105 is adsorbed on the side wall of the carton, thereby ensuring the stability during the stacking process and improving the working efficiency of the device.

[0035] like Figure 4 and Figure 5 As shown, the auxiliary fixing assembly 3 includes a first liquid guiding tube 301, the first liquid guiding tube 301 is connected to the right side of the second fixing shell 202, the first liquid guiding tube 301 is connected to the second liquid guiding tube 302, the first sliding rod 104 is provided with a cavity, the first liquid guiding tube 301 and the second liquid guiding tube 302 are both connected to the lower side of the cavity corresponding to the first sliding rod 104, a second sliding block 303 is slidably connected in the cavity of the first sliding rod 104, the lower side of the second sliding block 303 is rotatably connected to the first gear 304, a rack is provided on the upper side of the sliding frame 105, and the rack of the sliding frame 105 is meshed with the corresponding first gear 304, A second piston rod 305 is fixedly connected to the upper side of the second sliding block 303, and the second piston rod 305 is sealingly and slidably connected to the cavity of the corresponding first sliding rod 104. The first gear 304 is a one-way gear. The four sliding frames 105 can only move outwardly relative to the four first sliding rods 104 under the limitation of the corresponding first gears 304. The first liquid guide tube 301, the second liquid guide tube 302 and the cavity of the first sliding rod 104 are all filled with hydraulic oil. The first gear 304 limits the corresponding sliding frame 105, so that the sliding frame 105 can adapt to different carton sizes when positioning the carton, thereby enhancing the applicability of the device.

[0036] like Figure 5-Figure 7 As shown, the positioning mechanism 4 includes two motors 401 with front and rear mirror images, the two motors 401 are respectively fixed to the two fixing blocks 103 on the right side, the output shaft of the motor 401 is fixed with a lead screw 402, the lead screw 402 is rotatably connected with the corresponding two fixing blocks 103, the lead screw 402 is located in the corresponding mounting block 102 slide groove, the lead screw 402 is provided with a bidirectional thread, the lead screw 402 is threadedly connected with two limit blocks 403 with left and right mirror images, the two limit blocks 403 are respectively located at different threads of the corresponding lead screw 402, and the limit blocks 403 It slides in the corresponding sliding groove of the mounting block 102, a first tension spring 404 is fixedly connected between the limit block 403 and the corresponding first sliding rod 104, the motor 401 is electrically connected to the control panel, the first sliding rod 104 on the right is provided with a blocking component 5 for controlling the adsorption area, the two sliding grooves of the limit block 403, the first sliding rod 104 and the mounting block 102 are all T-shaped, the limit block 403 drives the corresponding first tension spring 404 to enable the first sliding rod 104 to complete the clamping and positioning of the carton, thereby increasing the accuracy of the adsorption position and improving the work efficiency.

[0037] like Figure 6 and Figure 7 As shown, the blocking component 5 includes a third piston rod 501, which is fixedly connected to the first sliding rod 104 corresponding to the right side. The third piston rod 501 is slidably connected to the first hydraulic cylinder 502, which is fixedly connected to the mounting block 102. The two first hydraulic cylinders 502 are both located in the middle of the mounting block 102. The first hydraulic cylinder 502 is connected to the infusion tube 503, and the connecting port at the lower part of the infusion tube 503 is located on the left part of the first hydraulic cylinder 502. The infusion tube 503 penetrates the corresponding first fixed shell 109. The first fixed shell 109 is fixedly connected with the first two-way cylinder 504, which is connected to the corresponding infusion tube 503. The first two-way cylinder 504 is provided with two chambers distributed in left and right mirror images, and the infusion tube 503 is connected to the two chambers corresponding to the first two-way cylinder 504. The first two-way cylinder 504 is sealed and slidably connected with two fourth piston rods 505 distributed in left and right mirror images. The two fourth piston rods 505 are respectively in the two chambers of the corresponding first two-way cylinder 504. The fourth piston rod 505 is fixedly connected to the corresponding first sliding block 110. Initially, the corresponding two fourth piston rods 505 are located on both sides of the same first two-way cylinder 504, and the two first sliding blocks 110 are located at both ends of the corresponding first two-way cylinder 504. The first hydraulic cylinder 502, the infusion tube 503 and the first two-way cylinder 504 are all filled with hydraulic oil. The corresponding first sliding block 110 is driven by the fourth piston rod 505 to slide in the corresponding first fixed shell 109, thereby controlling the coverage of the adsorption plug 107 for adsorption, reducing the adsorption time and improving the working efficiency of the device.

