Carton stacking manipulator with turnover structure

Abstract

The invention provides a carton stacking manipulator with a turnover structure. The carton stacking manipulator with the overturning structure comprises a supporting main body support, a first motor is arranged on the front surface of the supporting main body support, a second motor is arranged on the side surface of the first motor, and a first driving shaft is arranged at the output end of the second motor. The adjusting assembly has the self-adaption function, automatic adjustment can be achieved through the telescopic structure so as to adapt to cartons of different widths and sizes, damage caused by the small contact face cannot be caused when the stacking mechanical arm treats the cartons of different specifications, the operation efficiency and compatibility are improved, and through the design of a limiting device, an electromagnet sleeve and an electromagnet sheet, the stacking mechanical arm is convenient to use. The device can ensure that the upper surface of the manipulator is always parallel to the lower surface of the carton in the stacking process, so that the pressure increase caused by the too small clamping surface can be avoided, and the local deformation or damage of the bottom of the carton caused by the too large pressure can be prevented.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, and in particular to a carton palletizing robot with a turnover structure. Background Art

[0002] A carton palletizing robot with a flipping structure is a device used for automated palletizing. Its main function is to grab cartons through the robot and stack them in a designated area according to a preset order and position. The robot is usually equipped with a flipping structure, which enables it to adjust the direction of the cartons during handling in order to better optimize the stability and layout of the stacking. The existence of the flipping structure makes it possible to effectively handle cartons of different sizes and shapes in certain scenarios, improving the flexibility and efficiency of palletizing.

[0003] In many robot designs with flipping structures, the robot completes the handling and flipping operations by clamping the carton from the side. However, the material of the carton is usually fragile, especially when the lower side of the carton is under great pressure, it is easy to deform or damage. Cartons of different sizes and materials have different sensitivities to side clamping, which causes some robots to be unable to adjust the clamping force well when handling lighter and more fragile cartons, further increasing the risk of carton damage. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a carton palletizing robot with a flipping structure, which solves the problem that the lower side of the carton is easily deformed or damaged when subjected to greater pressure, and that cartons of different sizes and materials have different sensitivities to side clamping, resulting in some robots being unable to adjust the clamping force well when handling lighter and more fragile cartons.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A carton stacking robot with a flip structure, comprising: A support body bracket, wherein a first motor is disposed on the front surface of the support body bracket, a second motor is disposed on the side surface of the first motor, a first drive shaft is disposed on the output end of the second motor, and an end of the first drive shaft away from the second motor is fixedly connected to a third motor; A steering device, the steering device comprising a connecting block, a lateral bracket, a No. 1 telescopic rod and a connecting head; A driving steering device, the driving steering device comprising a fifth motor, a first gear, four second gears, two fixing plates, a No. 1 connecting shaft, a plurality of No. 1 transmission rods and a plurality of No. 2 transmission rods; A limiting device, the limiting device comprising an electromagnet sleeve, a first connecting rod, a second connecting rod, a collar, a second telescopic rod, an electromagnet sheet, a movable cavity and a second connecting shaft; A claw arm is fixedly connected to the outer side of the second connecting shaft, an adjustment component is arranged on the side surface of the claw arm, a limiting plate is arranged on the side surface of the claw arm, and a first slide groove is arranged on the side surface of the claw arm and under the limiting plate.

[0006] Preferably, the side surface of the connecting block is fixedly connected to the lateral bracket, the side surface of the lateral bracket is rotatably connected to the connecting head, the connecting block is rotatably connected to the No. 1 telescopic rod, the No. 1 telescopic rod is rotatably connected to the connecting head, the connecting block is fixedly connected to the output end of the third motor, and the lower surface of the connecting head is fixedly connected to two fixed plates respectively.

[0007] Preferably, the side surface of the rear fixed plate is fixedly connected to the fifth motor, the output end of the fifth motor is fixedly connected to the first gear, the first gear is meshed with the second gear, and the front and rear four second gears are divided into two groups and meshed separately.

[0008] Preferably, the No. 1 transmission rod is fixedly connected to the side surface of the second gear, and the No. 2 transmission rod is rotationally connected to the No. 1 transmission rod via a No. 1 connecting shaft.