[0038] When the device is used for palletizing cartons, the operator starts the robot arm 101 through the control panel, and the robot arm 101 moves the mounting block 102 and all the parts thereon to the top of the carton to be transported, and then the robot arm 101 controls the mounting block 102 to descend. When the adsorption plug 107 squeezes the upper side of the carton, the robot arm 101 stops moving, and then the control panel starts the two motors 401 and the electric push rod 201. The telescopic end of the electric push rod 201 drives the first piston rod 203 to move into the second fixed shell 202. The first piston rod 203 moves to the right and squeezes the disc through the fixed spring. The fixed spring is compressed, and the disc squeezes the hydraulic oil in the second fixed shell 202. The hydraulic oil in the second fixed shell 202 passes through the first liquid guide pipe 301 and the second guide pipe The liquid pipe 302 enters the cavity of the four first sliding rods 104, and the hydraulic oil pushes the second piston rod 305 upward in the cavity of the first sliding rod 104, and the second piston rod 305 drives the corresponding second sliding block 303 and the first gear 304 to move upward synchronously, and the first gear 304 releases the engagement with the corresponding rack on the sliding frame 105. The sliding frame 105 drives the corresponding first sliding rod 104 to slide toward the center of the mounting block 102 under the tension of the tension spring fixed to it, and the telescopic end of the electric push rod 201 drives the first piston rod 203 to move into the second fixed shell 202. When the hydraulic oil in the second fixed shell 202 passes through the first liquid guide pipe 301 to release the first gear 304 from the limit of the corresponding sliding frame 105, the electric push rod 201 stops.

[0039] When the motor 401 is started, the output shaft of the motor 401 drives the corresponding lead screw 402 to rotate, and the lead screw 402 drives the two limit blocks 403 thereon to slide in the slide groove of the mounting block 102 and approach each other through the thread, and the limit block 403 drives the corresponding first sliding rod 104 to move toward the middle of the mounting block 102 through the corresponding first tension spring 404, and the corresponding two first sliding rods 104 approach each other to clamp and position the carton on the lower side of the mounting block 102, ensuring that the position of the adsorbed carton is located in the middle of it, avoiding the carton falling off due to the offset of the center of gravity during the later stacking process.

[0040] In the process of the four first sliding rods 104 clamping the carton, the suction cup of the sliding frame 105 first contacts the side of the carton. As the first sliding rods 104 move, the four sliding frames 105 move away from each other relative to the four first sliding rods 104, the tension spring between the first sliding rods 104 and the corresponding sliding frame 105 is stretched, and the suction cup of the sliding frame 105 presses against the side wall of the carton to keep the carton fixed.

[0041] When the four first sliding rods 104 complete the clamping of the carton, the motor 401 continues to rotate through the screw 402 to drive the two limit blocks 403 thereon to move closer to each other, and the first tension spring 404 is stretched. The tension of the first tension spring 404 ensures the stability of the four first sliding rods 104 in clamping the carton. The two first sliding rods 104 on the right side move while driving the corresponding third piston rod 501 to move left. The third piston rod 501 squeezes the hydraulic oil in the corresponding first hydraulic cylinder 502 into the corresponding infusion pipe 503. The hydraulic oil in the infusion pipe 503 enters the left and right chambers of the corresponding first bidirectional cylinder 504. Under the push, the fourth piston rod 505 moves into the corresponding first bidirectional cylinder 504, and the fourth piston rod 505 drives the corresponding first sliding block 110 to move into the corresponding first fixed shell 109. The two relative first sliding blocks 110 move synchronously into the corresponding first fixed shell 109, and the first sliding block 110 blocks the corresponding first air duct 108 and the connecting hole of the first fixed shell 109. When the two limit blocks 403 are about to contact, the motor 401 stops. By controlling the number of first air ducts 108 connected to the first fixed shell 109, the coverage area of ​​the corresponding adsorption plug 107 during operation is changed, thereby reducing the adsorption time of the adsorption plug 107 and improving the transportation efficiency.