[0009] Preferably, the first connecting rod and the second connecting rod are slidably connected via an electromagnet sleeve, the first connecting rod and the second connecting rod are both made of iron, and one end of the first connecting rod and the second connecting rod away from the electromagnet sleeve are fixedly connected to a collar.

[0010] Preferably, the movable cavity is located inside the ring, the electromagnet sheet is slidably connected to the movable cavity, the inside of the electromagnet sheet is rotatably connected to the No. 2 connecting shaft, the No. 2 telescopic rod is fixedly connected to the ring, and the output end of the No. 2 telescopic rod is fixedly connected to the electromagnet sheet.

[0011] Preferably, the claw arm is rotatably connected to the No. 2 transmission rod via a No. 2 connecting shaft, and a rotating disk is fixedly connected to the claw arm. A center hole is provided on the side surface of the rotating disk, and the center hole is in contact with the No. 2 transmission rod.

[0012] Preferably, the adjustment assembly includes a limit rod, a lower support plate, a No. 3 slide groove and a No. 2 slide groove, the No. 3 slide groove is located on the upper side of the lower support plate, the No. 2 slide groove is located on the inner side of the No. 3 slide groove, and both ends of the limit rod are fixed to the No. 3 slide groove and pass through the No. 1 slide groove.

[0013] The present invention provides a carton palletizing robot with a flipping structure. It has the following beneficial effects: The carton stacking robot with a flipping structure can always maintain vertical contact with the side surface of the carton through the design of the claw arm, avoiding excessive clamping force concentrated on the lower side of the carton. By adjusting the lower support of the component, it can effectively disperse the force on the bottom of the carton, reduce the lower pressure, and reduce the risk of damage.

[0014] The adjustment component of the present invention has an adaptive function, and can automatically adjust to adapt to cartons of different widths and sizes through a telescopic structure. The palletizing robot will not cause damage to the small contact surface when processing cartons of different specifications, thereby improving operational efficiency and compatibility. Through the design of the limit device, the electromagnet sleeve and the electromagnet sheet, the device can ensure that during the palletizing process, the upper surface of the robot always remains parallel to the lower surface of the carton, thereby avoiding an increase in pressure caused by a too small clamping surface and preventing local deformation or damage to the bottom of the carton caused by excessive pressure. The sliding connection design of the electromagnet sheet and the movable cavity allows the clamping force to be well controlled during operation, thereby avoiding excessive clamping force on light or fragile cartons and reducing the damage rate of the cartons. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a partial structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the driving steering structure of the present invention; Figure 4 It is a schematic diagram of the claw structure of the present invention; Figure 5 It is an exploded view of the claw structure of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure enlargement in the middle; Figure 7 It is a schematic diagram of the overall structure of the present invention.

[0016] Among them, 1. Support the main body bracket; 2. The first motor; 3. The first drive shaft; 4. The second motor; 5. The third motor; 6. The steering device; 7. The connecting block; 8. The lateral bracket; 9. The first telescopic rod; 10. The connecting head; 11. The driving steering device; 12. The fifth motor; 13. The first gear; 14. The second gear; 15. The fixing plate; 16. The first connecting shaft; 17. The first transmission rod; 18. The second connecting shaft; 19. The second transmission rod; 20. The claw arm; 21. The limiting device; 22. The electromagnet sleeve; 23. The first connecting rod; 24. The second connecting rod; 25. The collar; 26. The second telescopic rod; 27. The electromagnet sheet; 28. The movable cavity; 29. ​​The rotating disk; 30. The center hole; 31. The first slide; 32. The limiting rod; 33. The limiting sheet; 34. The lower supporting sheet; 35. The third slide; 36. The second slide. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0018] like Figure 1-7 As shown, an embodiment of the present invention provides a carton palletizing robot with a flip structure, comprising: A supporting main body bracket 1 is provided with a first motor 2 on the front surface of the supporting main body bracket 1, a second motor 4 is provided on the side surface of the first motor 2, a No. 1 driving shaft 3 is provided at the output end of the second motor 4, and an end of the No. 1 driving shaft 3 away from the second motor 4 is fixedly connected to the third motor 5.

[0019] The steering device 6 includes a connecting block 7, a lateral bracket 8, a No. 1 telescopic rod 9 and a connecting head 10. The side surface of the connecting block 7 is fixedly connected to the lateral bracket 8, the side surface of the lateral bracket 8 is rotatably connected to the connecting head 10, the connecting block 7 is rotatably connected to the No. 1 telescopic rod 9, the No. 1 telescopic rod 9 is rotatably connected to the connecting head 10, the connecting block 7 is fixedly connected to the output end of the third motor 5, the lower surface of the connecting head 10 is respectively fixedly connected to two fixed plates 15, the side surface of the rear fixed plate 15 is fixedly connected to the fifth motor 12, the output end of the fifth motor 12 is fixedly connected to the first gear 13, the first gear 13 is meshed with the second gear 14, the front and rear four second gears 14 are divided into two groups and meshed separately, the No. 1 transmission rod 17 is fixedly connected to the side surface of the second gear 14, and the No. 2 transmission rod 19 is rotatably connected to the No. 1 transmission rod 17 through the No. 1 connecting shaft 16.

[0020] The driving steering device 11 includes a fifth motor 12 , a first gear 13 , four second gears 14 , two fixing plates 15 , a first connecting shaft 16 , a plurality of first transmission rods 17 and a plurality of second transmission rods 19 .

[0021] The limiting device 21 includes an electromagnet sleeve 22 , a first connecting rod 23 , a second connecting rod 24 , a collar 25 , a second telescopic rod 26 , an electromagnet sheet 27 , a movable cavity 28 and a second connecting shaft 18 .

[0022] A claw arm 20 is fixedly connected to the outer side of the No. 2 connecting shaft 18, an adjustment component is provided on the side surface of the claw arm 20, a limiting plate 33 is provided on the side surface of the claw arm 20, and a No. 1 slide groove 31 is provided on the side surface of the claw arm 20 and located at the lower side of the limiting plate 33.

[0023] The steering device 6 of this embodiment is uniquely designed and provides flexible control in multiple directions. Through the linkage of the No. 1 telescopic rod 9 and the connecting block 7, the manipulator can easily adjust the angle to adapt to different working requirements. The driving steering device 11 adopts a multiple gear linkage design to ensure the stability and efficiency of the carton during the flipping process. The limit device 21 can achieve precise limit control through the combination of the electromagnet and the telescopic rod, thereby ensuring the safety and stability of the manipulator at work. Example

[0024] like Figure 1-7 As shown, an embodiment of the present invention provides a carton palletizing robot with a flip structure, comprising: A supporting main body bracket 1 is provided with a first motor 2 on the front surface of the supporting main body bracket 1, a second motor 4 is provided on the side surface of the first motor 2, a No. 1 driving shaft 3 is provided at the output end of the second motor 4, and an end of the No. 1 driving shaft 3 away from the second motor 4 is fixedly connected to the third motor 5.

[0025] The steering device 6 includes a connecting block 7, a lateral bracket 8, a first telescopic rod 9 and a connecting head 10.

[0026] The driving steering device 11 includes a fifth motor 12 , a first gear 13 , four second gears 14 , two fixing plates 15 , a first connecting shaft 16 , a plurality of first transmission rods 17 and a plurality of second transmission rods 19 .

[0027] The limiting device 21 includes an electromagnet sleeve 22, a first connecting rod 23, a second connecting rod 24, a collar 25, a second telescopic rod 26, an electromagnet sheet 27, a movable cavity 28 and a second connecting shaft 18. The first connecting rod 23 and the second connecting rod 24 are slidably connected through the electromagnet sleeve 22. The first connecting rod 23 and the second connecting rod 24 are made of iron. One end of the first connecting rod 23 and the second connecting rod 24 away from the electromagnet sleeve 22 is fixedly connected to the collar 25. The movable cavity 28 is provided with a plurality of movable cavities 29, 29 and 29. 8 is located inside the ring 25, the electromagnet sheet 27 is slidably connected to the movable cavity 28, the inside of the electromagnet sheet 27 is rotatably connected to the No. 2 connecting shaft 18, the No. 2 telescopic rod 26 is fixedly connected to the ring 25, the output end of the No. 2 telescopic rod 26 is fixedly connected to the electromagnet sheet 27, the claw arm 20 is rotatably connected to the No. 2 transmission rod 19 through the No. 2 connecting shaft 18, the claw arm 20 is fixedly connected to the rotating disk 29, the side surface of the rotating disk 29 is provided with a center hole 30, and the center hole 30 is in contact with the No. 2 transmission rod 19.