[0042] When the four first sliding rods 104 complete the clamping of the carton, the control panel starts the adsorption pump, which extracts the gas in the two first fixed shells 109 through the gas distribution pipe 111, and the first fixed shell 109 extracts the gas in the corresponding fixed sleeve 106 and adsorption plug 107 through the first air guide pipe 108 which is still in a connected state. Since the adsorption plug 107 is in a state of being in contact with the upper surface of the carton, the gas in the adsorption plug 107 is reduced so that it is adsorbed on the upper surface of the carton, and the adsorption plug 107 shrinks and moves downward relative to the corresponding fixed sleeve 106. After the adsorption plug 107 adsorbs the carton, as the gas in the fixed sleeve 106 and the adsorption plug 107 is continuously extracted, the air pressure between the fixed sleeve 106 and the corresponding adsorption plug 107 decreases, and the adsorption plug 107 moves upward along the corresponding fixed sleeve 106 while adsorbing the carton. At the same time, the adsorption force of the adsorption plug 107 on the carton gradually increases. The adsorption plug 107 completes the adsorption of the carton, and the adsorption pump immediately stops sucking air, and controls the path from the adsorption pump to the adsorption plug 107 to remain sealed, so that the adsorption plug 107 maintains a continuous adsorption effect on the carton.

[0043] After the four first sliding rods 104 complete the clamping of the carton, the control panel restarts the electric push rod 201, and the telescopic end of the electric push rod 201 continues to push the first piston rod 203 to move to the right. At this time, the fixed spring on the right side of the first piston rod 203 is compressed, and the disc connected to the fixed spring squeezes the hydraulic oil on its right side until the four second piston rods 305 all move up to the limit in the corresponding first sliding rod 104 cavity and stop. The first piston rod 203 moves to the right and continuously compresses the fixed spring connected to it. At the same time, the first piston rod 203 moves to the right in the second fixed shell 202, and the cavity on the left side of the second fixed shell 202 extracts the gas in the second air duct 204. The second air duct 204 performs the action of exhausting air through the through hole of the sliding frame 105. The suction cup on the sliding frame 105 extracts the internal gas while pressing against the side of the carton, so that the suction cup of the sliding frame 105 is tightly adsorbed on the side of the carton, and the carton is fixed for a second time, which avoids the situation that the carton falls and is damaged after falling off, improves the safety of the carton and reduces the risk of falling off.

[0044] When the telescopic end of the electric push rod 201 drives the first piston rod 203 to move right for the second time until the suction cup of the sliding frame 105 is adsorbed, the electric push rod 201 stops, and the control panel performs palletizing through the mechanical arm 101. After the mechanical arm 101 moves the carton to the palletizing position, the control panel starts the electric push rod 201, and the telescopic end of the electric push rod 201 moves left and resets. The telescopic end of the electric push rod 201 drives the first piston rod 203 to move left synchronously, and the first piston rod 203 moves left in the second fixed shell 202. The gas on the left side of the second fixed shell 202 enters the through hole of the corresponding sliding frame 105 through the second air duct 204.

[0045] The airflow in the through hole of the sliding frame 105 is ejected through the center of the suction cup thereon, and the suction cup on the sliding frame 105 releases the adsorption of the side wall of the carton, and at the same time, the first piston rod 203 moves leftward to stretch the fixed spring fixed thereto, and the fixed spring is stretched and stored. At the same time, under the pulling force of the fixed spring fixed to the first piston rod 203, the disc connected to the fixed spring moves leftward to return to its original position, and the first piston rod 203 synchronously pulls the disc to move leftward through the fixed spring, and the second fixed shell 202 extracts the hydraulic oil in the first sliding rod 104 through the first liquid guide tube 301 and the second liquid guide tube 302. The second piston rod 305 in the cavity of the first sliding rod 104 drives the second sliding block 303 to move downward under the action of the hydraulic oil, and the first gear 304 is meshed with the corresponding rack on the upper side of the sliding frame 105. Due to the unidirectionality of the first gear 304, the two opposite sliding frames 105 can only move away from each other, thereby ensuring the spacing between the two opposite sliding frames 105 and improving the applicability of the device.

[0046] When the telescopic end of the electric push rod 201 is reset, the control panel starts the two motors 401 to make them rotate in the opposite direction. The motor 401 rotates in the opposite direction to drive the corresponding two limit blocks 403 to move away from each other through the corresponding screw 402. The first tension spring 404 contracts and pushes the corresponding first sliding rod 104 to reset. When the first sliding rod 104 contacts the corresponding fixed block 103, the motor 401 stops and the first sliding rod 104 releases the clamping of the carton. Then the control panel causes the adsorption pump to release the adsorption plug 107 from the adsorption of the carton. The carton is separated from the device and falls to the placement position. Then the robotic arm 101 is reset to carry the next carton.

[0047] Embodiment 2: Based on embodiment 1, Figure 3 , Figure 8 and Fig. 9 As shown, it also includes a uniformly distributed adsorption control mechanism 6, which is arranged between the corresponding fixed sleeve 106 and the corresponding adsorption plug 107. The adsorption control mechanism 6 is used to control the adsorption force of the corresponding adsorption plug 107 on cartons of different weights. The adsorption control mechanism 6 includes a second tension spring 601, which is fixed between the corresponding fixed sleeve 106 and the corresponding adsorption plug 107. The fixed sleeve 106 and the corresponding adsorption plug 107 together form an annular cavity. The second tension spring 601 is located between the fixed sleeve 106 and the corresponding adsorption plug 107. In the annular cavity formed by the corresponding adsorption plugs 107, a positioning spring 602 is fixedly connected to the upper side of the adsorption plug 107, and a sliding ring 603 is fixedly connected to the positioning spring 602. The sliding ring 603 is slidably connected with the fixed sleeve 106. The fixed sleeve 106 is provided with a pressure sensing sheet. The pressure sensing sheet of the fixed sleeve 106 cooperates with the corresponding sliding ring 603. The adsorption plug 107 drives the positioning spring 602 and the sliding ring 603 to move upward synchronously. The sliding ring 603 squeezes the pressure sensing sheet on the fixed sleeve 106, and the positioning spring 602 compresses the fixed sleeve 106. 6 and the adsorption plug 107, the control panel determines the closing time of the adsorption pump by detecting the pressure on the pressure sensing sheet on the fixed sleeve 106, the second hydraulic cylinder 604 is fixedly connected to the right part of the upper side of the fixed sleeve 106, and a sliding member 605 is sealed and slidably connected in the second hydraulic cylinder 604, and a baffle 606 is fixedly connected to the sliding member 605, and the baffle 606 cooperates with the corresponding fixed sleeve 106, and the baffle 606 is inserted into the corresponding fixed sleeve 106 to block the connected area of ​​the through hole of the fixed sleeve 106, thereby controlling the change speed of the adsorption force, The left side of the second hydraulic cylinder 604 is connected to a first connecting pipe 607, and the first connecting pipe 607 is connected to the annular cavity of the corresponding adsorption plug 107. The annular cavities of the second hydraulic cylinder 604, the first connecting pipe 607 and the adsorption plug 107 are all filled with hydraulic oil. The pressure sensing sheet of the fixed sleeve 106 is electrically connected to the control panel. The depth of insertion into the fixed sleeve 106 is controlled by the baffle 606, so as to control the change of the adsorption force of the adsorption plug 107, thereby ensuring that the adsorption force changes with the weight of the carton, thereby improving the stability and safety of the adsorption function of the device.

[0048] When the cartons are transported by adsorption, the adsorption force needs to be controlled. Different adsorption forces are used to transport the cartons according to their weight to avoid deformation and damage of the cartons due to excessive adsorption force. The specific operations are as follows: When the robot arm 101 controls the mounting block 102 to make the adsorption plug 107 fit the upper side of the carton, the fixed sleeve 106 drives the adsorption plug 107 to move downward through the second tension spring 601. When the lower side of the adsorption plug 107 contacts the carton, the adsorption plug 107 moves upward relative to the fixed sleeve 106, and the second tension spring 601 is stretched. Under the tension of the second tension spring 601, the adsorption plug 107 107 is pressed against the upper side of the carton, and the above operation is repeated. When the adsorption pump is started, the adsorption plug 107 adsorbs the carton to be compressed, and the adsorption plug 107 moves downward relative to the fixed sleeve 106. The area of ​​the annular cavity between the fixed sleeve 106 and the adsorption plug 107 becomes smaller, and the hydraulic oil in the annular cavity between the fixed sleeve 106 and the adsorption plug 107 enters the second hydraulic cylinder 604 through the first connecting pipe 607. The hydraulic oil in the second hydraulic cylinder 604 pushes the sliding member 605 to move right, and the sliding member 605 drives the baffle 606 to move right synchronously. The flow area of ​​the gas in the fixed sleeve 106 becomes larger, and the speed of change of the adsorption force increases.