[0028] A claw arm 20 is fixedly connected to the outer side of the No. 2 connecting shaft 18, an adjustment component is provided on the side surface of the claw arm 20, a limiting plate 33 is provided on the side surface of the claw arm 20, and a No. 1 slide groove 31 is provided on the side surface of the claw arm 20 and located at the lower side of the limiting plate 33.

[0029] In this embodiment, the structure of the steering device 6 is simplified and suitable for occasions with relatively low requirements, which reduces the complexity of the device and reduces the production cost. The driving steering device 11 is similar to the first embodiment and continues to maintain the high efficiency and stability of the carton flipping. The limiting device 21 further optimizes the design of the sliding connection and the movable cavity 28, so that the angle adjustment of the carton flipping is more flexible and the operation is more precise. The connection between the claw arm 20 and the transmission rod improves the reliability of the carton grasping and releasing, thereby improving the overall work efficiency. Specifically, the square electromagnet sheet 27 can rotate when the power is not supplied, and the angle of the second connecting shaft 18 remains unchanged when the electromagnet sheet 27 is powered, that is, the angle of the claw arm 20 remains unchanged, so the card can be used to The claw arm 20 swings left and right once to put the adjustment component in an extended position, so as to increase the contact area. After clamping the carton, when the electromagnet sheet 27 is energized and the adjustment component is in full contact with the lower side of the carton, the electromagnet sheet 27 is opened. At this time, the lower support sheet 34 is in contact with the bottom of the carton, and under the action of the electromagnet sleeve 22, the rotation of the first connecting rod 23 and the second connecting rod 24 is avoided, thereby avoiding the rotation of the ring 25. The extension of the No. 2 telescopic rod 26 can make the claw arm 20 contact with the side surface of the carton, thereby completing the clamping. After clamping, the position is moved as needed. This is fine adjustment. Just turn on each motor, and the driving steering device 11 can adjust the width of the box that can be clamped within a larger range through the No. 1 connecting shaft 16. This is coarse adjustment. Example

[0030] like Figure 1-7 As shown, an embodiment of the present invention provides a carton palletizing robot with a flip structure, comprising: A supporting main body bracket 1 is provided with a first motor 2 on the front surface of the supporting main body bracket 1, a second motor 4 is provided on the side surface of the first motor 2, a No. 1 driving shaft 3 is provided at the output end of the second motor 4, and an end of the No. 1 driving shaft 3 away from the second motor 4 is fixedly connected to the third motor 5.

[0031] The steering device 6 includes a connecting block 7, a lateral bracket 8, a first telescopic rod 9 and a connecting head 10.

[0032] The driving steering device 11 includes a fifth motor 12 , a first gear 13 , four second gears 14 , two fixing plates 15 , a first connecting shaft 16 , a plurality of first transmission rods 17 and a plurality of second transmission rods 19 .

[0033] The limiting device 21 includes an electromagnet sleeve 22 , a first connecting rod 23 , a second connecting rod 24 , a collar 25 , a second telescopic rod 26 , an electromagnet sheet 27 , a movable cavity 28 and a second connecting shaft 18 .

[0034] The outer side of the No. 2 connecting shaft 18 is fixedly connected with a claw arm 20, and an adjustment component is arranged on the side surface of the claw arm 20. A limiting plate 33 is arranged on the side surface of the claw arm 20, and a No. 1 slide groove 31 is arranged on the side surface of the claw arm 20 and located at the lower side of the limiting plate 33. The adjustment component includes a limiting rod 32, a lower support plate 34, a No. 3 slide groove 35 and a No. 2 slide groove 36. The No. 3 slide groove 35 is located on the upper side of the lower support plate 34, and the No. 2 slide groove 36 is located on the inner side of the No. 3 slide groove 35. Both ends of the limiting rod 32 are fixed to the No. 3 slide groove 35 and pass through the No. 1 slide groove 31.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A carton palletizing robot with a flipping structure, characterized in that: include: A supporting main body bracket (1), wherein a first motor (2) is arranged on the front surface of the supporting main body bracket (1), a second motor (4) is arranged on the side surface of the first motor (2), a first drive shaft (3) is arranged at the output end of the second motor (4), and an end of the first drive shaft (3) away from the second motor (4) is fixedly connected to a third motor (5); A steering device (6), the steering device (6) comprising a connecting block (7), a lateral bracket (8), a first telescopic rod (9) and a connecting head (10); A driving steering device (11), the driving steering device (11) comprising a fifth motor (12), a first gear (13), four second gears (14), two fixing plates (15), a first connecting shaft (16), a plurality of first transmission rods (17), and a plurality of second transmission rods (19); A limiting device (21), the limiting device (21) comprising an electromagnet sleeve (22), a first connecting rod (23), a second connecting rod (24), a collar (25), a second telescopic rod (26), an electromagnet sheet (27), a movable cavity (28) and a second connecting shaft (18); A claw arm (20) is fixedly connected to the outer side of the second connecting shaft (18), an adjustment assembly is provided on the side surface of the claw arm (20), a limit plate (33) is provided on the side surface of the claw arm (20), and a first slide groove (31) is provided on the side surface of the claw arm (20) and located below the limit plate (33).

2. The carton palletizing robot with a flipping structure according to claim 1, characterized in that: The side surface of the connecting block (7) is fixedly connected to the lateral bracket (8), the side surface of the lateral bracket (8) is rotatably connected to the connecting head (10), the connecting block (7) is rotatably connected to the first telescopic rod (9), the first telescopic rod (9) is rotatably connected to the connecting head (10), the connecting block (7) is fixedly connected to the output end of the third motor (5), and the lower surface of the connecting head (10) is respectively fixedly connected to two fixing plates (15).

3. The carton palletizing robot with a flipping structure according to claim 1, characterized in that: The side surface of the rear fixing plate (15) is fixedly connected to the fifth motor (12), the output end of the fifth motor (12) is fixedly connected to the first gear (13), the first gear (13) is meshed with the second gear (14), and the front and rear four second gears (14) are divided into two groups and are meshed separately.

4. The carton palletizing robot with a flipping structure according to claim 3 is characterized by: The first transmission rod (17) is fixedly connected to the side surface of the second gear (14), and the second transmission rod (19) is rotationally connected to the first transmission rod (17) via a first connecting shaft (16).

5. The carton palletizing robot with a flipping structure according to claim 1, characterized in that: The first connecting rod (23) and the second connecting rod (24) are slidably connected via the electromagnet sleeve (22); the first connecting rod (23) and the second connecting rod (24) are both made of iron; and one end of the first connecting rod (23) and the second connecting rod (24) away from the electromagnet sleeve (22) are both fixedly connected to the collar (25).

6. The carton palletizing robot with a flipping structure according to claim 5, characterized in that: The movable cavity (28) is located inside the collar (25), the electromagnet sheet (27) is slidably connected to the movable cavity (28), the interior of the electromagnet sheet (27) is rotatably connected to the second connecting shaft (18), the second telescopic rod (26) is fixedly connected to the collar (25), and the output end of the second telescopic rod (26) is fixedly connected to the electromagnet sheet (27).

7. The carton palletizing robot with a flipping structure according to claim 6, characterized in that: The claw arm (20) is rotatably connected to the second transmission rod (19) via a second connecting shaft (18); a rotating disk (29) is fixedly connected to the claw arm (20); a center hole (30) is provided on a side surface of the rotating disk (29); and the center hole (30) is in contact with the second transmission rod (19).

8. The carton palletizing robot with a flipping structure according to claim 1, characterized in that: The adjustment assembly comprises a limit rod (32), a lower support plate (34), a third slide groove (35) and a second slide groove (36), wherein the third slide groove (35) is located on the upper side of the lower support plate (34), the second slide groove (36) is located on the inner side of the third slide groove (35), and both ends of the limit rod (32) are fixed to the third slide groove (35) and pass through the first slide groove (31).

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