[0049] As the adsorption pump runs, the pressure in the fixed sleeve 106 and the adsorption plug 107 increases, and the adsorption plug 107 drives the carton to move up along the corresponding fixed sleeve 106. The area of ​​the annular cavity between the fixed sleeve 106 and the adsorption plug 107 becomes larger, and the hydraulic oil in the second hydraulic cylinder 604 flows back to the annular cavity between the fixed sleeve 106 and the adsorption plug 107 through the first connecting pipe 607. The hydraulic oil in the second hydraulic cylinder 604 is reduced, causing the sliding member 605 to drive the baffle 606 to move left. When the baffle 606 moves to the limit with the corresponding sliding member 605, the baffle 606 stops, and there is still a movable part in the corresponding fixed sleeve 106. With a small amount of gas flowing through the gap, the adsorption plug 107 drives the carton to move up along the corresponding fixed sleeve 106, driving the positioning spring 602 and the sliding ring 603 to move synchronously. The adsorption plug 107 causes the sliding ring 603 to squeeze the pressure sensing piece of the fixed sleeve 106 through the positioning spring 602. When the control panel detects that the pressure on the pressure sensing piece on the fixed sleeve 106 reaches the specified size, the adsorption pump stops and the baffle 606 just moves to the limit position and stops. At this time, the carton is adsorbed and lifted up by the adsorption plug 107, ensuring that cartons of different weights use different adsorption forces, thereby improving work efficiency and adsorption stability.

[0050] When the carton is moved to the placement position, the above operation is repeated, the adsorption pump releases the adsorption, and the gas enters the adsorption plug 107 through the gap between the fixed sleeve 106 and the baffle 606. The adsorption force in the adsorption plug 107 is reduced. Under the action of the weight of the carton and the elastic force of the positioning spring 602, the adsorption plug 107 moves down along the corresponding fixed sleeve 106, and the hydraulic oil in the annular cavity between the fixed sleeve 106 and the adsorption plug 107 enters the second hydraulic cylinder 604 through the first connecting pipe 607, so that the sliding member 605 and the baffle 606 move to the right, the gas flow area in the fixed sleeve 106 increases, and the adsorption plug 107 releases the adsorption of the carton, which ensures the stability of the device in carrying and placing cartons and improves the working efficiency and safety of the device.

[0051] Embodiment 3: Based on embodiment 2, Figure 2 , Fig.10 and Fig.11As shown, it also includes two groups of clamping components 7 with left and right mirror images, each group of clamping components 7 is composed of two components with front and back mirror images, the clamping component 7 is arranged on the lower side of the corresponding first sliding rod 104, the clamping component 7 is used to assist in clamping the carton, the clamping component 7 includes a friction wheel 701, the friction wheel 701 is rotatably connected to the lower side of the corresponding first sliding rod 104, the distance between the edge of the friction wheel 701 and the corresponding first sliding rod 104 is greater than the thickness of the suction cup of the sliding frame 105, which is used to ensure that the friction wheel 701 maintains close contact with the carton in the clamping state of the first sliding rod 104, and the friction wheel 701 is fixedly connected to the second gear 702, and the second gear 702 is connected to the corresponding first sliding rod 104. The rod 104 is rotatably connected, and the lower side of the first sliding rod 104 is slidably connected with a third sliding block 703, and the third sliding block 703 is provided with a rack, and the rack of the third sliding block 703 is meshed with the corresponding second gear 702. The lower side of the third sliding block 703 is fixedly connected with a limiting rod 704, and the limiting rod 704 is slidably connected with a clamping block 705, and the clamping block 705 is provided with a rectangular through hole, and the limiting rod 704 is located in the rectangular through hole of the corresponding clamping block 705. The lower part of the clamping block 705 is provided with an arc-shaped rubber gasket for increasing the friction between the clamping block 705 and the carton, and the clamping block 705 is provided with a sliding groove corresponding to the sliding of the limiting rod 704, which is used to adapt to the clamping block 705 clamping the box body The deformation generated, the lower side of the third sliding block 703 is rotatably connected with the second two-way cylinder 706, and the second two-way cylinder 706 is sealed and slidably connected with two second sliding rods 707 distributed in upper and lower mirror images, a return spring is provided between the second sliding rod 707 on the lower side and the second two-way cylinder 706, the second sliding rod 707 on the lower side is rotatably connected with the corresponding clamping block 705, the second sliding rod 707 on the upper side is fixedly connected with a pull rope 708, the pull rope 708 is rotatably connected with the corresponding first sliding rod 104, the second two-way cylinder 706 is provided with two upper and lower cavities, the cavity on the upper side of the second two-way cylinder 706 is connected with a second connecting pipe 709, and the second connecting pipe 709 is connected with the corresponding second two-way cylinder 70 6 The cavity on the lower side is connected, and the two connecting ports of the second connecting pipe 709 are both located at the upper parts of the two cavities in the second two-way cylinder 706. When the second sliding rod 707 on the upper side moves toward the outside of the second two-way cylinder 706, the hydraulic oil in the second two-way cylinder 706 causes the second sliding rod 707 on the lower side to move downward synchronously through the second connecting pipe 709. The second two-way cylinder 706 and the second connecting pipe 709 are both filled with hydraulic oil. Through the synchronous movement of the two second sliding rods 707, the corresponding clamping blocks 705 are rotated to clamp the side of the carton, ensuring that the carton can still perform stable stacking operations when the adsorption fails, thereby improving the working efficiency of the device and the stability of the working process.

[0052] When dust adheres to the outside of a carton, the negative pressure adsorption device cannot achieve a complete adsorption effect during the process of adsorbing the carton due to the influence of the dust. There is still a certain gap between the adsorption plug 107 and the upper surface of the carton, which causes the carton to fall during transportation, causing certain economic losses. For this reason, it is necessary to perform auxiliary design on the device so that the device can still be transported when the adsorption fails. The specific operation is as follows: Repeat the above operation. When the adsorption plug 107 and the suction cup of the sliding frame 105 cannot adsorb the carton, the robot arm 101 still transports the carton through the mounting block 102. When the four first slides are When the movable rod 104 approaches the carton to clamp it, the friction wheel 701 contacts the side wall of the carton, and the robotic arm 101 drives the first sliding rod 104 to move upward through the mounting block 102. The friction wheel 701 and the side wall of the carton move relative to each other when in contact. Due to the friction between the friction wheel 701 and the side wall of the carton, the friction wheel 701 rotates, and the friction wheel 701 rotates and drives the rack of the third sliding block 703 to move downward through the second gear 702. The third sliding block 703 drives the second bidirectional cylinder 706 to move downward. While the third sliding block 703 moves, it drives the clamping block 705 to move downward synchronously through the limit rod 704.

[0053] When the second bidirectional cylinder 706 moves downward, the first sliding rod 104 drives the second sliding rod 707 on the upper side to move upward in the corresponding second bidirectional cylinder 706 through the pull rope 708, and the hydraulic oil on the upper side of the second bidirectional cylinder 706 enters its lower side through the corresponding second connecting pipe 709. The second sliding rod 707 on the lower side of the second bidirectional cylinder 706 moves downward under the push of the hydraulic pressure, and the return spring on the lower side of the second bidirectional cylinder 706 is compressed. The second sliding rod 707 on the lower side pushes the clamping block 705 to rotate around the corresponding limit rod 704, and the clamping block 705 is pressed against the paper The side wall of the carton is clamped. As the friction wheel 701 rotates, the clamping force of the four clamping blocks 705 on the carton continues to increase. At the same time, the stability of the carton clamping is guaranteed by the rubber sheet on the clamping blocks 705. Finally, the four clamping blocks 705 complete the fixation of the carton. When the carton is moved to the placement position, the robot arm 101 drives the first sliding rod 104 to move downward through the mounting block 102, and the friction wheel 701 is reversed to reset the clamping blocks 705. The four clamping blocks 705 release the fixation of the carton, and then repeat the above operation to stack the next carton.

[0054] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the art who, within the technical scope disclosed by the present invention, makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention should be covered within the protection scope of the present invention.

Claims

1. An anti-slip palletizer, characterized in that: The invention comprises a mechanical arm (101), wherein the mechanical arm (101) is fixedly connected to a mounting block (102), wherein the mounting block (102) is fixedly connected to a fixed block (103) distributed in a mirror image, wherein a sliding groove distributed in a mirror image is provided at the lower part of the mounting block (102), wherein a first sliding rod (104) distributed in a mirror image is slidably connected in the sliding groove of the mounting block (102), wherein the fixed block (103) cooperates with the corresponding first sliding rod (104), wherein the first sliding rod (104) is slidably connected to a sliding frame (105), wherein opposite sides of the sliding frame (105) distributed in a mirror image are each provided with a suction cup distributed in a mirror image, wherein the mounting block (102) is fixedly connected to a fixed sleeve (106) distributed evenly, wherein the fixed sleeve (106) is slidably connected to an adsorption plug (107), the fixed sleeve (106) is fixedly connected to and communicated with a first air guide tube (108) penetrating the mounting block (102), the mounting block (102) is fixedly connected to a first fixed shell (109) distributed in a mirror image, the first air guide tube (108) is communicated with the corresponding first fixed shell (109), the first fixed shell (109) is slidably connected to a first sliding block (110) distributed in a mirror image, the first fixed shell (109) distributed in a mirror image is commonly connected to an air distribution tube (111), the air distribution tube (111) is connected to an adsorption pump, the mounting block (102) is provided with an anti-drop mechanism (2) for preventing the adsorbed carton from falling off, and the first sliding rod (104) is provided with a positioning mechanism (4) for preventing the positioning carton from being positioned; A protrusion is provided on one side of the sliding frame (105) close to the corresponding fixed block (103), and the protrusion of the sliding frame (105) cooperates with the corresponding first sliding rod (104) to limit the moving distance of the sliding frame (105); The anti-slip mechanism (2) comprises an electric push rod (201), the electric push rod (201) is fixedly connected to the upper side of the mounting block (102), the mounting block (102) is fixedly connected to a second fixed shell (202), the telescopic end of the electric push rod (201) is fixedly connected to a first piston rod (203), the first piston rod (203) is sealed and slidable in the second fixed shell (202), a disc is sealed and slidably connected in the second fixed shell (202), a fixing spring is fixedly connected between the first piston rod (203) and the disc of the second fixed shell (202), and the second fixed shell (20 2) A second air duct (204) is connected to a side close to the electric push rod (201), a fixed tension spring in mirror-image distribution is provided between the sliding frame (105) and the corresponding first sliding rod (104), the sliding frame (105) is provided with through holes in mirror-image distribution, and the through holes of the sliding frame (105) in mirror-image distribution are all connected to the second air duct (204), the second fixed shell (202) and the disc inside thereof are filled with hydraulic oil on a side away from the first piston rod (203), and the second fixed shell (202) is provided with an auxiliary fixing component (3) for auxiliary fixing of the carton; The auxiliary fixing assembly (3) comprises a first liquid guiding tube (301), the first liquid guiding tube (301) being connected to a side of the second fixing shell (202) away from the electric push rod (201), the first liquid guiding tube (301) being connected to a second liquid guiding tube (302), the first sliding rod (104) being provided with a cavity, the first liquid guiding tube (301) and the second liquid guiding tube (302) both being connected to a side of the cavity corresponding to the first sliding rod (104) close to the corresponding sliding frame (105), the cavity of the first sliding rod (104) being slidably connected to a second sliding rod (302). The second sliding block (303) is rotatably connected to a first gear (304); a side of the sliding frame (105) close to the second fixed shell (202) is provided with a rack meshing with the corresponding first gear (304); a side of the second sliding block (303) away from the corresponding sliding frame (105) is fixedly connected with a second piston rod (305) sealed and slidably connected to the cavity of the first sliding rod (104); and the cavities of the first liquid guide tube (301), the second liquid guide tube (302) and the first sliding rod (104) are all filled with hydraulic oil.

2. The anti-slip palletizer according to claim 1, characterized in that: The positioning mechanism (4) comprises a mirror-distributed motor (401), the mirror-distributed motor (401) being respectively fixedly connected to the mirror-distributed fixed block (103) on a side away from the mechanical arm (101), the output shaft of the motor (401) being fixedly connected to a lead screw (402) rotatably connected to the corresponding fixed block (103), the lead screw (402) being threadedly connected to a mirror-distributed limit block (403), the limit block (403) sliding in a corresponding sliding groove of the mounting block (102), a first tension spring (404) being fixedly connected between the limit block (403) and the corresponding first sliding rod (104), and the first sliding rod (104) on a side close to the motor (401) being provided with a blocking component (5) for controlling an adsorption area.

3. The anti-slip palletizer according to claim 2, characterized in that: The blocking assembly (5) comprises a third piston rod (501), the third piston rod (501) being fixedly connected to the first sliding rod (104) at a side close to the motor (401), the third piston rod (501) being slidably connected to a first hydraulic cylinder (502) being fixedly connected to the mounting block (102), the first hydraulic cylinder (502) being connected to a liquid infusion tube (503) penetrating the mounting block (102), the liquid infusion tube (503) penetrating the corresponding first fixed shell (109), a first bidirectional cylinder (504) being fixedly connected inside the first fixed shell (109), the first bidirectional cylinder (504) being connected to the corresponding liquid infusion tube (503), a fourth piston rod (505) being distributed in a mirror image being sealed and slidably connected inside the first bidirectional cylinder (504), the fourth piston rod (505) being fixedly connected to the corresponding first sliding block (110), the first hydraulic cylinder (502), the liquid infusion tube (503) and the first bidirectional cylinder (504) being filled with hydraulic oil.

4. The anti-slip palletizer according to claim 1, characterized in that: The suction control mechanism (6) is evenly distributed, and the suction control mechanism (6) is arranged between the corresponding fixed sleeve (106) and the corresponding suction plug (107). The suction control mechanism (6) is used to control the suction force of the corresponding suction plug (107) on cartons of different weights. The suction control mechanism (6) includes a second tension spring (601), and the second tension spring (601) is fixedly connected between the corresponding fixed sleeve (106) and the corresponding suction plug (107). The fixed sleeve (106) and the corresponding suction plug (107) together form an annular cavity. A positioning spring (602) is fixedly connected to a side of the suction plug (107) close to the corresponding first air guide tube (108). The positioning spring (602) is fixedly connected to a slidably connected spring with the corresponding fixed sleeve (106). The fixing sleeve (106) is provided with a pressure sensing sheet corresponding to the sliding ring (603); a second hydraulic cylinder (604) is fixedly connected to the side of the fixing sleeve (106) close to the first air guide pipe (108); a sliding member (605) is sealingly and slidingly connected inside the second hydraulic cylinder (604); the sliding member (605) is fixedly connected to a baffle (606) corresponding to the fixing sleeve (106); a first connecting pipe (607) is connected to the side of the second hydraulic cylinder (604) close to the fixing sleeve (106); the first connecting pipe (607) is connected to the annular cavity corresponding to the adsorption plug (107); and the annular cavities of the second hydraulic cylinder (604), the first connecting pipe (607) and the adsorption plug (107) are all filled with hydraulic oil.

5. The anti-slip palletizer according to claim 3, characterized in that: The invention also comprises a clamping assembly (7) with mirror distribution, wherein the clamping assembly (7) is arranged on the lower side of the first sliding rod (104), and the clamping assembly (7) is used to assist in clamping the carton, and the clamping assembly (7) comprises a friction wheel (701), wherein the friction wheel (701) is rotatably connected to the lower side of the first sliding rod (104), and the friction wheel (701) is fixedly connected to a second gear (702) rotatably connected to the first sliding rod (104), and the first sliding rod (104) is slidably connected to a third sliding block (703), and the third sliding block (703) is provided with a rack meshing with the second gear (702), and the third sliding block (703) is fixedly connected to a limiting rod (704), and the limiting rod (704) is slidably connected to a clamping block (705 ...). The lower side is rotatably connected with a second bidirectional cylinder (706), and a mirror-distributed second sliding rod (707) is sealed and slidably connected inside the second bidirectional cylinder (706). A return spring is provided between the second sliding rod (707) close to the side corresponding to the clamping block (705) and the corresponding second bidirectional cylinder (706). The second sliding rod (707) close to the side corresponding to the limit rod (704) is rotatably connected to the corresponding clamping block (705), and the second sliding rod (707) away from the side corresponding to the clamping block (705) is fixedly connected with a pull rope (708) rotatably connected to the corresponding first sliding rod (104). The upper side of the second bidirectional cylinder (706) is connected with a second connecting pipe (709) connected with the lower side thereof, and the second bidirectional cylinder (706) and the second connecting pipe (709) are both filled with hydraulic oil.

6. The anti-slip palletizer according to claim 5, characterized in that: The difference between the radius of the friction wheel (701) and the thickness of the corresponding first sliding rod (104) is greater than the thickness of the suction cup of the sliding frame (105), so as to ensure that the friction wheel (701) maintains close contact with the carton when the first sliding rod (104) is clamped.

7. The anti-slip palletizer according to claim 5, characterized in that: The clamping block (705) is provided with a sliding groove corresponding to the sliding of the limiting rod (704), so as to adapt to the deformation caused by the clamping block (705) clamping the box body.

Images